Sensor Integration and Data Fusion from a High Definition Helicopter Mapping System

Sensor Integration and Data Fusion from a High Definition Helicopter Mapping System
Engineering | Architecture | Design-Build | Surveying | GeoSpatial Solutions Sensor Integration and Data Fusion from a High Definition Helicopter Mapping System June 3, 2011 Matt Bethel
Copyright © 2011 Merrick & Company All rights reserved. PREXXXX 2  Corporate headquarters: Aurora, Colorado  Founded in 1955; employee-owned  $115M annual revenue (FY11)  500 employees at 9 national / 3 international offices  Market Focus  Energy  Security  Life Sciences  Infrastructure  Business Units  GeoSpatial Solutions Civil Engineering Solutions  Military / Gov’t Facilities Fuels & Energy  Science & Technology Nuclear Services & Technology Corporate Overview
Copyright © 2011 Merrick & Company All rights reserved. PREXXXX 3 Locations in North America Los Alamos, NM Albuquerque, NM Atlanta, GA Colorado Springs, CO Guadalajara, Mexico (MAPA) Ottawa, Canada Aurora, CO Headquarters Oak Ridge, TN Mexico City, Mexico (MAPA) San Antonio, TX Duluth, GA Charlotte, NC
Copyright © 2011 Merrick & Company All rights reserved. PREXXXX 4 Agenda Flight efficiencies Sensor payload LiDAR test results LiDAR data examples
Copyright © 2011 Merrick & Company All rights reserved. PREXXXX 5  Energy  Transmission  Corridors  New constructs  Route maintenance  Patrol surveys  Property encroachment  System inefficiencies (leaks)  Vegetation management  Upgrades  Power plants  Substations  Wind Farms  Oil and natural gas pipeline  System management  Population density rating  Petroleum exploration  Geology  Site access  Transportation  Roads and highways  Supplement to mobile LiDAR  Bridges  Rail  Port  Smaller, high density “area” projects  Environmental  Natural resources  Hydrological  Streams / rivers  Shoreline / coastline  Earthen  Levees  Dams  Landslide / rock fall mitigation  Forestry sciences and management  Mining  Administrative boundaries  Land development  Defense intelligence  Military base mapping  Missile field mapping  R&D testing  Obstruction clearance modeling  Airports  Cell towers  Transport access clearance  3D city modeling  Change detection  Emergency response / disaster recovery  Fault zone mapping High Definition Helicopter Mapping Markets
Copyright © 2011 Merrick & Company All rights reserved. PREXXXX 6 Flight Efficiencies
Copyright © 2011 Merrick & Company All rights reserved. PREXXXX 7  Fixed wing aircrafts are limited to 1,000 feet above any feature (ground, tree, building, tower, etc.)  Helicopters can easily get clearance to fly much lower for special purposes like mapping  Lower AGLs allow for collection of more detailed data (discussed later)  Helicopters can often fly underneath clouds to collect project data when fixed wing aircrafts might be remotely sensed limited by clouds below the aircraft Above Ground Level (AGL)
Copyright © 2011 Merrick & Company All rights reserved. PREXXXX 8  Helicopters allow for collection of more LiDAR points with less flying – this is measured by:  Ground Sample Distance (GSD)  Points Per Square Unit (PPSM or PPSF) LiDAR Point Density  Helicopter LiDAR point density = unlimited  Fixed wing aircraft LiDAR point density = can require multiple passes to obtain the specified point density
Copyright © 2011 Merrick & Company All rights reserved. PREXXXX 9  Fixed wing aircrafts  Have stall speeds, which vary by:  Weight  Air pressure  Temperature  Aircraft  Often need to fly an area or corridor multiple times to achieve the required data density  Helicopter  Merrick’s Eurocopter AStar 350 can operate from 0-130 knots  Ability to fly a specific speed for the required data density in a single pass Groundspeed 0% 10% 20% 30% 40% 50% 60% 70% 80% 90% 100% 0 20 40 60 80 100 120 140 160 180 200 220 240 260 Potential Lift (%) Indicated Airspeed (mph) Stall Speed Chart for Cessna 402C Listed stall speed = 82 mph Minimum pilot safety speed = 103 mph
Copyright © 2011 Merrick & Company All rights reserved. PREXXXX 10  Helicopters have the ability to fly in terrain following mode  Helicopters do not need to fly multiple passes Flight Benefits •Fixed wing aircraft single pass LiDAR point density = 1.5 ppsm •Required point density = 6 ppsm •Number of multidirectional passes required = 4 •Helicopter single pass LiDAR point density = 6 ppsm •Required point density = 6 ppsm •Number of passes required = 1
