Abstract
The large-sized vehicles which is moving in mining environments have a wide dead angle from the driver, and have potential dangers of derailment, a fall, and a collision due to the viewing situation change in the influence of the weather and/or the night. If the three-dimensional map of the haul road is generated, a dangerous position is able to be judged in advance. In this paper, we describe a method for modeling three dimensional map of haul roads using distance image camera, which can estimate three dimensional camera position and integrate the information of the successive frames.
