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Underground mining robotics has not enjoyed the same technology advances as above-ground mining. This paper examines sensing technologies that could enable the development of underground autonomous vehicles. Specifically, the authors explore a combination of Three-Dimensional (3D) cameras (SR 4000 and XBOX Kinect) and a thermal imaging sensor (FLIR A300) in order to create 3D thermal models of narrow mining stopes. This information can be used in determining the risk of rock fall in an underground mine, which is a major cause of fatalities in underground narrow-reef mining.
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