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By CIM Environmental, Social Responsibility Society

Within the mining industry, the pathway from exploration, to planning, construction, operation and closure has become more complex over the last few decades. The current financial, environmental and social influences present the mining industry with unprecedented challenges and opportunities. In addition, international environmental and social reporting standards and codes are becoming increasingly robust. The reporting requirements provide an added impetus for issuers to effectively manage environmental and social impacts and risks. Reporting requirements also provide the opportunity to be transparent. The intended audience for these Environmental, Social and Governance (ESG) Guidelines for Mineral Resource and Mineral Reserve Estimation includes practitioners, industry participants at all levels of skill and experience, corporate management and board members, government agencies, academic institutions and interested parties. For practitioners, this document provides underlying key principles of environmental, social and governance practices. The ESG Guidelines provide guidance for those using environmental, social, governmental and governance information when preparing and implementing mineral exploration programs and contributing to the preparation of mineral resource and mineral reserve estimates for mineral properties that are either at the study stage (i.e., scoping / preliminary economic assessment, pre-feasibility, or feasibility studies) or in operation. The guidelines can also be used to help mineral resource and mining companies apply good practice to manage their environmental and social risks and opportunities. Companies can identify and retain appropriate professionals to prepare environmental and social materials to support company studies. The guidelines are also a resource for companies developing effective environmental and social management strategies at any project stage. This document is not intended to be prescriptive and is not intended to provide exhaustive guidance on what to consider in terms of environmental, social, legal and governmental modifying factors in the preparation of MRMR estimates. Rather, it is intended as general guidance to assist companies and practitioners in considering and applying these modifying factors for MRMR estimates. This document is also not intended to guide environmental and social impact assessment (ESIA); however, the measures needed to manage impacts help inform the constraints and costs for defining mineral resources and mineral reserves and inform the costs and schedules of mineral project studies. All documentation of MRMR estimates made by an issuer and intended to be, or reasonably likely to be, made available to the public in a jurisdiction of Canada must comply with the requirements of National Instrument 43-101 Standards of Disclosure for Mineral Projects (NI 43-101), as amended from time to time (Canadian Securities Administrators, 2016a and 2016b). Disclosure is not addressed in these ESG Guidelines. Determination of what to include in disclosures is defined in the applicable Securities’ legal frameworks. Appendix A presents a summary table showing the linkage of the principles and topics in these ESG Guidelines to the potential effects on project costs, schedules, government permits and approvals, social licence to operate and financing.

Sep 8, 2023

By Xianyang Qiu, Xiuzhi Shi, Chen Xie, Xiaofeng Huo, Yanhai Wang

In upwards medium-deep hole cut blasting, many confinement effects exist due to the small number of free surfaces, which is mainly provided by an empty hole. If the cut blasting effect cannot meet expectations, then subsequent blasting construction will be seriously affected, and large security risks to operators in the stope can be induced. The number of free surfaces is directly related to the layout of the cutting borehole. Therefore, it is necessary to optimize the layout of the first round of cutting boreholes. Theoretical analysis, numerical simulations, and field tests were used to study the formation process of cut blasting and optimize the layout of the first round of cutting boreholes. Based on the blasting parameters in the field, LSDYNA software was used to establish cut blasting models with four kinds of borehole layouts in the first round. The RHT constitutive model was used to simulate the rock-breaking effect. The numerical results show that the cut blasting effect is optimal when Nos. 3, 5, 7, and 9 are charge holes and Nos. 1, 2, 4, 6, and 8 are empty holes. In addition, the greater the number of empty holes, the larger the release space and the better the cut blasting effect. The uniformity of the empty hole distribution, namely, the uniformity of the release space, also affects the cut blasting effect. The field results indicate that a good cut blasting effect can be achieved by optimizing the borehole layout.

