Optimized Surface Algorithm for Mining Applications Implemented in a GPU

Pierre Perez, Carlos Huapaya, Cesar Carranza, Francisco Cuellar

Producción científica: Capítulo del libro/informe/acta de congresoContribución a la conferenciarevisión exhaustiva


This paper describes the design, implementation and experimental results of an original method for real time static surface reconstruction in underground mining applications. The proposed method allows to acquire real time "stop and go"range scans in a low power consumption embedded system, which is an important requirement for long term operations. Our method uses a priori information obtained from the raw data and geometry of the scan, removes overlapped points keeping the neighbor relationship, and uses a downsampling voxel structure to obtain an isotropic surface point cloud. Preliminary results demonstrate that it is possible to achieve real time 3D spheric surface reconstruction from high density Lidar point clouds using low power parallel computing embedded systems. We were able to generate a 3D mesh from a full spherical scan with more than 98000 points in 9ms at full resolution, and perform the mesh down sampling with additional 46ms on a low power computer. These features will allow robotic systems in underground mining activities to perform an efficient surveying using low complexity parallel algorithms.

Idioma originalInglés
Título de la publicación alojada1st IEEE Colombian Caribbean Conference, C3 2023
EditoresPaul Sanmartin Mendoza, Andres Navarro
EditorialInstitute of Electrical and Electronics Engineers Inc.
ISBN (versión digital)9798350341799
EstadoPublicada - 2023
Evento1st IEEE Colombian Caribbean Conference, C3 2023 - Barranquilla, Colombia
Duración: 22 nov. 202325 nov. 2023

Serie de la publicación

Nombre1st IEEE Colombian Caribbean Conference, C3 2023


Conferencia1st IEEE Colombian Caribbean Conference, C3 2023


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