A review of laser scanning for geological and geotechnical applications in underground mining

Laser scanning can provide timely assessments of mine sites despite adverse challenges in the operational environment. Although there are several published articles on laser scanning, there is a need to review them in the context of underground mining applications. To this end, a holistic review of laser scanning is presented including progress in 3D scanning systems, data capture/processing techniques and primary applications in underground mines. Laser scanning technology has advanced significantly in terms of mobility and mapping, but there are constraints in coherent and consistent data collection at certain mines due to feature deficiency, dynamics, and environmental influences such as dust and water. Studies suggest that laser scanning has matured over the years for change detection, clearance measurements and structure mapping applications. However, there is scope for improvements in lithology identification, surface parameter measurements, logistic tracking and autonomous navigation. Laser scanning has the potential to provide real-time solutions but the lack of infrastructure in underground mines for data transfer, geodetic networking and processing capacity remain limiting factors. Nevertheless, laser scanners are becoming an integral part of mine automation thanks to their affordability, accuracy and mobility, which should support their widespread usage in years to come

Rock fractures analysis using Structure from Motion technology: new insight from Digital Outcrop Models

Fractures are one of the most important features of the rocks of the upper crust since they strongly influence their physical and chemical behavior and reflect their tectonic history. For this reason, fracture study plays a key role in different branches of the geosciences. Notwithstanding, the quantification of the features and parameters describing fractures could be unsatisfactory using the standard field techniques because they are mainly based on direct-contact methodologies that are affected by errors, as orientation bias and trace censoring, and scarce representativeness, due to the limited possibility of acquiring information of outcrops partially or totally inaccessible. Recently new remote sensing technologies, such as Terrestrial Laser Scanner (TLS) and Digital Photogrammetry (DP), can help to overcome these limitations. Whereas TLS could be very expensive and difficult to use in geological study, DP permits to obtain similar results in an easier way due to cheaper and lighter equipment and more straightforward procedures. Moreover, DP becomes even more useful when combined with Unmanned Aerial Vehicle (UAV) because permits to acquire digital images from positions inaccessible to humans, allowing to analyze geological objects from points of view previously unimaginable. The images acquired from the ground and/or by the UAV can be then processed using different digital algorithms, such as Structure from Motion (SfM), that permit to create 3D model of the studied outcrop. In geosciences, the 3D model representing the surface of the outcrop is often called Digital Outcrop Model (DOM). Despite DOMs can be really useful in different branches of geosciences, their applications are quite well limited because the procedures of their development and sampling/analysis are scarcely analyzed in literature. It is important to highlight that whereas the UAV-based SfM approach is fairly discussed in literature for simple flat areas, is scarcely treated for application to near vertical and not-planar slopes. Moreover, the validity of some procedures of fracture sampling on 3D model, with special regards to the automatic ones, that have been recently presented in literature, is not well treated for real cases of study. The scarce knowledge about these approaches could cause different troubles to the scientific-users: from the application of avoidable time-consuming routine, to the acquisition and interpretation of erroneous data. This research aims to contribute to the scientific knowledge of the use of digital photogrammetry for fractured rock mass analysis, creating and defining new approaches and procedures for the development, analysis and application of DOMs. Here, a workflow for the fracture analysis of steep rocky outcrops and slopes using the 3D DOM is presented. In particular, the following steps are discussed: (i) image acquisition; (ii) development of 3D model; (iii) sampling of DOM; (iv) quantification and parametrization of the 3D measures; (v) application of the 3D quantitative data and parameters to different case of study. Four different cases of study were selected to validate the proposed method: the upper Staffora Valley and Ponte Organasco (Northern Apennines, Italy), Ormea (Ligurian Alps, Italy), and Gallivaggio (Western Alps, Italy) cases of study. However, this methodology could not completely replace the 'direct-contact' field activity, because some information as roughness, infilling and aperture of fractures cannot be measured satisfactory, and because, where possible, field control measures to validate the 3D data are necessary. However, this methodology could be considered as a new necessary procedure for rock-fracture studies because it allows to overcome the inevitable errors of the ground-based traditional methodology and because the DOMs are always available for the analysis, promoting data sharing and comparison, two fundamental principles on which science have and will have to be basedFractures are one of the most important features of the rocks of the upper crust since they strongly influence their physical and chemical behavior and reflect their tectonic history. For this reason, fracture