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%