Identifying and mapping potentially adverse discontinuities in underground excavations using thermal and multispectral UAV imagery

Geotechnical mapping, rock mass characterization, and inspections of underground excavations are critical to ensuring that excavation geometry and ground support design are appropriate for stable conditions. A lack of access, poor timing, or hazardous conditions are all factors that can prohibit engineering personnel from collecting high-quality data in the field. Advances in unmanned aerial vehicles (UAV) and portable sensor technology now allow engineering personnel to remotely capture data from underground workings that can be used for developing designs, generating inputs for analyses, and making more informed decisions. Ground falls are a source of many accidents in the underground environment, and they are the focus of many geotechnical investigations and analyses. In this study, the authors investigated how portable UAV-mounted thermal and multispectral imagers could be used to detect and quantify adverse geological discontinuities in hard rock masses that are structurally controlled. Multiple thermal, multispectral, RGB (red, green, and blue), and LiDAR (light detection and ranging) data sets were captured from 5 flights in sub-level open stopes at the Barrick Golden Sunlight Mine in the state of Montana in the western United States of America. Using off-the-shelf software, the thermal, RGB, and multispectral images were processed to create individual three-dimensional point clouds and meshes, which were georeferenced using the LiDAR data. Discontinuities identified in the three-dimensional point clouds and meshes were mapped using tools found in the freeware CloudCompare. One of the thermal models identified wedges that had developed in the crown pillar of an open scope, and 4 of the multispectral models contained enough detail for mapping individual discontinuities. The results of this investigation indicate that these portable imagers are viable tools that can be used to aid engineering personnel in identifying and mapping adverse geological discontinuities and unique rock mass composition. The techniques for capturing, processing, and interpreting thermal and multispectral imagery captured in underground excavations are described in this paper and can be used as the basis for future investigations at individual underground sites.