TY - CHAP A1 - Koch, Philipp A1 - Engelhardt, Helmut A1 - May, Stefan A1 - Schmidpeter, Michael A1 - Ziegler, Jasmin A1 - Nüchter, Andreas T1 - Signed Distance Based Reconstruction for Exploration and Change Detection in Underground Mining Disaster Prevention T2 - 2020 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR) N2 - This publication describes an application of a Truncated Signed Distance Mapping approach for disaster intervention in underground mine shafts through geometrical change detection of the shaft walls. The paper describes two main problems of such an approach (aligning two potentially huge point clouds and automatic change detection by comparing the reconstructed volumes) and explains in detail the proposed solution. KW - signed distance KW - stereo camera KW - underground mining KW - change detection Y1 - 2020 U6 - https://doi.org/10.1109/SSRR50563.2020.9292618 SP - 360 EP - 365 PB - IEEE ER -