Copyright © 2011 Merrick & Company All rights reserved. PREXXXX 11  Shorter stays on project site  Allows for more projects to be collected in a given timeframe  Avoid common scenario of small amount left to fly but weather grounds the aircrafts for many days if not weeks  Less on site costs “Only one hour left to fly and…”  Per diems  Hotel fees  Salaries  Office processing time to check multiple lifts Flight Time Savings  Less time to altitude  Less time to target since the helicopter can refuel in the field with a fuel truck  Less turns / smaller turns
Copyright © 2011 Merrick & Company All rights reserved. PREXXXX 12 Less Turns / Smaller Turns  Theoretical flight path of helicopter mapping system  Estimated flight time for helicopter = 20 minutes  This equates to a 9X savings in flight time  Flight time breakdown:  Over target = 0.2 hrs / 61%  Flight line turns = 0.1 hrs / 30%  Takeoff and landing = 0.03 hrs / 9%  Total = 0.34 hrs  Actual Merrick powerline project flown with our Cessna 402C fixed wing aircraft  The 24 mile long corridor was flown twice for data density – 0.5 m GSD  Turn radiuses = 4-7 miles  Length of turn track = 9-20 miles  Turn times = 4 – 8 minutes per turn  Flight time breakdown:  Over target = 0.5 hrs / 15%  Flight line turns = 1.8 hrs / 59%  Taxiing, takeoff, ascending, descending, landing = 0.8 hrs / 26%  Total = 3.1 hrs
Copyright © 2011 Merrick & Company All rights reserved. PREXXXX 13 Square Miles Fixed Wing @ 100 kts Flight Hours Helicopter @ 62 kts Flight Hours Flight Hours Delta Flight Hours Savings 10 3 2 1 33% 100 24 10 14 58% 500 67 44 23 34% 1000 133 88 45 34% Flight Plan Examples Flat Area, High Point Density (10 PPSM), Varying Sized, Flight Plan Comparisons Square Miles Points per Square Meter Fixed Wing @ 100 kts Flight Hours Helicopter @ 62 kts Flight Hours Flight Hours Delta Flight Hours Savings 226.6 6 125 14 111 89%* 17.77 3.5 12 2 10 83% 518.3 1 141 53 88 62% 2057.5 4 157 91 66 42% 484.75 12 208 68 140 67% Miscellaneous Wide Area Project Flight Plan Comparisons Linear Miles Points per Square Meter Fixed Wing @ 100 kts Flight Hours Helicopter @ 62 kts Flight Hours Flight Hours Delta Flight Hours Savings 54.5 9 9 2 7 78% 265.14 0.4 15 8 7 47% Miscellaneous Corridor Project Flight Plan Comparisons * Large amount of terrain (range of elevation) – huge efficiencies gained from terrain following mode
Copyright © 2011 Merrick & Company All rights reserved. PREXXXX 14  With a helicopter’s ability to fly low and slow, it can collect features that are nearly impossible to collect with a fixed wing aircraft  Less surveyors required for ground data collection  More data consistency  More data completeness  Most if not all of data is collected at the same time  Better record of project conditions  No time variations that can cause problems  Vegetation growth  Erosion  Construction / Destruction  Water levels  Less schedule delays due to weather or ground cover issues Smaller Features Collected
Copyright © 2011 Merrick & Company All rights reserved. PREXXXX 15 Sample Project’s Feature Collection Specification Sheet Feature Can be Collected by Fixed Wing Can be Collected by Helicopter Feature Can be Collected by Fixed Wing Can be Collected by Helicopter Feature Can be Collected by Fixed Wing Can be Collected by Helicopter Signs Tree-At Top Ug Gas Pavement quality Shrub-At Top Ug Water Signals Ground (Spot Elevation) Ug Sewer Switches Grade Break (Ground Elevation String) Buried Cable Marker Static line Top Of Slope Buried Gas Marker Railroad ties and ballasts Toe Of Slope Gas Valve Miscellaneous Pole - At Ground C/L Earth Ditch H2O Valve Guypole - At Ground C/L Concrete Ditch Gas Meter Guywire Anchor - At Ground Edge Earth Ditch H2O Meter Telephone Pole - At Ground Edge Concrete Ditch Fire Hydrant Light Pole - At Ground Change in Land Use Above Ground Gas Structure-At Ground Pipe Invert Curbstop/Shutoff R.R.Communication-At Ground Pipe Top Ss Manhole Microwave Tower-At Ground Box Culvert Invert Elect. Manhole Centerline Structure-At Ground Box Culvert Top Sd Manhole Build-At Ground Edge of Water Tele Manhole Tree-At Ground Edge Of Canal Phone Pedestal Shrub-At Ground C/L Dry Watercourse (Natural) Electrical Pedestal Treeline-At Ground Corner Concrete Pad Electrical Transformer