Qinghua Gu, Jiawei Li, Lu Chen, Hejie Zhu. Small-Scale Rockfall Detection Method Based on Solid-State Lidar for Unstructured Transportation Roads in Open-Pit Mines[J]. Laser & Optoelectronics Progress, 2024, 61(8): 0812006
- Laser & Optoelectronics Progress
- Vol. 61, Issue 8, 0812006 (2024)
Fig. 1. Overall flowchart of small obstacle detection method
Fig. 2. Diagram of double echo technology
Fig. 3. Ground segmentation. (a) Input point cloud; (b) ground segmentation result
Fig. 4. Single fan map
Fig. 5. Clustering. (a) Two-dimensional grid simulation diagram; (b) two-dimensional quadtree simulation diagram
Fig. 6. Schematic of lidar scanning
Fig. 7. Experimental equipment. (a) Lidar equipment; (b) experimental vehicle
Fig. 8. Small obstacle detection experiment on straight road. (a) Scene; (b) k-d tree accelerated DBSCAN;(c) proposed algorithm
Fig. 9. Small obstacle detection experiment on turning road. (a) Scene; (b) k-d tree accelerated DBSCAN;(c) proposed algorithm
Fig. 10. Algorithm running time comparison
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Table 1. Calculation results of data indicators
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