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Year 2026
 
Issue 5 [10 - 2026], Year XXXV - Early View

Simulation Study and Performance Evaluation of 3D Roadway Mapping Using a Stereo Camera Integrated with a Mobile Robot

https://mij.hoimovietnam.vn/en/archives?article=26052

  • Affiliations:

    Hanoi University of Mining and Geology, 18 Vien Str., Ha Noi, Vietnam

  • *Corresponding:
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  • Received: 15th-June-2026
  • Revised: 17th-July-2026
  • Accepted: 24th-July-2026
  • Online: 1st-Oct-2026
Pages: 49 - 57
Views: 31
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Abstract:

Three-dimensional (3D) mapping of underground mine environments plays a vital role in mine surveying, infrastructure inspection, autonomous navigation, and operational safety. However, conventional 3D mapping systems based on laser scanners (LiDAR) provide high accuracy but are often associated with high investment costs and complex deployment in harsh underground mining conditions. This study presents a simulation-based framework for evaluating a stereo-vision system integrated into an Unmanned Ground Vehicle (UGV) for 3D roadway mapping. The simulation platform was developed using the Robot Operating System (ROS) and Gazebo, incorporating a high-fidelity tunnel model designed in NX software. Stereo image pairs captured by the navigating robot were processed using the Semi-Global Block Matching (SGBM) algorithm to compute disparity maps and generate 3D point clouds, which were then registered into a global map frame. The qualitative experimental results demonstrate that the proposed system successfully reconstructs the overall geometric characteristics of the tunnel vault and floor as accumulated point clouds. Furthermore, a standalone quantitative benchmark indicates that the StereoSGBM algorithm achieves outstanding real-time processing capabilities, comfortably satisfying the minimum real-time frequency requirements for low-speed autonomous mining robots. Finally, the study identifies current technical limitations, such as cumulative drift from raw wheel odometry and point cloud fragmentation on textureless rock surfaces, and outlines future research directions involving Iterative Closest Point (ICP) registration and RTAB-Map SLAM integration to eliminate cumulative drift.

How to Cite
Doan, C.Luan 2026. Simulation Study and Performance Evaluation of 3D Roadway Mapping Using a Stereo Camera Integrated with a Mobile Robot (in Vietnamese). Mining Industry Journal. XXXV, 5 (Oct, 2026), 49-57. .
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