Sep 7, 2023

By W. C. Joughin

The science of soil mechanics is 100 years old, and rock mechanics is about 80 years old. While methods of analysis and design have been developed and have evolved over time, these are relatively young sciences. The rapid increases in computing power and new technologies have enabled more sophisticated modelling and monitoring. However, there are still many aspects of soil and rock mechanics that are not well understood. Geotechnical failures, which have major consequences, still occur. These consequences may include environmental damage, major production holdups and associated loss of revenue, damage to infrastructure, and loss of life. High-consequence events, which are rare, are more difficult to anticipate and to design for, because by their nature they involve extraordinary circumstances or conditions, often geological in nature. The risks are usually mitigated by conservative designs and monitoring. Detailed geotechnical investigations help us to understand the natural variability of soil and rock masses and identify unusual or unexpected conditions. Investigating and researching major geotechnical failures is essential to enable these unusual circumstances to be anticipated. In the past, severe unanticipated events may have been treated as natural events or ‘acts of God’. However, society now has much greater expectations and it is essential to have policies and procedures in place that enable appropriate management of these rare, high-consequence risks. A good example is the Global Industry Standard on Tailings Management (GISTM), which was introduced after the catastrophic dam collapse at Vale’s Corrego de Feijao mine in Brumadinho, Brazil. The address will explain the concepts of uncertainty and variability, and how they should be taken into account in geotechnical design. The challenges facing geotechnical engineers, mine owners, and managers will be discussed. referencing a number of real case studies.

Sep 6, 2023

By C. M. D. Majola, K. E. Langerman

Energy efficiency is a cost-effective way of both bolstering energy security and limiting the harmful effects of energy use on the environment. Mining is an inherently energy-intensive activity, and the 2008 revision of South Africa’s National Energy Efficiency Strategy (NEES) set a target of a 10% reduction in energy consumption by 2015 for the mining sector. In this study, we investigate the effectiveness of the NEES in improving energy efficiency in the South African coal mining sector by surveying energy intensity at a number of operations, and analysing energy efficiency trends and energy use by process and energy carrier at an underground coal mine in Mpumalanga. Most mines surveyed exhibit an increase in energy intensity over time. At the case study mine, the increase was primarily due to increased energy use in the beneficiation and discard reclaiming processes. Trends in energy consumption are a poor reflection of trends in energy intensity, as a decline in energy consumption is most easily achieved by reducing production. A more appropriate metric for energy efficiency at coal mines is energy intensity, defined as energy use per unit of saleable product, relative to a multi-year baseline. The evidence suggests that the NEES has been ineffective in promoting energy efficiency in South African coal mines. We propose that greater success could be achieved by monitoring and reporting on energy intensity at the process level, and by incentivizing energy efficiency gains.

Sep 6, 2023

By T. Uysal

Various morphological parameters that affect the flotation recovery of sphalerite were modelled and optimized using the response surface method (RSM). The effects of roughness value, shape factor, and collector concentration were investigated using the central composite full design method. The results were evaluated by analysis of variance. The optimum roughening time was found to be 25minutes, the optimum roughness value was 2.9071 μm, and the optimum collector concentrationwas 0.001 M. Using these values, a flotation recovery of 98.01% was obtained. Similarly, in shapefactor studies, the optimum grinding time was 15 seconds, the optimum roundness value 0.7421, and the optimum collector concentration 0.0009 M, which resulted in a flotation recovery of 94.30%. The average error between the optimization results and the experimental results was estimated to be less than 6%, and the R2 values were greater than 90%. The study shows that RSM can be effectively applied in finding the economic optimum condition for obtaining maximum flotation recovery with minimum reagent consumption.

Sep 6, 2023

By K. E. H. K. Ishak, S. R. M. Zan

Cement production requires significant energy, and entails high costs and CO2 emissions. This is because the clinker requires very fine grinding. Grinding aids can improve production and fineness and decrease energy consumption by reducing the agglomeration of particles and protecting the balls and liners in the mill. In this study we compare the effects of three different grinding aids on clinker grinding using a ball mill. A commercial grinding additive, triethanolamine (TEA), and two industrial grinding aids (GAA079 and GAA088) were compared by ball milling tests, with additions of 0.05, 0.25, 0.50 and 1.00 wt%. The industrial grinding aids were characterized using gas chromatography-mass spectrometry (GC-MS). Particle size and morphological analyses were performed using SEM and XRD. The best results were obtained with 0.25% GAA088, which has a higher active component of diethanolamine isopropanolamine (DEIPA) than TEA. The unique combination of TEA and DEIPA in GAA088 enhances grinding efficiency and significantly improves the particle size distribution compared to TEA alone.. The grinding aids produced smooth rounded particles, which have a smaller specific surface area, enhancing the quality of the cement. XRD showed no significant structural distortion with or without grinding aids, and it was also found that the grinding aids helped decrease ball coating during grinding. The use of grinding aids can significantly improve clinker production and fineness while decreasing energy consumption, which can help reduce the costs and CO2 emissions associated with cement production.

