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Laser & Optoelectronics Progress, Volume. 60, Issue 14, 1428002(2023)

Three-Dimensional Imaging Method of Four-Sided Tower Mirror Scanning for Unmanned Aerial Vehicle Airborne LiDAR

Xueqing Hu1, Qingzhou Mao1,2、*, Qingwu Hu1, Hao Zhou1, and Anlei Wu3
Author Affiliations
  • 1School of Remote Sensing and Information Engineering, Wuhan University, Wuhan 430079, Hubei, China
  • 2Wuhan Institute of Quantum Technology, Wuhan 430061, Hubei, China
  • 3State Key Laboratory of Information Engineering in Surveying, Mapping and Remote Sensing, Wuhan University, Wuhan 430072, Hubei, China
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    AbstractGet PDF(in Chinese)
    Figures&Tables (21)
    Equations (16)
    References (28)
    Cited By (6)
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    Paper Information
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    Figures & Tables(21)
    Schematic diagrams of 45° mirror scanning. (a)Principle of 45° mirror scanning; (b) schematic diagram of 45° mirror scanning trajectory; (c) principle of four-sided tower mirror scanning

    Fig. 1. Schematic diagrams of 45° mirror scanning. (a)Principle of 45° mirror scanning; (b) schematic diagram of 45° mirror scanning trajectory; (c) principle of four-sided tower mirror scanning

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    Four-sided tower mirror scanning model

    Fig. 2. Four-sided tower mirror scanning model

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    Comparison of scanning trajectories corresponding to different altitudes

    Fig. 3. Comparison of scanning trajectories corresponding to different altitudes

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    The influence of φ on the radius of curvature of scanning trajectory

    Fig. 4. The influence of φ on the radius of curvature of scanning trajectory

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    Structure of tower mirror

    Fig. 5. Structure of tower mirror

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    45° reflector mirror scanning model

    Fig. 6. 45° reflector mirror scanning model

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    Comparison of scanning field of view of two scanning mirrors

    Fig. 7. Comparison of scanning field of view of two scanning mirrors

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    Airborne LiDAR used in experiment. (a) RIEGL VUX-1UAV; (b) Luojia Yiyun FT-1500

    Fig. 8. Airborne LiDAR used in experiment. (a) RIEGL VUX-1UAV; (b) Luojia Yiyun FT-1500

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    Orthophotograph of experimental area

    Fig. 9. Orthophotograph of experimental area

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    Constituency diagram

    Fig. 10. Constituency diagram

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    Point cloud density measurement

    Fig. 11. Point cloud density measurement

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    Point cloud thickness measurement

    Fig. 12. Point cloud thickness measurement

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    Point cloud penetration analysis. (a) Penetration analysis selection area; (b) elevation interval division

    Fig. 13. Point cloud penetration analysis. (a) Penetration analysis selection area; (b) elevation interval division

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    Point cloud of RIEGL VUX-1UAV for single flight

    Fig. 14. Point cloud of RIEGL VUX-1UAV for single flight

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    Point cloud of Luojia Yiyun FT-1500 for single flight

    Fig. 15. Point cloud of Luojia Yiyun FT-1500 for single flight

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    • Table 1. Geometric dimensions of four-sided tower mirror

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      Table 1. Geometric dimensions of four-sided tower mirror

      φ /（°）bt /mmH /mmnt /（r/s）
      45503075

    • Table 2. Scanner parameters

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      Table 2. Scanner parameters

      ScannerScanning mirrorLaser pulse repetition rate /kHzLaser divergence angle /mradScanning mirror rotation speed /（r/s）Scan speed /s-1
      RIEGL VUX-1UAV45° mirror5500.5200200
      Luojia Yiyun FT-1500four-sided tower mirror4000.575300

    • Table 3. Elevation difference between LiDAR point cloud and field RTK point

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      Table 3. Elevation difference between LiDAR point cloud and field RTK point

      RTK pointdZ
      RIEGL VUX-1UAVLuojia Yiyun FT-1500
      10.03580.0192
      20.02420.0087
      30.0014-0.0211
      40.0148-0.0039
      5-0.0038-0.0230
      60.0139-0.0057
      70.0147-0.0064
      80.02650.0095
      90.0000-0.0151
      10-0.0156-0.0280
      11-0.0458-0.0597
      120.02350.0027
      130.03780.0165
      140.04410.0228
      15-0.0122-0.0285
      16-0.0125-0.0164
      17-0.0103-0.0224
      180.02360.0016

    • Table 4. Point cloud density of each selection area

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      Table 4. Point cloud density of each selection area

      AreaDcloud /m2
      RIEGL VUX-1UAVLuojia Yiyun FT-1500
      A1116.56319.56
      A2104.40374.32
      A391.04318.48
      A4132.32242.76
      A5120.16203.20
      B146.80139.84
      B251.40100.64
      B362.80240.00
      B474.72390.96
      B5150.64380.44
      B6140.40306.92

    • Table 5. Point cloud thickness of each selection

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      Table 5. Point cloud thickness of each selection

      AreaT /m
      RIEGL VUX-1UAVLuojia Yiyun FT-1500
      A10.0250.032
      A20.0450.037
      A30.0460.034
      A40.0410.045
      A50.0310.030
      B10.0470.061
      B20.0500.065
      B30.0740.070
      B40.0500.042
      B50.0610.051
      B60.0480.047

    • Table 6. Point cloud penetration of each constituency

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      Table 6. Point cloud penetration of each constituency

      AreaHeight rangeRIEGL VUX-1UAVLuojia Yiyun FT-1500
      CountsProportionCountsProportion
      T1H12361.50.18114380.27
      H28440.0632280.08
      H31942.50.157392.50.18
      H441680.3111923.50.28
      H540640.308264.50.20
      T2H110840.136356.50.24
      H2552.50.071390.50.05
      H36490.0827340.11
      H41386.50.1746820.18
      H544300.5510982.50.42
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    Xueqing Hu, Qingzhou Mao, Qingwu Hu, Hao Zhou, Anlei Wu. Three-Dimensional Imaging Method of Four-Sided Tower Mirror Scanning for Unmanned Aerial Vehicle Airborne LiDAR[J]. Laser & Optoelectronics Progress, 2023, 60(14): 1428002

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    Paper Information

    Category: Remote Sensing and Sensors

    Received: Jul. 12, 2022

    Accepted: Aug. 4, 2022

    Published Online: Jul. 17, 2023

    The Author Email: Qingzhou Mao (qzhmao@whu.edu.cn)

    DOI:10.3788/LOP222055

    Topics

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