Shrubline-At Ground Corner Operating Platform Electrical Pullbox Geologic Logs of Exploration Edge Of Concrete Cable Trench Concrete Pullbox Miscellaneous Pole - At Attachment Point Edge Round Conc. Pad Catch Basin GuyPole - At Attachment Point Bridge Cor. Sprinkler Head Guywire - At Attachment Point Steps/Stairs Center, Center Pivot Sprinkler Telephone Pole - At Attachment Point Mailbox Crossing Point, Center Pivot Sprinkler Light Pole - At Attachment Point Sign Well Head Structure-At Attachment Point Post/Bollard Centerline/Crown R.R.Communication-At Attachment Point Landscaped Area Roadedge Microwave Antenna-At Attachment Point Foundation Geometric Feature Conductor-At Attachment Point Cattle Guard Centerline/Crown Build-Attachment Point Bottom Of Concrete Retaining Wall (At Ground) Edge of Trail Distribution Crossing Wire Top Of Concrete Retaining Wall (At Grade) Railroad C/L Overhead Ground/Shield/Neutral Wire Top Of Concrete Retaining Wall (Above Grade) Railroad @ Point Of Curve - Point Of Tangency Wire At Crossing -Wapa Line Gate Railroad Top of Rail Wire At Crossing -Other Line X' Height Chainlink Fence Edge Sidewalk Sag Points X' Height Chain Link Fence W/3 Strand Barbed Wire Top Back Curb Miscellaneous Pole - At Top of Structure Post W/"X" Strands Barbed Wire Flowline Curb GuyPole - At Top of Structure Post W/"X" Strand Barbed Wire & Fabric Bridge Edge Guywire - At Top of Structure Right of Way Fence Centerline Bridge Telephone Pole - At Top of Structure Miscellaneous Fence Bridge/Abutment Light Pole - At Top of Structure Spoil Pile Road Intersection Structure-At Top Of Structure Silo Fence / Road Crossing Rail Road Communications.- At Top Miscellaneous Features Pavement (Spot Elevation) Microwave Tower - At Top Cultural Site Pavement (Elevation String) Centerline Structure - At Top Of Structure Ug Electrical Guardrail Build-At Top Ug Communications Lane Markings = Can be collected = Possibly be collected = Cannot be collected
Copyright © 2011 Merrick & Company All rights reserved. PREXXXX 16 Sensor Payload
Copyright © 2011 Merrick & Company All rights reserved. PREXXXX 17 Sensor Payload  LiDAR  Optech Orion C200  Nadir RGB – 60 MP  Nadir CIR  Optech T-MS  Oblique RGB  Optech T-4800  Gyro-stabilized gimbaled video camera  Meteorological sensor  Real-time GPS tracking system
Copyright © 2011 Merrick & Company All rights reserved. PREXXXX 18 Why Choose the Optech Orion C200 LiDAR?
Copyright © 2011 Merrick & Company All rights reserved. PREXXXX 19 LiDAR Optech Orion C200 Key points for choosing the Orion:  Highest effective maximum pulse rate = 200 kHz  Best elevation accuracy on the market (much better than manufacturer specifications of < 5-10 cm; 1σ)  Best minimum pulse separation on the market (without waveform) = 0.7 m  Customizable field of view  Best detection of small, detailed features like wires, fences, poles, etc.  No accuracy degradation from high to low reflective targets or large to small features (like ground versus wires)  Continuous scan pattern so as to not miss line (wire) crossings  Little to no boresighting needed (Optech LMS software)  Low operational above ground level (AGL) ≥ 50 m  Low eye safety (AGL) ≥ 7 m  Smallest (1 ft3) and lightest weight (59 lbs) system on the market
Copyright © 2011 Merrick & Company All rights reserved. PREXXXX 20 Optech Orion C200 Vendor Specifications * * * We upgraded this to the M200 spec for better horizontal accuracy for all sensors and less LiDAR boresighting
Copyright © 2011 Merrick & Company All rights reserved. PREXXXX 21 Optech Orion C200 LiDAR Densities
Copyright © 2011 Merrick & Company All rights reserved. PREXXXX 22 Horizontal Accuracy – POS AV 510 IMU 0.00 0.02 0.04 0.06 0.08 0.10 0.12 0.14 0.16 0.18 0.20 0 100 200 300 400 500 600 700 800 900 1000 1100 Horizontal Accuracy (m) AGL (m)
Copyright © 2011 Merrick & Company All rights reserved. PREXXXX 23 Vertical Accuracy – Optech Test Results
Copyright © 2011 Merrick & Company All rights reserved. PREXXXX 24 Vertical Accuracy – Merrick Test Results 0.0330 0.0315 0.0257 0.0281 0.0257 0.0193 0.0206 0.0155 0.0125 0.0109 0.0086 0.0040 0.000 0.005 0.010 0.015 0.020 0.025 0.030 0.035 0.040 0 200 400 600 800 1000 1200 1400 RMSEz (m) AGLs (m) This calibration data was flown with full field of view (50) over a runway taxi consisting of 394 highly accurate, GPS surveyed control points.
