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UAV and TLS point cloud integration for the surface plant infrastructure of underground coal mines

The surface plant infrastructure (SPI) of underground coal mines is one of important sets of underground mines as it includes essential objects, such as office buildings, structures and equipment used to load, receive, sort or process minerals; receive and discharge waste rocks; provide ventilation for tunnels and energy for mining operations. The measurement and collection of spatial data of SPI are important to ensure the safe and effective management and operation of mining activities in underground mines. A rapid development in geospatial technologies has facilitated the acquisition of geospatial data in the mining industry. Unmanned Aerial Vehicle (UAV) photogrammetry and Terrestrial Laser Scanning (TLS) are two of the typical geospatial technologies, which have made significant contributions to the field of geospatial data collection. While UAV photogrammetry allows to create dense point clouds with centimeter - level accuracy in a short time and large areas, TLS technology can produce dense point clouds with millimeter - level accuracy. However, the latter is time - consuming and expensive while performing on a large area. The integration of UAV and TLS data can be seen as a reasonable solution to gain the advantages of both and avoid the disadvantages of each technology. This paper presents the results of an integrated study of point cloud data generated by UAV and TLS for the plant infrastructure of the underground coal mine. Featuring structures in the study area include mineshaft tower, office and factory buildings. The results show that the UAV and TLS integrated point cloud data has millimeter - level accuracy for important objects such as mineshaft towers, while ancillary structures in the study area have centimeter - level accuracy.