A5060252391- Remote Sensing and LiDAR Applications
- 3D Surveying and Cultural Heritage
- Robotics and Sensor-Based Localization
- Indoor and Outdoor Localization Technologies
- Infrastructure Maintenance and Monitoring
- Robotic Path Planning Algorithms
- Forest ecology and management
Wuhan University
2018-2023
The detailed structure information under the forest canopy is important for forestry surveying. As a high-precision environmental sensing and measurement method, terrestrial laser scanning (TLS) widely used in In TLS-based surveys, stem-mapping, which focused on detecting extracting trunks, one of core data processing tasks basis subsequent calculation tree attributes; most basic attributes diameter at breast height (DBH). This article explores improves methods stem mapping DBH estimation...
Simultaneous localization and mapping (SLAM) has been investigated in the field of robotics for two decades, as it is considered to be an effective method solving positioning problem a single framework. In SLAM community, Extended Kalman Filter (EKF) based particle filter are most mature technologies. After years development, graph-based becoming promising technology lot progress made recently with respect accuracy efficiency. No matter which used, loop closure vital part overcoming...
The precision of railway map is becoming a significant issue for autonomous train scheduling, monitoring and maintenance, related location-based service (LBS), further ensuring travel safety. Mobile 3D laser scanning an efficient method making relative high-precision track maps, particularly during the night period light detection ranging (LiDAR) can work without ambient light. In this paper, we propose accurate vectorization based on LiDAR point clouds from self-built Laser Scanning (MLS)...
Powerline detection is becoming a significant issue for powerline monitoring and maintenance, which further ensures transmission security. As an efficient method, laser scanning has attracted considerable attention in its high precision robustness during the night period. However, due to occlusion varying point density, gaps will appear scans greatly influence by over–clustering, insufficient extraction, or misclassification existing methods. Moreover, this situation be worse terrestrial...
Abstract Extrinsic Calibration between LiDAR and POS (position orientation system) is a fundamental prerequisite for varieties of MLS (mobile laser scanner) applications. Due to the sparse structure data, current calibration methods relying on common point feature matching are unreliable, low accuracy results make extrinsic system more challenging. In this paper, we propose an incremental estimation method six degree freedom transformation POS. Firstly, POS-SLAM used accumulate scans as...
In this paper, a real time positioning experiment based on reference beacons aided LiDAR scan matching is designed and conducted. the experiment, we utilize robot platform that integrates IMU 2D sensor, to with prepared environment feature map, which includes information of reflection beacons. Robot estimated heading position change by point-cloud-based pattern match algorithm-Occupied Grid Gauss - Newton Matching. featureless area, where easy failure, low-cost not only can enrich...