相关论文: LiDAR Accuracy on North American Mountain Summits

This paper quantifies an error source that limits the accuracy of lidar scan matching, particularly for voxel-based methods. Lidar scan matching, which is used in dead reckoning (also known as lidar odometry) and mapping, computes the…

Characterizing urban environments with broad coverages and high precision is more important than ever for achieving the UN's Sustainable Development Goals (SDGs) as half of the world's populations are living in cities. Urban building height…

We address a data augmentation problem for LiDAR. Given a LiDAR scan of a scene from some position, how can one simulate new scans of that scene from different, secondary positions? The method defines criteria for selecting valid secondary…

Building height is an important indicator for scientific research and practical application. However, building height products with a high spatial resolution (10m) are still very scarce. To meet the needs of high-resolution building height…

Lidar technology has evolved significantly over the last decade, with higher resolution, better accuracy, and lower cost devices available today. In addition, new scanning modalities and novel sensor technologies have emerged in recent…

Many LiDAR place recognition systems have been developed and tested specifically for urban driving scenarios. Their performance in natural environments such as forests and woodlands have been studied less closely. In this paper, we analyzed…

The complementary fusion of light detection and ranging (LiDAR) data and image data is a promising but challenging task for generating high-precision and high-density point clouds. This study proposes an innovative LiDAR-guided stereo…

The ability to map challenging subarctic environments opens new horizons for robotic deployments in industries such as forestry, surveillance, and open-pit mining. In this paper, we explore possibilities of large-scale lidar mapping in a…

High-precision vehicle positioning is key to the implementation of modern driving systems in urban environments. Global Navigation Satellite System (GNSS) carrier phase measurements can provide millimeter- to centimeter-level positioning,…

Accurate depth-sensing plays a crucial role in securing a high success rate of robotic harvesting in natural orchard environments. Solid-state LiDAR (SSL), a recently introduced LiDAR technique, can perceive high-resolution geometric…

Lidar point cloud distortion from moving object is an important problem in autonomous driving, and recently becomes even more demanding with the emerging of newer lidars, which feature back-and-forth scanning patterns. Accurately estimating…

We describe photometric recalibration of data obtained by the asteroid survey LINEAR. Although LINEAR was designed for astrometric discovery of moving objects, the dataset described here contains over 5 billion photometric measurements for…

LiDAR sensors play an important role in the perception stack of modern autonomous driving systems. Adverse weather conditions such as rain, fog and dust, as well as some (occasional) LiDAR hardware fault may cause the LiDAR to produce…

Flight height is a fundamental parameter for correcting the gamma signal produced by terrestrial radionuclides measured during airborne surveys. The frontiers of radiometric measurements with UAV require light and accurate altimeters flying…

Terrain surface roughness is an abstract concept, and its quantitative description is often vague. As such, there are various roughness indices used in the literature, the selection of which is often challenging in applications. This study…

Light Detection and Ranging (LiDAR) technology has proven to be an important part of many robotics systems. Surface normals estimated from LiDAR data are commonly used for a variety of tasks in such systems. As most of the today's…

Tree height estimation serves as an important proxy for biomass estimation in ecological and forestry applications. While traditional methods such as photogrammetry and Light Detection and Ranging (LiDAR) offer accurate height measurements,…

Most commercially available Light Detection and Ranging (LiDAR)s measure the distances along a 2D section of the environment by sequentially sampling the free range along directions centered at the sensor's origin. When the sensor moves…

Conventional LiDAR uses time-of-flight data from laser pulses scanned across a scene to provide accurate multi-meter-scale three-dimensional models at cm precision, limited by the tens-of-picoseconds precision of time-tagging electronics.…

Spaceborne Light Detection and Ranging (LiDAR) systems, such as NASA's Global Ecosystem Dynamics Investigation (GEDI), provide forest structure for global carbon assessments. However, geolocation uncertainties (typically 5-15 m) propagate…