Analysis of Internal Angle Error of UAV LiDAR Based on Rotating Mirror Scanning

Zhou, Hao; Mao, Qingzhou; Song, Yu‐Fei; Wu, Anlei; Hu, Xudong

doi:10.3390/rs14205260

Cited by 3 publications

(1 citation statement)

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“…The area corresponding to the data is the Department of Information Science and Luojia Hill, Wuhan University. It is collected using the Luojia Yiyun FT1500 LiDAR system [49], a UAV-based device utilizing rotating mirror scanning. The point clouds are highly dense, precise with common types of campus elements, covering with lots of trees and buildings.…”

Section: A Datasets and Configurationmentioning

confidence: 99%

ALS Point Cloud Semantic Segmentation Based on Graph Convolution and Transformer With Elevation Attention

Huang,

Hu,

Zhao

et al. 2024

IEEE J. Sel. Top. Appl. Earth Observations Remote Sensing

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Semantic segmentation of airborne point clouds is crucial for 3D scene reconstruction and remote sensing in surveying applications. Current deep learning methods for point clouds primarily focus on effectively aggregating local neighborhood information. However, they often overlook the fusion of global context information and elevation features, which are vital for airborne point clouds. In this study, we propose Dense-LGEANet, a novel network with dense connected architecture and multi-scale feature supervision based on our designed LGEA module. The key component of our LGEA module is the combination of the graph convolution block and the transformer block with elevation attention. It can effectively fuse local neighborhood information and global context information to improve the accuracy of semantic segmentation of airborne point cloud. Moreover, the designed dense connected network architecture can enhance the feature extraction capability for point cloud objects at different scales by facilitating interactions between multiple up-sampling and down-sampling layers. We have conducted multiple experiments on the public point cloud dataset. Experimental results show that our method can achieve an mIoU of 58.5% and an mF1 of 72.0% on the ISPRS Vaihingen 3D dataset, while an mIoU of 67.2% and an mF1 of 78.3% on the LASDU dataset. It demonstrates the superior performance of our network and the effectiveness of the proposed feature enhancement module and network architecture.

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Section: A Datasets and Configurationmentioning

confidence: 99%

ALS Point Cloud Semantic Segmentation Based on Graph Convolution and Transformer With Elevation Attention

Huang,

Hu,

Zhao

et al. 2024

IEEE J. Sel. Top. Appl. Earth Observations Remote Sensing

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Research on Attitude Detection and Flight Experiment of Coaxial Twin-Rotor UAV

You

Hao

et al. 2022

Sensors

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Aiming at the problem that the single sensor of the coaxial UAV cannot accurately measure attitude information, a pose estimation algorithm based on unscented Kalman filter information fusion is proposed. The kinematics and dynamics characteristics of coaxial folding twin-rotor UAV are studied, and a mathematical model is established. The common attitude estimation methods are analyzed, and the extended Kalman filter algorithm and unscented Kalman filter algorithm are established. In order to complete the test of the prototype of a small coaxial twin-rotor UAV, a test platform for the dynamic performance and attitude angle of the semi-physical flight of the UAV was established. The platform can analyze the mechanical vibration, attitude angle and noise of the aircraft. It can also test and analyze the characteristics of the mechanical vibration and noise produced by the UAV at different rotor speeds. Furthermore, the static and time-varying trends of the pitch angle and yaw angle of the Kalman filter attitude estimation algorithm is further analyzed through static and dynamic experiments. The analysis results show that the attitude estimation of the UKF is better than that of the EKF when the throttle is between 0.2σ and 0.9σ. The error of the algorithm is less than 0.6°. The experiment and analysis provide a reference for the optimization of the control parameters and flight control strategy of the coaxial folding dual-rotor aircraft.

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