Sep 6, 2023

By I. Ince, S. Kahraman

Preparation of suitable core specimens for physico-mechanical testing s not always possible, particularly for soft and clay-bearing rocks. Although several indirect test methods have been proposed to predict the properties of rocks, specimen preparation from soft rocks for some indirect tests is still difficult. For such cases, the needle penetration test has been developed. In this paper we present a study on the predictability of the physico-mechanical properties of pyroclastic rocks from the needle penetration index (NPI). The NPI, uniaxial compressive strength (UCS), Brazilian tensile strength (BTS), density, and porosity tests were performed in the laboratory on specimens from ten different locations in Turkey. Correlations were established between the NPI values and the physico-mechanical properties. Strong correlations were observed between NPI and both UCS and BTS. General correlations were found between NPI and both density and porosity.

Sep 6, 2023

By Andrea Brickey, RICHARD AMOAKO, Akshay Chowdu

Production forecasts derived from the medium-term schedule represent the best path forward for underground mining operations to achieve corporate and operational goals. Unforeseen circumstances, such as equipment breakdown, can cause significant deviations from established production forecasts in the short term. Such situations require timely mitigation of the effects of the deviations in order to stay as close as possible to the medium-term plan. This paper presents a deterministic mathematical formulation for short-term scheduling that addresses this challenge. The formulation is able to make up for deficits resulting from operational disruptions by minimizing deviations from medium-term production goals and mediumterm activity start dates. We demonstrate this in a case study by simulating disruptions involving reduction in ore extraction capacity and development advance rate. Aside from the rescheduling capability, this formulation can help mine planners conduct analysis on the impact of various disruptions on the schedule. The formulation can help identify those conditions or disruptions that are more detrimental to the achievement of forecast targets, or otherwise. The formulation also affords mine planners the flexibility to prioritize one production goal over the other, depending on operational conditions at the mine. In the future, we seek to incorporate in the formulation respirable dust, diesel particulate matter, and ventilation constraints in order to create more realistic schedules and enhance miners’ health and safety.

Sep 6, 2023

By Derrick Dasenbrock

Two DFI committees independently organized two complimentary panel sessions for the recent American Society of Civil Engineers' (ASCE) Geo- Risk 2023 "Advances in Theory and Innovation in Practice" Conference in Arlington, Virginia, July 23-26. The Geo- Institute (GI) specialty conference welcomed more than 200 professionals and students interested in risk from around the world to the Washington, D.C., area for three full days of plenary keynote lectures, papers and no-paper sessions. The GI Risk Assessment and Management Technical Committee organized the event, which is the third in a series planned on a 6-year cycle. The previous two events were in 2011 in Atlanta and 2017 in Denver.

Sep 1, 2023

By Yongheng Jiang, Wentong Wang, Haoming Luo, Chuanju Liu, Qianjun Zhang, Sha Guo

Rock burst has always been a major problem in deep underground engineering with high stress, and rock burst strength evaluation has become an important research topic. To effectively predict the rock burst hazard in underground rock mass engineering, a cloud model (CM) rock burst intensity evaluation method based on the CRITIC method and order relation analysis method (G1) was proposed in this paper. First, a rock’s uniaxial compressive strength σc, tangential stress σθ, uniaxial tensile strength σt, ratio of uniaxial compressive strength to tensile strength σc/σt (brittleness coefficient), ratio of tangential stress to uniaxial compressive strength σθ/σc (stress coefficient), elastic deformation energy index Wet, and depth of cover H were selected as evaluation indices of rock burst intensity. Ninety-five groups of rock burst measured data at home and abroad were selected, and the objective weight and subjective weight of each index were calculated by using the CRITIC method and G1 method, respectively. The comprehensive weight was determined according to the combined weighting method of game theory, and the sensitivity of each evaluation index was analyzed. By utilizing a forward cloud generator, the membership degrees of different rock burst grades were calculated, and then the rock burst intensity grades of the samples were evaluated and compared with the evaluation results of the CRITIC-CM method and G1-CM method and the actual grades. Finally, the rock burst classification ability of the model was analyzed. To better verify the accuracy and reliability of this model, the rock burst case of the W39 line in the Chengchao Iron Mine was analyzed by using this model. The research results show that the rock burst evaluation results based on CRITIC-G1-CM are basically consistent with the actual rock burst grade, and the rock burst intensity grade evaluation model has good practicability and reliability.

