{"id":"https://openalex.org/W1580721220","doi":"https://doi.org/10.1109/robot.2003.1242260","title":"A system for volumetric robotic mapping of abandoned mines","display_name":"A system for volumetric robotic mapping of abandoned mines","publication_year":2004,"publication_date":"2004-03-30","ids":{"openalex":"https://openalex.org/W1580721220","doi":"https://doi.org/10.1109/robot.2003.1242260","mag":"1580721220"},"language":"en","primary_location":{"id":"doi:10.1109/robot.2003.1242260","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2003.1242260","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5066710774","display_name":"Sebastian Thrun","orcid":null},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"S. Thrun","raw_affiliation_strings":["School of Computer Science, Carnegie Mellon University, Pittsburgh, PA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Computer Science, Carnegie Mellon University, Pittsburgh, PA, USA","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5002746486","display_name":"Dirk H\u00e4hnel","orcid":null},"institutions":[{"id":"https://openalex.org/I161046081","display_name":"University of Freiburg","ror":"https://ror.org/0245cg223","country_code":"DE","type":"education","lineage":["https://openalex.org/I161046081"]},{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["DE","US"],"is_corresponding":false,"raw_author_name":"D. Hahnel","raw_affiliation_strings":["Department of Computer Science, University of Freiburg, Freiberg, Germany","School of Computer Science, Carnegie Mellon University, Pittsburgh, PA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Computer Science, University of Freiburg, Freiberg, Germany","institution_ids":["https://openalex.org/I161046081"]},{"raw_affiliation_string":"School of Computer Science, Carnegie Mellon University, Pittsburgh, PA, USA","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5110331104","display_name":"Dave Ferguson","orcid":null},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"D. Ferguson","raw_affiliation_strings":["School of Computer Science, Carnegie Mellon University, Pittsburgh, PA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Computer Science, Carnegie Mellon University, Pittsburgh, PA, USA","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5112659331","display_name":"Michael Montemerlo","orcid":null},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"M. Montemerlo","raw_affiliation_strings":["School of Computer Science, Carnegie Mellon University, Pittsburgh, PA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Computer Science, Carnegie Mellon University, Pittsburgh, PA, USA","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5050478468","display_name":"Rudolph Triebel","orcid":"https://orcid.org/0000-0002-7975-036X"},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"R. Triebel","raw_affiliation_strings":["School of Computer Science, Carnegie Mellon University, Pittsburgh, PA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Computer Science, Carnegie Mellon University, Pittsburgh, PA, USA","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5084499878","display_name":"Wolfram Burgard","orcid":"https://orcid.org/0000-0002-5680-6500"},"institutions":[{"id":"https://openalex.org/I161046081","display_name":"University of Freiburg","ror":"https://ror.org/0245cg223","country_code":"DE","type":"education","lineage":["https://openalex.org/I161046081"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"W. Burgard","raw_affiliation_strings":["Department of Computer Science, University of Freiburg, Freiberg, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Computer Science, University of Freiburg, Freiberg, Germany","institution_ids":["https://openalex.org/I161046081"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5083966468","display_name":"Christopher Baker","orcid":"https://orcid.org/0000-0002-0231-5087"},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"C. Baker","raw_affiliation_strings":["School of Computer Science, Carnegie Mellon University, Pittsburgh, PA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Computer Science, Carnegie Mellon University, Pittsburgh, PA, USA","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5083816958","display_name":"Zachary Omohundro","orcid":null},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Z. Omohundro","raw_affiliation_strings":["School of Computer Science, Carnegie Mellon University, Pittsburgh, PA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Computer Science, Carnegie Mellon University, Pittsburgh, PA, USA","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5114171622","display_name":"S. Thayer","orcid":null},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"S. Thayer","raw_affiliation_strings":["School of Computer Science, Carnegie Mellon University, Pittsburgh, PA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Computer Science, Carnegie Mellon University, Pittsburgh, PA, USA","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5000515937","display_name":"William Whittaker","orcid":"https://orcid.org/0000-0003-2530-0360"},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"W. Whittaker","raw_affiliation_strings":["School of Computer Science, Carnegie Mellon University, Pittsburgh, PA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Computer Science, Carnegie Mellon University, Pittsburgh, PA, USA","institution_ids":["https://openalex.org/I74973139"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":10,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":781.8893,"has_fulltext":false,"cited_by_count":257,"citation_normalized_percentile":{"value":0.99997169,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":100},"biblio":{"volume":"3","issue":null,"first_page":"4270","last_page":"4275"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9969000220298767,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9969000220298767,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10326","display_name":"Indoor and Outdoor Localization Technologies","score":0.9847999811172485,"subfield":{"id":"https://openalex.org/subfields/2208","display_name":"Electrical