study plays a key role in different branches of the geosciences. Notwithstanding, the quantification of the features and parameters describing fractures could be unsatisfactory using the standard field techniques because they are mainly based on direct-contact methodologies that are affected by errors, as orientation bias and trace censoring, and scarce representativeness, due to the limited possibility of acquiring information of outcrops partially or totally inaccessible. Recently new remote sensing technologies, such as Terrestrial Laser Scanner (TLS) and Digital Photogrammetry (DP), can help to overcome these limitations. Whereas TLS could be very expensive and difficult to use in geological study, DP permits to obtain similar results in an easier way due to cheaper and lighter equipment and more straightforward procedures. Moreover, DP becomes even more useful when combined with Unmanned Aerial Vehicle (UAV) because permits to acquire digital images from positions inaccessible to humans, allowing to analyze geological objects from points of view previously unimaginable. The images acquired from the ground and/or by the UAV can be then processed using different digital algorithms, such as Structure from Motion (SfM), that permit to create 3D model of the studied outcrop. In geosciences, the 3D model representing the surface of the outcrop is often called Digital Outcrop Model (DOM). Despite DOMs can be really useful in different branches of geosciences, their applications are quite well limited because the procedures of their development and sampling/analysis are scarcely analyzed in literature. It is important to highlight that whereas the UAV-based SfM approach is fairly discussed in literature for simple flat areas, is scarcely treated for application to near vertical and not-planar slopes. Moreover, the validity of some procedures of fracture sampling on 3D model, with special regards to the automatic ones, that have been recently presented in literature, is not well treated for real cases of study. The scarce knowledge about these approaches could cause different troubles to the scientific-users: from the application of avoidable time-consuming routine, to the acquisition and interpretation of erroneous data. This research aims to contribute to the scientific knowledge of the use of digital photogrammetry for fractured rock mass analysis, creating and defining new approaches and procedures for the development, analysis and application of DOMs. Here, a workflow for the fracture analysis of steep rocky outcrops and slopes using the 3D DOM is presented. In particular, the following steps are discussed: (i) image acquisition; (ii) development of 3D model; (iii) sampling of DOM; (iv) quantification and parametrization of the 3D measures; (v) application of the 3D quantitative data and parameters to different case of study. Four different cases of study were selected to validate the proposed method: the upper Staffora Valley and Ponte Organasco (Northern Apennines, Italy), Ormea (Ligurian Alps, Italy), and Gallivaggio (Western Alps, Italy) cases of study. However, this methodology could not completely replace the 'direct-contact' field activity, because some information as roughness, infilling and aperture of fractures cannot be measured satisfactory, and because, where possible, field control measures to validate the 3D data are necessary. However, this methodology could be considered as a new necessary procedure for rock-fracture studies because it allows to overcome the inevitable errors of the ground-based traditional methodology and because the DOMs are always available for the analysis, promoting data sharing and comparison, two fundamental principles on which science have and will have to be base

Detection and geometric characterization of rock mass discontinuities using a 3D high-resolution digital outcrop model generated from RPAS imagery – Ormea rock slope, Italy

Abstract The use of a remotely piloted aircraft system (RPAS) and digital photogrammetry is valuable for the detection of discontinuities in areas where field mapping and terrestrial photogrammetry or laser scanner surveys cannot be employed because the slope is unsafe, inaccessible, or characterized by a complex geometry with areas not visible from the ground. Using the Structure-from-Motion method, the acquired images can be used to create a 3D texturized digital outcrop model (TDOM) and a detailed point cloud representing the rock outcrop. Discontinuity orientations in a complex rock outcrop in Italy were mapped in the field using a geological compass and by manual and automated techniques using a TDOM and point cloud generated from RPAS imagery. There was a good agreement between the field measurements and manual mapping in the TDOM. Semi-automated discontinuity mapping using the point cloud was performed using the DSE, qFacet FM, and qFacet KD-tree methods applied to the same 3D model. Significant discrepancies were found between the semi-automatic and manual methods. In particular, the automatic methods did not adequately detect discontinuities that are perpendicular to the slope face (bedding planes in the case study). These differences in detection of discontinuities can adversely influence the kinematic analysis of potential rock slope failure mechanisms. We use the case study to demonstrate a workflow that can accurately map discontinuities with results comparable to field measurements. The combined use of TDOM and RPAS dramatically increases the discontinuity data because RPAS can supply a good coverage of inaccessible or hidden portions of the slope and TDOM is a powerful representation of the reality that can be used to map discontinuity orientations including those that are oriented perpendicular to the slope