Sep 1, 2023

By Amar Prakash, V. M. S. R. Murthy, Ajoy Kumar Singh, Avinash Paul, John Loui Porathur

Weak, layered, and fragile rock mass formation, if not supported properly, is subject to roof failure thereby affecting safety and productivity in underground coal mines. Though Central Mining Research Institute – Indian School of Mines Rock Mass Rating (CMRI-ISM RMR) based well-defined support design guidelines are established, still occurrence of roof failures in underground coal mines is a real matter of concern for mining engineers and researchers. Numerical modeling techniques are successfully used by several researchers by simulating rock mass condition for stability assessment of mine openings. The analysis becomes crucial in case of weak and fragile rock formation. The present research envelops the determination of 31 cases of rock load by CMRI-ISM RMR under different geo-mining conditions followed by the development of modified Rock Mass Rating (RMR), i.e., rock mass rating dynamic ( RMRdyn) by incorporating P-wave velocity as a new parameter. The rock load determined using RMRdyn and numerical models was correlated and found in close agreement. In addition, the deviation in rock load determined by all the three approaches, i.e., CMRI-ISM RMR, numerical modeling, and RMRdyn, was compared with the actual field data. The percentage deviation obtained in RMRdyn and numerical modeling is less compared to CMRI-ISM RMR.

Sep 1, 2023

By Andres Salazar, Carlos Delgado Robles, Richard K. Preece

Minera Escondida, located in the Antofagasta Region of northern Chile, is the world’s largest producer of copper as concentrate and SX-EW cathode. Projects to increase mill and flotation capacity began soon after start-up in 1990 to off-set decreasing copper grade. Subsequent projects had the objective to increase copper production through heap leach and SX-EW production and a second concentrator. The mine footprint concurrently expanded peripherally from the central high-grade enriched core of Escondida and then into the separate Escondida Norte deposit. Early in the mine life, metallurgical forecasting that was based on metallurgical composites of presumed ore types and historical plant production was adequate for operational planning, plant design, and project valuation. This approach became unreliable, however, as the increase in mine footprint was accompanied by an increased variability in key ore body characteristics such as hardness, copper-iron sulfide mineralogy, and sulfide liberation textures that were not reflected in the geological criteria used for ore type designation. The project study teams turned to small-scale physical and chemical tests to better characterize the spatial distribution of these key ore characteristics. Programs associated with capital growth projects were carried out through the mid-2000s to sample and construct a three-dimensional spatial model of hardness, copper sulfide mineralogy, and rougher flotation recovery from tests on 15-m drill core composites. Mathematical models were developed from the respective ore characteristic data to calculate throughput, flotation recovery, and concentrate copper grade. The spatial models were integrated with the concurrent mineral resource block model using standard geostatistical methods and the metallurgical process calculations were applied to the block estimates. The geometallurgical model, originally constructed on a project basis, is now managed by a dedicated team reporting to the manager of Geosciences & Resources Definition in the Escondida organization. The model has evolved with increasing complexity of the mine and processing plants and currently includes seven forecasting areas for three concentrators and four areas for two leach plants. Metallurgical forecasts of mill throughput, final flotation recovery, and concentrate copper grade still have the highest relevance to mine planning and optimization. Sample preparation, test procedures, and quality control methods are summarized for the ore characteristic tests important to these forecasts. Analytical results from recent annual sampling programs are presented for the hardness indices, rougher flotation recovery, and partial extraction copper analyses. Geostatistical analysis of the SAG mill hardness index is summarized as an example for the spatial estimation process. Mathematic models are presented for throughput (based on hardness indices), final flotation recovery (based on rougher recovery and plant calibration studies), and concentrate copper grade (based on sulfide mineralogy and empirical pyrite rejection studies).

Aug 31, 2023

By Jiayao Wang, Jian Chen, Leiting Shen, Hongyang Wang, Zeping Cao, Ziru Wang

Large amounts of by-products, including coal gangue, circulating fluidized bed (CFB) slag, and coal fly ash (CFA), are generated during mining, washing and burning of high alumina coal (HAC). The stockpile of these by-products of HAC will cause the pollution of air, water and soil. Meanwhile, the unbalanced regional distribution of bauxite and alumina production has been a critical challenge for the sustainability of world alumina refineries, especially for China. Therefore, economical extraction of alumina from by-products of HAC not only resolves the environmental pollution problems caused by stockpile but also decreases the dependence degree of import bauxite in China. Considering the fact that powder alumina can only be produced by alkali methods, the alkali extraction of alumina from by-products of HAC is summarized in this paper. Based on the formation process of by-products of HAC, the principle, research status, and problem of existing methods were analyzed and discussed, as well as the forecast of research trend. The analyses indicate that simplex recovery of alumina from byproducts of HAC generates large amounts of leaching residue (red mud) with difficulty for disposing, while comprehensive extraction of alumina and silica meets the research trend for clean and high-value utilization.

