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Method and apparatus for producing 3D model of an underground environment

  • US 8,031,909 B2
  • Filed: 12/18/2009
  • Issued: 10/04/2011
  • Est. Priority Date: 02/11/2005
  • Status: Active Grant
First Claim
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1. A method of producing a three-dimensional (3D) model of an underground environment, comprising the steps of:

  • a) acquiring 3D information of an underground environment from at least one range sensing device;

    b) producing a 3D model of the underground environment from the acquired 3D information suitable for visualization, analysis or post-processing;

    c) locating the range sensing device by back-sighting to at least two existing survey stations located in the underground environment using a second range sensing device in a fixed relationship to said first range sensing device; and

    d) based on the position information from step c, transforming the 3D model of the underground mine to a map of the underground environment in a coordinate frame of reference of the underground environment.

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