Detection and Positioning of Pipes and Columns with Autonomous Multicopter Drones

Figure 13

2-DOF orientation between estimated SHCC axis and actual vertical pipe, assuming as roll rotation around the pipe axis which extents along the Z axis of a coordinate frame: (a) pitch error, observed as the projected angle in a XZ plane containing the pipe axis; (b) yaw error, as a projected angle in a YZ plane containing the pipe axis.

(a)

(b)