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Laser & Optoelectronics Progress, Volume. 61, Issue 8, 0812006(2024)

Small-Scale Rockfall Detection Method Based on Solid-State Lidar for Unstructured Transportation Roads in Open-Pit Mines

Qinghua Gu1,2, Jiawei Li1,2、*, Lu Chen1,2, and Hejie Zhu1,2
Author Affiliations
  • 1School of Resources Engineering, Xi'an University of Architecture and Technology, Xi'an 710055, Shaanxi , China
  • 2Xi'an Key Laboratory of Intelligent Industrial Perception Computing and Decision Making, Xi'an University of Architecture and Technology, Xi'an 710055, Shaanxi , China
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    AbstractGet PDF(in Chinese)
    Figures&Tables (11)
    Equations (3)
    References (20)
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    Paper Information
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    Figures & Tables(11)
    Overall flowchart of small obstacle detection method

    Fig. 1. Overall flowchart of small obstacle detection method

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    Diagram of double echo technology

    Fig. 2. Diagram of double echo technology

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    Ground segmentation. (a) Input point cloud; (b) ground segmentation result

    Fig. 3. Ground segmentation. (a) Input point cloud; (b) ground segmentation result

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    Single fan map

    Fig. 4. Single fan map

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    Clustering. (a) Two-dimensional grid simulation diagram; (b) two-dimensional quadtree simulation diagram

    Fig. 5. Clustering. (a) Two-dimensional grid simulation diagram; (b) two-dimensional quadtree simulation diagram

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    Schematic of lidar scanning

    Fig. 6. Schematic of lidar scanning

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    Experimental equipment. (a) Lidar equipment; (b) experimental vehicle

    Fig. 7. Experimental equipment. (a) Lidar equipment; (b) experimental vehicle

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    Small obstacle detection experiment on straight road. (a) Scene; (b) k-d tree accelerated DBSCAN;(c) proposed algorithm

    Fig. 8. Small obstacle detection experiment on straight road. (a) Scene; (b) k-d tree accelerated DBSCAN;(c) proposed algorithm

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    Small obstacle detection experiment on turning road. (a) Scene; (b) k-d tree accelerated DBSCAN;(c) proposed algorithm

    Fig. 9. Small obstacle detection experiment on turning road. (a) Scene; (b) k-d tree accelerated DBSCAN;(c) proposed algorithm

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    Algorithm running time comparison

    Fig. 10. Algorithm running time comparison

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    • Table 1. Calculation results of data indicators

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      Table 1. Calculation results of data indicators

      Algorithm

      Positive

      recognition

      Error

      recognition

      Missed

      recognition

      		Positive recognition rate /%Error recognition rate /%Cluster average time /ms
      Comparison algorithm41111178.8521.15407.85
      Proposed method466988.4618.0028.08
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    Qinghua Gu, Jiawei Li, Lu Chen, Hejie Zhu. Small-Scale Rockfall Detection Method Based on Solid-State Lidar for Unstructured Transportation Roads in Open-Pit Mines[J]. Laser & Optoelectronics Progress, 2024, 61(8): 0812006

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    Paper Information

    Category: Instrumentation, Measurement and Metrology

    Received: Mar. 2, 2023

    Accepted: Apr. 12, 2023

    Published Online: Apr. 16, 2024

    The Author Email: Li Jiawei (1205854732@qq.com)

    DOI:10.3788/LOP230765

    Topics

    laser devices and laser physics
    Lasers and Laser Optics
    Laser physics
    laser manufacturing
    Instrumentation, Measurement and Metrology