Detection and Positioning of Pipes and Columns with Autonomous Multicopter Drones

Figure 14

Depth positioning and orientation error versus sensor roll around LiDAR Y axis: (a) position error in pipe axis interception against the XY plane of the LiDAR, in the same XY plane; (b) yaw error, as a projected angle in a YZ plane containing the pipe axis.

(a)

(b)