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
- Laser & Optoelectronics Progress
- Vol. 59, Issue 4, 0401001 (2022)
Fig. 1. Framework of proposed algorithm
Fig. 2. Point clouds before and after filtering. (a) Before filtering; (b) after filtering
Fig. 3. Effect comparison of loop optimization. (a) Loop-free optimization; (b) loop optimization
Fig. 4. Experimental hardware diagram
Fig. 5. Experimental environment 1
Fig. 6. Effect comparison of data 1. (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
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 2. Running results of each algorithm in data 2
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Table 3. Running results of each algorithm in data 3
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