{"paper":{"title":"LookUP: Vision-Only Real-Time Precise Underground Localisation for Autonomous Mining Vehicles","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Adam Jacobson, David Smith, Fan Zeng, Michael Milford, Nigel Boswell, Thierry Peynot","submitted_at":"2019-03-20T02:00:53Z","abstract_excerpt":"A key capability for autonomous underground mining vehicles is real-time accurate localisation. While significant progress has been made, currently deployed systems have several limitations ranging from dependence on costly additional infrastructure to failure of both visual and range sensor-based techniques in highly aliased or visually challenging environments. In our previous work, we presented a lightweight coarse vision-based localisation system that could map and then localise to within a few metres in an underground mining environment. However, this level of precision is insufficient fo"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1903.08313","kind":"arxiv","version":2},"verdict":{"id":null,"model_set":{},"created_at":null,"strongest_claim":"","one_line_summary":"","pipeline_version":null,"weakest_assumption":"","pith_extraction_headline":""},"references":{"count":0,"sample":[],"resolved_work":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57","internal_anchors":0},"formal_canon":{"evidence_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"author_claims":{"count":0,"strong_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"builder_version":"pith-number-builder-2026-05-17-v1"}