Journals Articles Conferences News About CLP
Submit a paper Email Alert
Search
Search
Articles
Journals
News
Advanced Search
Top Searches
2D MaterialsTransformation opticsQuantum PhotonicsSmall lasersSemiconductor UV PhotonicsSupersymmetric microring laser arrays

Laser & Optoelectronics Progress, Volume. 59, Issue 4, 0401001(2022)

Location of Unmanned Aerial Vehicle Based on Lidar Near Electric Tower

Zhumao Lu1, Na Wu1, Yaning Zhao1, Yang Bai1, Yu Han1, and Haiyue Gao2、*
Author Affiliations
  • 1Electric Power Research Institute of Shanxi Electric Power Company, State Grid, Taiyuan , Shanxi 030001, China
  • 2North China Electric Power University (Baoding), Baoding , Hebei 071003, China
    • show less
    AbstractGet PDF(in Chinese)
    Figures&Tables (11)
    Equations (14)
    References (17)
    Cited By (1)
    Tools
    Paper Information
    Topics
    Figures & Tables(11)
    Framework of proposed algorithm

    Fig. 1. Framework of proposed algorithm

    Download full size
    Point clouds before and after filtering. (a) Before filtering; (b) after filtering

    Fig. 2. Point clouds before and after filtering. (a) Before filtering; (b) after filtering

    Download full size
    Effect comparison of loop optimization. (a) Loop-free optimization; (b) loop optimization

    Fig. 3. Effect comparison of loop optimization. (a) Loop-free optimization; (b) loop optimization

    Download full size
    Experimental hardware diagram

    Fig. 4. Experimental hardware diagram

    Download full size
    Experimental environment 1

    Fig. 5. Experimental environment 1

    Download full size
    Effect comparison of data 1. (a) NDT algorithm; (b) NDT-ICP algorithm; (c) LOAM algorithm; (d) double filter VGICP algorithm

    Fig. 6. Effect comparison of data 1. (a) NDT algorithm; (b) NDT-ICP algorithm; (c) LOAM algorithm; (d) double filter VGICP algorithm

    Download full size
    Effect comparison of data 2. (a) NDT algorithm; (b) NDT-ICP algorithm; (c) LOAM algorithm; (d) double filter VGICP algorithm

    Fig. 7. Effect comparison of data 2. (a) NDT algorithm; (b) NDT-ICP algorithm; (c) LOAM algorithm; (d) double filter VGICP algorithm

    Download full size
    Effect comparison of data 3. (a) NDT algorithm; (b) NDT-ICP algorithm; (c) LOAM algorithm; (d) double filter VGICP algorithm

    Fig. 8. Effect comparison of data 3. (a) NDT algorithm; (b) NDT-ICP algorithm; (c) LOAM algorithm; (d) double filter VGICP algorithm

    Download full size

    • Table 1. Running results of each algorithm in data 1

      View table

      Table 1. Running results of each algorithm in data 1

      AlgorithmX direction data /mY direction data /mZ direction data /m
      ValueErrorValueErrorValueError
      NDT1.26510.48510.45290.2026-0.7855-0.7855
      NDT-ICP0.1515-0.62850.31210.0621-0.3691-0.3691
      LOAM1.26570.48570.32030.0703-0.3276-0.3276
      Double filter VGICP0.67200.10980.21380.0362-0.2950-0.2950

    • Table 2. Running results of each algorithm in data 2

      View table

      Table 2. Running results of each algorithm in data 2

      AlgorithmX direction data /mY direction data /mZ direction data /m
      ValueErrorValueErrorValueError
      NDT0.17900.05900.0064-0.0136-0.0337-0.0337
      NDT-ICP0.30280.18280.02340.00340.17270.1727
      LOAM0.0900-0.03000.02820.0082-0.0203-0.0203
      Double filter VGICP0.13110.01110.02290.0029-0.0098-0.0098

    • Table 3. Running results of each algorithm in data 3

      View table

      Table 3. Running results of each algorithm in data 3

      AlgorithmX direction data /mY direction data /mZ direction data /m
      ValueErrorValueErrorValueError
      NDT4.49360.09360.9988-0.0188-0.4727-0.4727
      NDT-ICP4.2068-0.19320.99270.0127-2.0676-2.0676
      LOAM4.4025-0.00250.9793-0.0007-0.2128-0.2128
      Double filter VGICP4.40090.00090.98090.0009-0.0183-0.0183
    Tools

    Get Citation

    Copy Citation Text

    Zhumao Lu, Na Wu, Yaning Zhao, Yang Bai, Yu Han, Haiyue Gao. Location of Unmanned Aerial Vehicle Based on Lidar Near Electric Tower[J]. Laser & Optoelectronics Progress, 2022, 59(4): 0401001

    Download Citation

    EndNote(RIS)BibTexPlain Text
    Set citation alerts for article
    Save article for my favorites
    Paper Information

    Category: Atmospheric Optics and Oceanic Optics

    Received: Jan. 19, 2021

    Accepted: Mar. 23, 2021

    Published Online: Jan. 25, 2022

    The Author Email: Gao Haiyue (1557079283@qq.com)

    DOI:10.3788/LOP202259.0401001

    Topics

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