Evaluation of visual localization systems in underground mining

In this article an evaluation of current technology on visual localization systems for underground mining is presented. The proposed study is considered to be the first step among others towards enabling vision-based mine inspection using Unmanned Micro Aerial Vehicles (UAVs). Furthermore, the aim of this article, is to verify applicable and reliable low cost existing methods and technologies for the problem of UAV localization in harsh and challenging environments. More specifically field trials were performed in one of the biggest mines in Europe, the iron ore mine of LKAB at Kiruna in Sweden. In this experimental evaluation the sensors employed were a RGB-D camera (Kinect for Windows) and a web camera (Playstation 3 Eye) in two configurations, as a stereo rig and as a monocular visual sensor. The processing of the stored data from the experiments will provide an insight into the efficiency of these sensors. Additionally, will identify what further technological and research developments are required to develop affordable autonomous UAV solutions for improving the underground mining production tasks.