TY  - CHAP
A1  - Eichenbaum, Julian
A1  - Nikolovski, Gjorgji
A1  - Mülhens, Leon
A1  - Reke, Michael
A1  - Ferrein, Alexander
A1  - Scholl, Ingrid
T1  - Towards a lifelong mapping approach using Lanelet 2 for autonomous open-pit mine operations
T2  - 2023 IEEE 19th International Conference on Automation Science and Engineering (CASE)
N2  - Autonomous agents require rich environment models for fulfilling their missions. High-definition maps are a well-established map format which allows for representing semantic information besides the usual geometric information of the environment. These are, for instance, road shapes, road markings, traffic signs or barriers. The geometric resolution of HD maps can be as precise as of centimetre level. In this paper, we report on our approach of using HD maps as a map representation for autonomous load-haul-dump vehicles in open-pit mining operations. As the mine undergoes constant change, we also need to constantly update the map. Therefore, we follow a lifelong mapping approach for updating the HD maps based on camera-based object detection and GPS data. We show our mapping algorithm based on the Lanelet 2 map format and show our integration with the navigation stack of the Robot Operating System. We present experimental results on our lifelong mapping approach from a real open-pit mine.
Y1  - 2023
SN  - 979-8-3503-2069-5 (Online)
SN  - 979-8-3503-2070-1 (Print)
U6  - http://dx.doi.org/10.1109/CASE56687.2023.10260526
N1  - 19th International Conference on Automation Science and Engineering (CASE), 26-30 August 2023, Auckland, New Zealand.
PB  - IEEE
ER  - 
TY  - CHAP
A1  - Neumann, Tobias
A1  - Ferrein, Alexander
A1  - Kallweit, Stephan
A1  - Scholl, Ingrid
T1  - Towards a mobile mapping robot for underground mines
T2  - 7th Conference of Robotics and Mechatronics : RobMech 2014 : 27th and 28th Nov. 2014, Cape Town
Y1  - 2014
SP  - 1
EP  - 6
ER  - 
TY  - JOUR
A1  - Scholl, Ingrid
A1  - Palm, Christoph
A1  - Lehmann, Thomas Martin
A1  - Spitzer, Klaus
T1  - Trennung von diffuser und spiegelnder Reflexion in Farbbildern des Larynx zur Untersuchung von Farb- und Formmerkmalen der Stimmlippen. Palm, Christoph; Scholl, Ingrid; Lehmann, Thomas Martin; Spitzer, Klaus
JF  - Bildverarbeitung für die Medizin
Y1  - 1996
SN  - 3-86073-519-5
SP  - 229
EP  - 234
PB  - Verlag der Augustinus-Buchhandlung
CY  - Aachen
ER  - 
TY  - JOUR
A1  - Scholl, Ingrid
A1  - Sovakar, Abhijit
A1  - Neuschaefer-Rube, C.
A1  - Lehmann, Thomas Martin
T1  - Verfolgung und Analyse von Stimmlippenkonturen in stroboskopischen Videosequenzen. Sovakar, Abhijit; Scholl, Ingrid; Neuschaefer-Rube, C.; Lehmann, Thomas Martin; Spitzer, Klaus
JF  - Bildverarbeitung für die Medizin
Y1  - 1996
SN  - 3-86073-519-5
SP  - 235
EP  - 240
PB  - Verlag der Augustinus-Buchhandlung
CY  - Aachen
ER  -