Precise Positioning and 3D Documenting of the Underground Workings using the DMT Pilot 3D Navigation System

D. Schröder, Project Manager, M. Weber, Project Leader DMT GmbH & Co. KG, Essen, Germany


The innovative mobile multi-touch navigation, positioning and DMT Pilot 3D 3D-documentating system developed by the German company DMT GmbH & Co. KG in cooperation with the Institute of Optical Sensor Systems at the German Center for Aviation and Cosmonautics in Berlin is presented in the article. Examples of successful commercial use of the system are given. The main objective of the project is the development of inexpensive passive measuring system that accurately tracks its own movements and operates without external references, for example, to satellite navigation systems or to databases of the accumulated cartographic material. Due to this, it is especially effective in the mines, tunnels or inside the industrial installations. In addition, real-time navigation data after additional processing can also be used for 3D documenting of the area under study, in particular, abandoned mine workings. The system consists of the cable-connected sensor head and the computational unit in the form of the data tablet or rucksack. The computational unit controls the sensor head with the help of the special software, which is based on the navigation module, which allows calculating the position of the device in real time. Processing of the accumulated information about the 3D-object allows to generate the three-dimensional cloud of points, which either is tied to the measuring navigation system, or transformed by the corresponding algorithms into the system of higher level. At the final stage, this data is transformed into the continuous model.


1. Benecke N., Rapp S., Schischmanow A., Weber M., Zuev S., Choinowski A. IPS — Ein Innovatives tragbares system zur navigation, positionierung und 3D-dokumentation im altbergbau. Altbergbau Kolloquium im Glossar Materialien. Nossen: Wagner Digitaldruck und Medien GmbH, 2016. pp. 155–162.
2. Benecke N., Born A., Börner A., Rapp S., Stelzer P., Tsirigotis N., Weber M., Zuev S. Mobile solution for positioning, 3D-mapping and inspection in underground mining. Proceedings of XVI International Congress for Mine Surveying, Brisbane, Australia. Available at: Proceedings/Section3/13_N_Benecke.pdf (accessed: February 15, 2018).
3. Benecke N., Hancock P., Weber M. Latest developments in the practice of shaft inspection. Proceedings of XVI International Congress for Mine Surveying, Brisbane, Australia. Available at: Proceedings/Section3/1_N_Benecke.pdf (accessed: February 15, 2018).
4. Schröder D., Steffens G. DMT Pilot 3D — a new approach to 3D documentation of subterranean cavities. CREG Journal. 2017. № 100. pp. 11–14.
5. Spreckels V., Schlienkamp A. Erfassung untertägiger hohlräume mit dem IPS-system bei der RAG Aktiengesellschaft. Available at: (accessed: February 15, 2018).
6. Grießbach D., Baumbach D., Börner A., Buder M., Ernst I., Funk E., Wohlfeil J., Zuev S. IPS — a system for real-time navigation and 3D modeling. Available at: (accessed: February 15, 2018).
7. Grießbach D., Baumbach D., Zuev S. Vision aided inertial navigation. Available at: 2010_files/papers/13.pdf (accessed: February 15, 2018).
8. Grießbach D., Baumbach D., Börner A., Zuev S. Accuracy evaluation of stereo vision aided inertial navigation for indoor environments. Available at: (accessed: February 15, 2018).
9. Grießbach D., Baumbach D., Zuev S. Stereo-Vision-Aided Inertial Navigation for Unknown Indoor and Outdoor Environments. IPIN 2014 Proceedings. New York: Curran Associates, 2015. pp. 709–716.
10. Tardif J.-Ph., George M., Laverne M., Kelly A., Stentz A. A new approach to vision-aided inertial navigation. Available at: ~alonzo/pubs/papers/iros2010.pdf (accessed: February 15, 2018).
11. Agisoft PhotoScan Software. Available at: photoscan_presentation.pdf (accessed: February 15, 2018).
12. Müller M., Schmenger F., Schröder D., Zschiesche K. Evaluierung des Laserscannings zur Deformationsanalyse an der Ennepetalsperre. Wasserwirtschaft. 2016. Vol. 106. Iss. 9.

DOI: 10.24000/0409-2961-2018-4-66-73
Year: 2018
Issue num: April
Keywords : inspection navigation positioning system three-dimensional model 3D-documenting