This paper presents the results of shotcrete thickness estimation for mining applications using a mobile robot. The method uses a fiducial marker based registration method to align initial and posterior LIDAR scans. The shotcrete thickness was calculated using point to point estimation. The registration and thickness estimation were tested in a mock mine using a LIDAR scanner on a mobile robot. It was found that the registration based thickness estimates had repeatability within a millimeter when compared to thickness estimates generated without the need for registration.

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