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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
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    AbstractGet PDF(in Chinese)
    Figures&Tables (11)
    Equations (14)
    References (17)
    Cited By (1)
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    Figures & Tables(11)
    Framework of proposed algorithm

    Fig. 1. Framework of proposed algorithm

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    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

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    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

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    Experimental hardware diagram

    Fig. 4. Experimental hardware diagram

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    Experimental environment 1

    Fig. 5. Experimental environment 1

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    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

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    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

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    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

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

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      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

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      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

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      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
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    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

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    Paper Information

    Category: Atmospheric Optics and Oceanic Optics

    Received: Jan. 19, 2021

    Accepted: Mar. 23, 2021

    Published Online: Jan. 25, 2022

    The Author Email: Haiyue Gao (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