Aug 25, 2023

By Shilpa S. Haramkar, Bhaskar N. Thorat, Sachin V. Jadhav

The filtration of phosphogypsum is a ubiquitous step in the manufacturing of phosphoric acid. It is highly desired to achieve the minimum concentration of P2O5 in the phosphogypsum cake. This work is aimed at addressing P2O5 losses in phosphogypsum (PG) along with the recovery of P2O5 from slurry by using constant pressure filtration at 1 bar pressure. Laboratory tests were carried out in the phosphoric acid production plant situated in Paradeep, India. Recycled water source near acid plant (i.e., pond water) was used for cake washing to reduce the burden on fresh water stock. The findings indicated that pressure filtration offered the most effective P2O5 recovery (nearly 93.48%). The moisture was reduced to 14–16%, and watersoluble P2O5 in the gypsum cake was found to be negligible. A narrow particle size distribution was observed, which offered effective filterability with average cake resistance of 2.38 × 1010 m/kg, indicating a moderately separable cake.

Aug 23, 2023

By Ping Li, Baokun Zhou, Lei Yang, Changfeng Li, Erhui Zhang

A uniaxial compression experiment was conducted on standard sandstone specimens to explore the sandstone’s mutation characteristics and early warning interval during deformation and failure. Meanwhile, acoustic emission (AE) and digital image correlation (DIC) techniques were introduced to realize multi-field analysis and cross-validation from the stress field, deformation field, and elastic wave field. The mutation characteristics of rock failure were investigated based on the cusp catastrophe theory. The results showed four mutation points in the destabilization process of sandstone: compressional density, yielding, destruction, and residual retention. As an internal activity characteristic of the sandstone failure process, AE directly reflected the dynamic failure process of sandstone. The stress variation was closely related to the evolution of AE characteristics. Sandstone loading failure was a process of the mutations of releasable elastic strain energy, dissipative energy, and releasable elastic strain energy. The mutation of dissipative energy was used as the starting mark of the sandstone warning state, and the second mutation of releasable elastic strain energy was used as the end mark of the sandstone warning state. Besides, the warning range corresponded to the loading time of 178 to 208 s. Finally, the sandstone instability warning interval was re-determined from deformation field evolution characteristics in the sandstone damage process, with a loading time of 180–204 s. This was consistent with the warning interval specified using the cusp catastrophe theory. The combination of AE, DIC, and cusp catastrophe theory revealed the mutation characteristics and early warning interval of sandstone failure. Hence, the results provide significant importance to predicting rock failure.

Aug 23, 2023

By Yuanbo Zhang, Yikang Tu, Zijian Su

Stainless steel swarf is a typical by-product produced from stainless steel processing, which contains a significant level of valuable metals, such as iron, chrome, and nickel. About 1 million tons of stainless steel swarf are generated in China annually, but as mixed with impurities such as Al and Si, stainless steel swarf is not suitable to be directly smelted into stainless steel through refining process. In this study, stainless steel swarf was applied as a strengthening agent during limonitic laterite sintering process. The effects of adding stainless steel swarf on green bed permeability, the yield and quality indexes of the sinters, and the microstructure of the sinters were evaluated systematically. The results showed that the concentrated distribution degree of granules and green bed permeability were improved after adding stainless steel swarf. As the additional amount of stainless steel swarf increased from 0 to 3%, the tumble index and yield of the sinters rose from 50.07 to 54.69% and from 62.04 to 67.35%, respectively. The addition of stainless steel swarf would not change the phase compositions, and had little adverse impact on the metallurgical properties of the limonitic laterite sinters.

