A LIDAR-Based Tree Canopy Characterization under Simulated Uneven Road Condition: Advance in Tree Orchard Canopy Profile Measurement

Table 3

Experiment results and error analysis of carved board correction with a single kind of different attitude angle deviations.

Attitude angle deviations (°)	Roll angle			Yaw angle			Pitch angle
	Height	Width	Canopy height	Height	Width	Canopy height	Height	Width	Canopy height
	Average value with correction (m)/relative error with correction (%)/average value w/o correction (m)/relative error w/o correction (%)	Average value with correction (m)/relative error with correction (%)/average value w/o correction (m)/relative error w/o correction (%)	Average value with correction (m)/relative error with correction (%)/average value w/o correction (m)/relative error w/o correction (%)	Average value with correction (m)/relative error with correction (%)/average value w/o correction (m)/relative error w/o correction (%)	Average value with correction (m)/relative error with correction (%)/average value w/o correction (m)/relative error w/o correction (%)	Average value with correction (m)/relative error with correction (%)/average value w/o correction (m)/relative error w/o correction (%)	Average value with correction (m)/relative error with correction (%)/average value w/o correction (m)/relative error w/o correction (%)	Average value with correction (m)/relative error with correction (%)/average value w/o correction (m)/relative error w/o correction (%)	Average value with correction (m)/relative error with correction (%)/average value w/o correction (m)/relative error w/o correction (%)
−10	1.83/1.66/1.76/2.22	1.18/1.66/1.26/3.33	1.41/0.07/1.44/2.85	1.82/1.67/1.84/2.22	1.18/1.67/1.17/2.50	1.42/1.42/1.34/4.28	1.82/1.11/1.85/2.77	1.18/1.67/1.15/4.17	1.41/0.71/1.47/5.00
−20	1.85/2.78/1.72/4.44	1.18/1.66/1.26/3.33	1.42/1.43/1.45/3.57	1.83/1.66/1.75/2.77	1.18/1.67/1.17/2.50	1.38/1.42/1.44/2.85	1.78/1.11/1.84/2.22	1.23/2.50/1.16/3.33	1.38/1.42/1.44/2.85
−30	1.65/8.33/1.32/26.44	1.18/1.66/1.27/5.83	1.42/1.43/1.47/5.00	1.78/1.11/1.71/5.00	1.18/1.67/1.17/2.50	1.38/1.42/1.34/4.28	1.83/1.66/1.86/3.33	1.15/4.17/1.12/6.66	1.42/1.43/1.46/4.28
10	1.83/2.22/1.85/2.77	1.18/1.66/1.17/2.14	1.41/0.07/1.38/1.43	1.78/1.11/1.76/2.22	1.18/1.67/1.17/2.50	1.38/1.42/1.43/2.14	1.82/1.11/1.77/1.66	1.17/2.50/1.23/5.38	1.42/1.43/1.43/2.14
20	1.84/2.22/1.86/3.33	1.18/1.66/1.17/2.14	1.42/1.43/1.36/2.85	1.78/1.11/1.73/3.89	1.22/1.66/1.18/1.66	1.39/0.71/1.45/3.57	1.82/1.11/1.75/2.77	1.24/3.33/1.26/5.00	1.37/2.14/1.38/1.42
30	1.84/2.22/1.88/4.44	1.18/1.66/1.16/2.85	1.43/2.14/1.35/3.57	1.76/2.22/1.72/4.44	1.22/1.67/1.17/2.50	1.38/1.42/1.47/5.00	1.84/2.22/1.73/3.88	1.23/3.33/1.25/4.16	1.43/2.14/1.45/3.57