and Electronic Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T12549","display_name":"Image and Object Detection Techniques","score":0.9753999710083008,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/coal-mining","display_name":"Coal mining","score":0.6785863637924194},{"id":"https://openalex.org/keywords/range","display_name":"Range (aeronautics)","score":0.6177220940589905},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5709430575370789},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.551651120185852},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5502054691314697},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5357270836830139},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.5024645328521729},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2836112380027771},{"id":"https://openalex.org/keywords/coal","display_name":"Coal","score":0.16358739137649536}],"concepts":[{"id":"https://openalex.org/C108615695","wikidata":"https://www.wikidata.org/wiki/Q12880211","display_name":"Coal mining","level":3,"score":0.6785863637924194},{"id":"https://openalex.org/C204323151","wikidata":"https://www.wikidata.org/wiki/Q905424","display_name":"Range (aeronautics)","level":2,"score":0.6177220940589905},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5709430575370789},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.551651120185852},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5502054691314697},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5357270836830139},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.5024645328521729},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2836112380027771},{"id":"https://openalex.org/C518851703","wikidata":"https://www.wikidata.org/wiki/Q24489","display_name":"Coal","level":2,"score":0.16358739137649536},{"id":"https://openalex.org/C548081761","wikidata":"https://www.wikidata.org/wiki/Q180388","display_name":"Waste management","level":1,"score":0.0},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1109/robot.2003.1242260","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2003.1242260","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422)","raw_type":"proceedings-article"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.4.5829","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.4.5829","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www.informatik.uni-freiburg.de/~burgard/abstracts/../postscripts/thrun.mine-mapping.pdf","raw_type":"text"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.68.9791","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.68.9791","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www.ri.cmu.edu/pub_files/pub4/thrun_sebastian_2003_1/thrun_sebastian_2003_1.pdf","raw_type":"text"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.7.8415","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.7.8415","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www.ri.cmu.edu/pub_files/pub4/thrun_sebastian_2003_1/thrun_sebastian_2003_1.ps.gz","raw_type":"text"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320332180","display_name":"Defense Advanced Research Projects Agency","ror":"https://ror.org/02caytj08"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":22,"referenced_works":["https://openalex.org/W82869542","https://openalex.org/W1519865121","https://openalex.org/W1656165940","https://openalex.org/W1757088154","https://openalex.org/W1832534480","https://openalex.org/W1891947214","https://openalex.org/W1999050017","https://openalex.org/W2049633694","https://openalex.org/W2049981393","https://openalex.org/W2085261163","https://openalex.org/W2100053656","https://openalex.org/W2113739894","https://openalex.org/W2124313187","https://openalex.org/W2133048394","https://openalex.org/W2148228392","https://openalex.org/W2159477781","https://openalex.org/W2171668875","https://openalex.org/W2173782939","https://openalex.org/W4285719527","https://openalex.org/W6638704531","https://openalex.org/W6678941962","https://openalex.org/W7048738093"],"related_works":["https://openalex.org/W2381456208","https://openalex.org/W2377388210","https://openalex.org/W2382773478","https://openalex.org/W2361854395","https://openalex.org/W2606426007","https://openalex.org/W2322283169","https://openalex.org/W2605388041","https://openalex.org/W4233390204","https://openalex.org/W2122871747","https://openalex.org/W3114279067"],"abstract_inverted_index":{"This":[0,67],"paper":[1],"describes":[2],"two":[3,89],"robotic":[4],"systems":[5],"developed":[6],"for":[7,59],"acquiring":[8],"accurate":[9],"volumetric":[10],"maps":[11,48,74],"of":[12,49,77],"underground":[13],"mines.":[14],"One":[15],"system":[16],"is":[17,34],"based":[18],"on":[19],"a":[20,29,35,91],"cart":[21],"instrumented":[22],"by":[23,31],"laser":[24,42],"range":[25,43],"finders,":[26],"pushed":[27],"through":[28],"mine":[30,93,101],"people.":[32],"Another":[33],"remotely":[36],"controlled":[37],"mobile":[38],"robot":[39,65],"equipped":[40],"with":[41,52],"finders.":[44],"To":[45],"build":[46],"consistent":[47,73],"large":[50],"mines":[51],"many":[53],"cycles,":[54],"we":[55],"describe":[56],"an":[57,98],"algorithm":[58,68],"estimating":[60],"global":[61],"correspondences":[62],"and":[63,97],"aligning":[64],"paths.":[66],"enables":[69],"us":[70],"to":[71],"recover":[72],"several":[75],"hundreds":[76],"meters":[78],"in":[79,88,94,102],"diameter,":[80],"without":[81],"odometric":[82],"information.":[83],"We":[84],"report":[85],"results":[86],"obtained":[87],"mines,":[90],"research":[92],"Bruceton,":[95],"PA,":[96],"abandoned":[99],"coal":[100],"Burgettstown,":[103],"PA.":[104]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":9},{"year":2022,"cited_by_count":11},{"year":2021,"cited_by_count":4},{"year":2020,"cited_by_count":9},{"year":2019,"cited_by_count":9},{"year":2018,"cited_by_count":5},{"year":2017,"cited_by_count":7},{"year":2016,"cited_by_count":10},{"year":2015,"cited_by_count":6},{"year":2014,"cited_by_count":12},{"year":2013,"cited_by_count":12},{"year":2012,"cited_by_count":14}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
