Detection and Positioning of Pipes and Columns with Autonomous Multicopter Drones

Figure 12

Distance between LiDAR and SHCC versus position error in the plane XY of the LiDAR: (a) X position error in the XY plane of the LiDAR at the pipe axis intersection; (b) Y position error in the XY plane of the LiDAR at the pipe axis intersection.

(a)

(b)