Altitude Correction of an UAV Assisted by Point Cloud Registration of LiDAR Scans

Marcus Forte, Polycarpo Neto, George Thé, Fabricio Nogueira

2021

Abstract

This paper presents an online localization estimation of an Unmanned Aerial Vehicle (UAV) by fusing data provided by the on-board flight controller and a LiDAR (Light Detection and Ranging) carried by the UAV. Pose estimations solely obtained by the UAV are often corrupted by noise or instrumentation limitation, which may lead to erroneous mapping of the environment. To correct potential estimation errors, the LiDAR scans are assembled into a local point cloud history and matched against a partial map of the environment using a proposed point cloud registration method, similar to a Simultaneous Localization and Mapping (SLAM) approach. The resulting correction is incorporated into the estimation of the UAV using an asynchronous Kalman Filter implementation. For this work, only the altitude errors are corrected by the registration. We conducted tests on a local thermal power plant which contained three large coal stockpiles. We chose one of them as our Region of Interest (ROI).

Paper Citation

in Harvard Style

Forte M., Neto P., Thé G. and Nogueira F. (2021). Altitude Correction of an UAV Assisted by Point Cloud Registration of LiDAR Scans. In Proceedings of the 18th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO, ISBN 978-989-758-522-7, pages 485-492. DOI: 10.5220/0010583004850492

in Bibtex Style

@conference{icinco21,
author={Marcus Forte and Polycarpo Neto and George Thé and Fabricio Nogueira},
title={Altitude Correction of an UAV Assisted by Point Cloud Registration of LiDAR Scans},
booktitle={Proceedings of the 18th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,},
year={2021},
pages={485-492},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0010583004850492},
isbn={978-989-758-522-7},
}

in EndNote Style

TY - CONF

JO - Proceedings of the 18th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,
TI - Altitude Correction of an UAV Assisted by Point Cloud Registration of LiDAR Scans
SN - 978-989-758-522-7
AU - Forte M.
AU - Neto P.
AU - Thé G.
AU - Nogueira F.
PY - 2021
SP - 485
EP - 492
DO - 10.5220/0010583004850492