System for creation and display of 3D maps of coal mines

This paper presents a system for creating, processing and visualisation of 3D maps of underground coal mines (old or new mine shafts with no other types of maps available, corridors affected by an accident). The maps in the form of point clouds are created by 3D laser scanning. The paper mentions the most important algorithms applied in point cloud data pre-processing, especially voxelization, outlier removing and smoothing. In more detail is described the rendering engine with its advanced visualization methods like shading and colouring and special distance measuring and shape highlighting features designed to help the user to orient in the virtual view of the mine.