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| Auteurs principaux: | , , , |
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| Format: | Preprint |
| Publié: |
2019
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| Sujets: | |
| Accès en ligne: | https://arxiv.org/abs/1903.11097 |
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| _version_ | 1866916542149558272 |
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| author | Sabirova, Adelya Rassabin, Maksim Fedorenko, Roman Afanasyev, Ilya |
| author_facet | Sabirova, Adelya Rassabin, Maksim Fedorenko, Roman Afanasyev, Ilya |
| contents | The paper presents the study and implementation of the ground detection methodology with filtration and removal of forest points from LiDAR-based 3D point cloud using the Cloth Simulation Filtering (CSF) algorithm. The methodology allows to recover a terrestrial relief and create a landscape map of a forestry region. As the proof-of-concept, we provided the outdoor flight experiment, launching a hexacopter under a mixed forestry region with sharp ground changes nearby Innopolis city (Russia), which demonstrated the encouraging results for both ground detection and methodology robustness. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_1903_11097 |
| institution | arXiv |
| publishDate | 2019 |
| record_format | arxiv |
| spellingShingle | Ground Profile Recovery from Aerial 3D LiDAR-based Maps Sabirova, Adelya Rassabin, Maksim Fedorenko, Roman Afanasyev, Ilya Robotics The paper presents the study and implementation of the ground detection methodology with filtration and removal of forest points from LiDAR-based 3D point cloud using the Cloth Simulation Filtering (CSF) algorithm. The methodology allows to recover a terrestrial relief and create a landscape map of a forestry region. As the proof-of-concept, we provided the outdoor flight experiment, launching a hexacopter under a mixed forestry region with sharp ground changes nearby Innopolis city (Russia), which demonstrated the encouraging results for both ground detection and methodology robustness. |
| title | Ground Profile Recovery from Aerial 3D LiDAR-based Maps |
| topic | Robotics |
| url | https://arxiv.org/abs/1903.11097 |