Research Article
Detection and Positioning of Pipes and Columns with Autonomous Multicopter Drones
Table 1
RANSAC-based segmentation of a SHCC in point clouds, “joining scans versus single scan”.
| Method | Initial size | RANSAC size | Avg. rate | False positives |
| Figure 3 Architecture | ~60k points | 19k avg. points | 0.73 Hz | 0.71% | Figure 4 Architecture | ~30k points | 8.5k avg.points | 3.94 Hz | 0.73% |
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