KEYWORDS: Point clouds, LIDAR, Tunable filters, Associative arrays, Histograms, Feature extraction, Digital filtering, Voxels, Principal component analysis, Data acquisition
Complicated environment and obstacles like power lines are pernicious to low-flying helicopters. A novel obstacle detection algorithm for onboard LiDAR evadible system is proposed, which lowers false alarm rate (FAR) and raises detection speed (DS). Firstly, the pass-through filter and planarization voxel filter are used for denoising and sampling reduction. Then, the point cloud is separated by adaptive threshold elevation filtering. Finally, the power lines are extracted with line feature constraint. Experimental results show the maximum detection distance for power lines is up to 800 m, recall rate, over 95%, false alarm rate, below 5%, and that the detection time is less than 100 ms.
Access to the requested content is limited to institutions that have purchased or subscribe to SPIE eBooks.
You are receiving this notice because your organization may not have SPIE eBooks access.*
*Shibboleth/Open Athens users─please
sign in
to access your institution's subscriptions.
To obtain this item, you may purchase the complete book in print or electronic format on
SPIE.org.
INSTITUTIONAL Select your institution to access the SPIE Digital Library.
PERSONAL Sign in with your SPIE account to access your personal subscriptions or to use specific features such as save to my library, sign up for alerts, save searches, etc.