Abstract

The automation of heavy-duty machinery and vehicles used in underground mines is a growing tendency which requires addressing several challenges, such as the robust detection of rocks in the production areas of mines. For instance, human assistance must be requested when using autonomous LHD (Load-Haul-Dump) loaders in case rocks are too big to be loaded into the bucket. Also, in the case of autonomous rock breaking hammers, oversized rocks need to be identified and located, to then be broken in smaller sections. In this work, a novel approach called Rocky-CenterNet is proposed for detecting rocks. Unlike other object detectors, Rocky-CenterNet uses ellipses to enclose a rock's bounds, enabling a better description of the shape of the rocks than the classical approach based on bounding boxes. The performance of Rocky-CenterNet is compared with the one of CenterNet and Mask R-CNN, which use bounding boxes and segmentation masks, respectively. The comparisons were performed on two datasets: the Hammer-Rocks dataset (introduced in this work) and the Scaled Front View dataset. The Hammer-Rocks dataset was captured in an underground ore pass, while a rock-breaking hammer was operating. This dataset includes challenging conditions such as the presence of dust in the air and occluded rocks. The metrics considered are related to the quality of the detections and the processing times involved. From the results, it is shown that ellipses provide a better approximation of the rocks shapes' than bounding boxes. Moreover, when rocks are annotated using ellipses, Rocky-CenterNet offers the best performance while requiring shorter processing times than Mask-RCNN (4x faster). Thus, using ellipses to describe rocks is a reliable alternative. Both the datasets and the code are available for research purposes.