Surface expressions of discontinuities, and the estimation of their 3-D orientations using combined LiDAR and optical imaging

The importance of the collection and analysis of data on discontinuities cannot be overemphasized. Problems which include sampling difficulties, risks, limited access to rock faces and exposures, and the delay in data collection has led to a high need for data collection tools and analysis techniques that can overcome these problems. Discontinuities manifest themselves as either traces or as facets. Traces are linear features that intersect with both the discontinuity and the rock cut. Facets are the actual discontinuity surfaces that are exposed in the rock cut. Facets can be natural or induced. Identifying a facet as either natural or induced can sometimes be very difficult and can affect analytical results. The orientation of facets can be estimated from LiDAR point cloud. The orientation of traces can be estimated from optical imaging methods. LiDAR scanning alone cannot measure traces, neither can optical imaging methods measure facets. This is complicated by the fact that both facets and \u27traces\u27 are often present in the same rock cut, making the selection of an appropriate methodology or tool very difficult if not impossible. The set of traces in a rock mass usually belong to a set of facets of the same rock mass. These set of traces and facets can be combined either by the use of stereonets or by the equation of the angle between two lines. This research has provided a simple method by which the orientation of facets can be estimated from LiDAR point cloud. It has also provided a simple method by which the orientation of traces could be estimated from 2-D images. Additionally, this research has provided a reasonable way by which professionals could differentiate between traces, natural, and induced facets. Finally, this research has provided a methodology by which traces from optical images can be combined to facets from point cloud data --Abstract, page iii

Visual Techniques for Geological Fieldwork Using Mobile Devices

Visual techniques in general and 3D visualisation in particular have seen considerable adoption within the last 30 years in the geosciences and geology. Techniques such as volume visualisation, for analysing subsurface processes, and photo-coloured LiDAR point-based rendering, to digitally explore rock exposures at the earth’s surface, were applied within geology as one of the first adopting branches of science. A large amount of digital, geological surface- and volume data is nowadays available to desktop-based workflows for geological applications such as hydrocarbon reservoir exploration, groundwater modelling, CO2 sequestration and, in the future, geothermal energy planning. On the other hand, the analysis and data collection during fieldwork has yet to embrace this ”digital revolution”: sedimentary logs, geological maps and stratigraphic sketches are still captured in each geologist’s individual fieldbook, and physical rocks samples are still transported to the lab for subsequent analysis. Is this still necessary, or are there extended digital means of data collection and exploration in the field ? Are modern digital interpretation techniques accurate and intuitive enough to relevantly support fieldwork in geology and other geoscience disciplines ? This dissertation aims to address these questions and, by doing so, close the technological gap between geological fieldwork and office workflows in geology. The emergence of mobile devices and their vast array of physical sensors, combined with touch-based user interfaces, high-resolution screens and digital cameras provide a possible digital platform that can be used by field geologists. Their ubiquitous availability increases the chances to adopt digital workflows in the field without additional, expensive equipment. The use of 3D data on mobile devices in the field is furthered by the availability of 3D digital outcrop models and the increasing ease of their acquisition. This dissertation assesses the prospects of adopting 3D visual techniques and mobile devices within field geology. The research of this dissertation uses previously acquired and processed digital outcrop models in the form of textured surfaces from optical remote sensing and photogrammetry. The scientific papers in this thesis present visual techniques and algorithms to map outcrop photographs in the field directly onto the surface models. Automatic mapping allows the projection of photo interpretations of stratigraphy and sedimentary facies on the 3D textured surface while providing the domain expert with simple-touse, intuitive tools for the photo interpretation itself. The developed visual approach, combining insight from all across the computer sciences dealing with visual information, merits into the mobile device Geological Registration and Interpretation Toolset (GRIT) app, which is assessed on an outcrop analogue study of the Saltwick Formation exposed at Whitby, North Yorkshire, UK. Although being applicable to a diversity of study scenarios within petroleum geology and the geosciences, the particular target application of the visual techniques is to easily provide field-based outcrop interpretations for subsequent construction of training images for multiple point statistics reservoir modelling, as envisaged within the VOM2MPS project. Despite the success and applicability of the visual approach, numerous drawbacks and probable future extensions are discussed in the thesis based on the conducted studies. Apart from elaborating on more obvious limitations originating from the use of mobile devices and their limited computing capabilities and sensor accuracies, a major contribution of this thesis is the careful analysis of conceptual drawbacks of established procedures in modelling, representing, constructing and disseminating the available surface geometry. A more mathematically-accurate geometric description of the underlying algebraic surfaces yields improvements and future applications unaddressed within the literature of geology and the computational geosciences to this date. Also, future extensions to the visual techniques proposed in this thesis allow for expanded analysis, 3D exploration and improved geological subsurface modelling in general.publishedVersio