Aug 23, 2023

By İbrahim Alp, Emine Yoğurtcuoğlu

This article includes the application of roasting pretreatment by assisting the cyanidation process in the recovery of Au–Ag from Bolkardağ Gossan refractory ore and the characterization studies of the ore, roasting sample, and postcyanidation waste sample. While ore contained many metals along with gold and silver, the environment in which these metals were found was carbonate, sulfated, silicated, and iron oxide-containing deposits that have undergone oxidation. In mineralogical studies, there were Fe oxy/oxyhydroxides, Pb/Zn carbonates, and jarosite-bearing structures such as beudantite, calcite, dolomite, clay, and quartz in the ore. The sample used in the experiments was d80 = 29.6 μm, and the test parameters were determined by examining the TG analysis made to the ore. Preroasting experiments were carried out at a roasting temperature range of 200–800 °C, during a roasting period of 10.0 min. Three different samples were characterized by TG for temperature changes, FT-IR for bond structures and permeability, SEM/EDX for visual inspection of structural changes, and XRD Rietveld’s analysis for mineral % content differences. As a result of the cyanidation experiments carried out after the pretreatment, gold was recovered with 80–90% yields and silver with 40–48% yields, respectively.

Aug 21, 2023

By Rodolfo Lagos, Nicos Pfeiffer, Ben Harding, Clayton V. Deutsch

This paper documents a probabilistic resource modeling workflow for the Round Mountain epithermal gold deposit. The set of categorical and continuous variable simulated realizations provides a model of variability and uncertainty given the current orebody knowledge. These realizations can be used to quantify and understand expected deviations in reconciliation during mining and provide a more accurate measure of expected gold than an estimated model. Gold mineralization at Round Mountain is primarily contained within tertiary tuff units, which dip gently to the west and thicken towards the southern part of the orebody. Domain boundaries are modeled as combinations of lithology and alteration; alteration domains are constrained to be within the tuffs. Large-scale geologic uncertainty is strongly influenced by parameter uncertainty, particularly the input histogram. The spatial bootstrap characterizes prior global uncertainty in the input histogram for categorical and continuous variables. Categorical models are generated using hierarchical truncated pluri-Gaussian (HTPG) simulation. Continuous variable simulation is carried out within the simulated domain boundaries using trend models to account for non-stationarity.

Aug 19, 2023

By Lei Zhang, Zhibo Ma, Pingye Guo

The mechanical behavior of hard roofs often leads to significant deformation and strong mine seismicity in gob-side entry retaining (GER) of the longwall mining, affecting the mining safety and efficiency of coal mines. Field investigations indicate that the failure process of the retained entry by hard roofs can be divided into three stages. In this paper, theoretical analysis and numerical simulations are first used to evaluate the damage process of the retained entry under the hard roof. The results show that the instability of the retained entry in the conventional GER method results from the combined static-dynamic loads (in stage II and stage III) from the hard roof. Then, an innovative method, through fracturing roofs to maintain entry (FRME), based on GER with the hard roof is introduced to solve this problem. In this method, the roof of the mining area is pre-fractured, and when the coal seam is mined, the direct hard roof will collapse along the fractured surface due to its deadweight and mining pressure. The hard roof control effect on the static and dynamic loads, taking into account the innovative method, is verified with simulations and theoretical analyses. The results are compared with those of the conventional GER method. Furthermore, based on the numerical simulation study of dynamic responses, it is found that compared to the GER method, the dynamic response of the retained entry using the innovative method is more moderate and more conducive to the stability of the entry. Field application also validated the effectiveness of the innovative method to control the mechanical behavior of the “massive sudden collapse” of the hard roof.

Aug 14, 2023

By Min Chen, Qinghua Liang, Weishan Yan, Yuan Feng, Shigang Wang

Various coal mine robots (CMRs) and unmanned aerial vehicles (UAVs) are implemented to explore unknown mines for improving the safety and efficiency of mining. It is challenging for CMRs and UAVs to achieve accurate positioning due to the absence of GPS, poor lighting conditions, and similar geometric features in complex mine scenes. LiDAR-based localization and mapping methods are admittedly more accurate than others, while long-time running in large-scale scenarios will also introduce non-negligible cumulative errors. This study presents a semantic-aided LiDAR simultaneous localization and mapping (SLAM) with loop closure, which leverages the uniqueness of mine intersection structure to establish stable semantic loop closure. Specifically, we propose a semantic intersection descriptor of translation and rotation invariance, which encodes 3D point clouds of the same intersection from different positions and viewpoints into a unified image. By using the semantic descriptor, we can construct a constant loop constraint when the same intersection is revisited from different directions to reduce cumulative drift. We provide experimental validation using large datasets collected in two large underground mines, namely, a simulated Edgar mine deployed in ROS Gazebo and a public underground mine dataset provided by ETH. Experimental results show that the proposed method has higher localization accuracy and outperforms the existing LiDAR-based SLAM strategies.

Aug 10, 2023