1. Subterranean Sensing Research Overview 1

2. CMU Field Robotics Center Ultra-high density autonomous underground survey with FMCW Lidar on CaveCrawler robot Reconnaissance Automated Modeling

3. CMU Field Robotics Center Reconnaissance Automated Modeling

4. CMU Field Robotics Center Multi-Sensor Perception Super-Resolution Fusion Detail of rock wall, airflow curtain and roof supports in a mine.

5. CMU Field Robotics Center Visualization and Virtualization (Left) Point Rendering techniques produce solid appearance from dense point measurements using GPU acceleration. Scene of a mine corridor, 4 million points. (Bottom) Non-Photorealistic Rendering with exaggerated reflectance models enhances viewer understanding of scene geometry. Mine wall and ceiling detail, 300k polygons.

6. CMU Field Robotics Center Multispectral Imaging 1 2 3 4 1. Near Infrared, 2. Infrared (Thermal), 3. Rectilinear color, 4. Fisheye Color, images in Walker’s Mill cave.

7. CMU Field Robotics Center Imaging in Darkness (Left) Long range borehole panoramic imager with intelligent illumination (Right) Structured Light geometry scanner projecting a beam pattern

8. CMU Field Robotics Center Imaging in Darkness Panorama stitching from multiple views Fusion of multiple exposures for optimal clarity warp align 1 2 blend Fisheye projection of potash mine panorama

9. CMU Field Robotics Center Calibration and Characterization Radiometric and Colorimetric Geometric

10. Stereo Vision Phase Shift Lidar Flash Lidar MMW Radar Structured Light Long Range Time of Flight Lidar Short Range Time-of-Flight Lidar Range Sensors CMU Field Robotics Center

11. Digital SLRs Bridge Cameras Near IR/LowLight Industrial/MV Security/IP Thermal/IR CMU Field Robotics Center Imaging Sensors