By detection of convolutional neural network（ CNN） of laser marker and reconstruction of singular value decomposition（ SVD） of center of markers

coordinates estimation of machine in tunnel coordinate is achieved. By jitter suppression of gyro in resting state based on supporting vector data description（ SVDD） and transformation of reference system

body and robotic arm altitude estimation are achieved. Based on Open GL

real-time virtual rendering of scene of working face is achieved. Experimental results show that the system is able to monitor mining machine in working face scene accurately and reliably.