Groundhog knee deep in mine muck.2D mine map produced by Groundhog.3D mine map snapshot produced by Groundhog.Ferret1 deployed into the Mellon Institute void.Second generation Ferret with higher power laser range finder.Ferret2 scan of a limestone mine after a domeout, Kansas City, Kansas.Borehole deployable, inflatable mobile robot concept.
Sebastian's Mine Mapping Page
Site | Maps

The maps produced by Groundhog were generated using CARMEN, a software package which solves the SLAM (Simultaneous Localization and Mapping) problem using a probabalistic approach. Ferret maps were generated using custom software developed specifically for Ferret.

Sebastian's Mine Mapping Page
Images and maps generated by Sebastian and the Learning Lab team.

Powered by Ittrium 3.2Carnegie-Mellon Robotics InstitutePage last updated on Feb 4, 2003