Automatic morphologic analysis of quasi-periodic masonry walls from LiDAR

This article presents a novel segmentation algorithm that allows the automatic segmentation of masonry blocks from a 3D point cloud acquired with LiDAR technology, for both stationary and mobile devices. The point cloud segmentation algorithm is based on a 2.5D approach that creates images based on the intensity attribute of LiDAR systems. Image processing algorithms based on an improvement of the marked-controlled watershed was successfully used to produce the automatic segmentation of the point cloud in the 3D space isolating each individual stone block. Finally, morphologic analysis in two case studies has been carried out. The morphologic analysis provides information about the assemblage of masonry pieces which is valuable for the structural evaluation of masonry buildings.This work has been partially supported by the Spanish Ministry of Economy and Competitiveness (Ref.: TIN201346801-C4-4-R) and by Xunta de Galicia (Grant No. CN2012/269 and Grant No. EM2013/005). Authors want to give thanks to the reviewers for their constructive comments that contributed to improve both the method and the presentation of results

Control of natural fractures in historical quarries via 3D point cloud analysis

This paper applies remote sensing techniques and 3D point cloud (3DPC) analysis to the study of historical quarries and the relationship between old quarry landscapes and the natural fracture systems of rock massifs. Ancient quarry landscapes present particular characteristics and different features from those of modern quarries. Consequently, specific considerations are needed when historical extractive places are studied. The proposed method is based on terrestrial 3D laser scanners and the structure from motion technique with remotely piloted aircraft systems. Additional specific fieldwork is required to identify and characterise quarry faces from old, blurry outcrops. A case study of the 18th century “Rambla Honda” quarries in La Romana (Alicante, SE Spain) is presented. The comparison between the fieldwork and 3DPC analysis enables the numbers and orientations of both (1) the discontinuity sets within the rock mass facilitating extraction and (2) the planes resulting from block extraction (traditional quarry faces) to be determined. The comparative analysis reveals how the stonecutters managed the extraction. The results show that structural and stratigraphic discontinuities act as planes of weakness for block extraction and determine the optimum orientation of the quarry face for minimising efforts and rock waste. The final quarry landscape is formed from the superposition of natural and artificial surfaces, but currently they appear eroded and partially covered by silting and plants. The proposed methodology contributes to distinguishing both natural and artificial discontinuities and to achieving a comprehensive knowledge of these cultural places.This research was funded by the Spanish Ministry of Economy and Competitiveness (MINECO) and EU FEDER under Project TEC2017-85244-C2-1-P, the University of Alicante (Vigrob-157 and GRE18-15), and the Spanish Ministry of Science and Innovation (Grants PID2020-116896RB-C21 and PID2020-116896RB-C22 funded by MCIN/AEI/10.13039/501100011033)