Detection and Positioning of Pipes and Columns with Autonomous Multicopter Drones

Figure 10

Samples of one of the indoor experimental sequences captured: (a) visualization of the VLP16 point cloud, with and RGB axis frame denoting the rigid sensor frame pose and those points pertaining to the detected SHCC plotted in white; (b) view from the camera rigidly solidary to the sensor frame, the elements seen (pipe, chair) can be also observed in figure (a).

(a)

(b)