Development of LiDAR-Based UAV System for Environment Reconstruction

Kai-Wei Chiang, Guang Je Tsai, Yu Hua Li, Naser El-Sheimy

研究成果: Article

9 引文 (Scopus)

摘要

In disaster management, reconstructing the environment and quickly collecting the geospatial data of the impacted areas in a short time are crucial. In this letter, a light detection and ranging (LiDAR)-based unmanned aerial vehicle (UAV) is proposed to complete the reconstruction task. The UAV integrate an inertial navigation system (INS), a global navigation satellite system (GNSS) receiver, and a low-cost LiDAR. An unmanned helicopter is introduced and the multisensor payload architecture for direct georeferencing is designed to improve the capabilities of the vehicle. In addition, a new strategy of iterative closest point algorithm is proposed to solve the registration problems in the sparse and inhomogeneous derived point cloud. The proposed registration algorithm addresses the local minima problem by the use of direct-georeferenced points and the novel hierarchical structure as well as taking the feedback bias into INS/GNSS. The generated point cloud is compared with a more accurate one derived from a high-grade terrestrial LiDAR which uses real flight data. Results indicate that the proposed UAV system achieves meter-level accuracy and reconstructs the environment with dense point cloud.

原文English
文章編號8013706
頁(從 - 到)1790-1794
頁數5
期刊IEEE Geoscience and Remote Sensing Letters
14
發行號10
DOIs
出版狀態Published - 2017 十月 1

指紋

Unmanned aerial vehicles (UAV)
Inertial navigation systems
GNSS
Navigation
Satellites
navigation
Helicopters
Disasters
disaster management
Feedback
flight
detection
vehicle
Costs
cost
registration

All Science Journal Classification (ASJC) codes

  • Geotechnical Engineering and Engineering Geology
  • Electrical and Electronic Engineering

引用此文

Chiang, Kai-Wei ; Tsai, Guang Je ; Li, Yu Hua ; El-Sheimy, Naser. / Development of LiDAR-Based UAV System for Environment Reconstruction. 於: IEEE Geoscience and Remote Sensing Letters. 2017 ; 卷 14, 編號 10. 頁 1790-1794.
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Development of LiDAR-Based UAV System for Environment Reconstruction. / Chiang, Kai-Wei; Tsai, Guang Je; Li, Yu Hua; El-Sheimy, Naser.

於: IEEE Geoscience and Remote Sensing Letters, 卷 14, 編號 10, 8013706, 01.10.2017, p. 1790-1794.

研究成果: Article

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