Copyright © 2011 Merrick & Company All rights reserved. PREXXXX 25 Optech Orion C200 LiDAR Example
Copyright © 2011 Merrick & Company All rights reserved. PREXXXX 26 RGB Orthophoto Nadir Digital Camera Trimble TAC 60 MP  Medium format digital ortho camera (nadir mounting)  60 megapixel RGB CCD (8,924 X 6,732 pixels)  Multiple lens options (see lens options at right) – we have purchased the 47 mm and the 72 mm lenses  Electronic iris shutter integrated into the lens – fast and reliable  1/1,000 maximum shutter speed is equal to or better than a 1/4,000 focal plane shutter  Maximum frame rate is 2.5 seconds  “Hot swappable” lenses do not require a recalibration  Includes a light meter which automatically adjusts the aperture for varying light and ground cover conditions  Purposely designed and built for digital aerial photography
Copyright © 2011 Merrick & Company All rights reserved. PREXXXX 27 TAC 60 MP Resolutions (meters)
Copyright © 2011 Merrick & Company All rights reserved. PREXXXX 28 TAC 60 MP Resolutions (meters) – Low AGL
Copyright © 2011 Merrick & Company All rights reserved. PREXXXX 29 Trimble TAC 60 MP RGB Orthophoto Example (2 cm res.)
Copyright © 2011 Merrick & Company All rights reserved. PREXXXX 30 Color Infrared Nadir Camera  CIR camera is required for vegetation classification needs:  Species delineation  Vegetation health assessment  Wetland studies  Coastal management  CIR imagery can greatly assist with automated feature classification of LiDAR data  Buildings  Vegetation  Water bodies  CIR imagery is heavily used for impervious surface classification
Copyright © 2011 Merrick & Company All rights reserved. PREXXXX 31  Color separating prism with three CCD imaging sensors  1920(H) x 1080(V) resolution (x3) for 6.2 Million pixels of data  Image 3 spectral bands from 500-900 nm  Standard 3-Band CIR (Full Radiometric & Spectral Resolution across all bands.)  Green (550nm/~40nm) Independent Mono CCD  Red (670nm/~40nm) Independent Mono CCD  Near IR (800nm/~60nm) Independent Mono CCD  Maximum frame rate is 4 frames per second  GPS/IMU information is associated with each TIF image CIR Camera Selection – Optech T-MS
Copyright © 2011 Merrick & Company All rights reserved. PREXXXX 32 Sample Optech T-MS CIR Image
Copyright © 2011 Merrick & Company All rights reserved. PREXXXX 33 Oblique Cameras  Oblique cameras provide the user the ability to see non-nadir features like signs, fences, walls, etc. This can be very crucial for a right of way corridor to support the condition assessment and identification of the required features to be inventoried.  Where LiDAR and high resolution nadir cameras can show the location of a feature, often times oblique cameras can provide the attribute of that feature.  Oblique cameras can usually provide visibility under a features like bridges, trees, or other elevated surfaces/objects.
Copyright © 2011 Merrick & Company All rights reserved. PREXXXX 34 Oblique Camera Selection – Optech T-4800  16 megapixel RGB CCD (4,872 X 3,248 pixels)  Forward and aft oblique (2) at 60 degrees off nadir  Maximum frame rate is 2 frames per second (per camera)  GPS/IMU information is associated with each image  Data can be processed to TIF (8-bit or 16- bit) or JPEG
Copyright © 2011 Merrick & Company All rights reserved. PREXXXX 35 Sample Optech T-4800 Oblique Image
Copyright © 2011 Merrick & Company All rights reserved. PREXXXX 36 System Rack and Computer Interfaces
Copyright © 2011 Merrick & Company All rights reserved. PREXXXX 37 Sensor Pod Contents – CAD Drawings
Copyright © 2011 Merrick & Company All rights reserved. PREXXXX 38 Sensor Pod Contents - Photos
Copyright © 2011 Merrick & Company All rights reserved. PREXXXX 39 Optech Experience  Design  Several design discussions and technical review sessions  Custom plate and adapters design, engineering, and fabrication  Integration  On site installation and system integration  Custom code modifications  Flight testing and data review support  Full training covered during integration  Support  Technical support for software and hardware  Sensor calibration and maintenance fully supported  Unprecedented remote support by system engineer (remote desktop login for code modification)  Modifications  Provided engineering solutions for performance and data capacity upgrades
Copyright © 2011 Merrick & Company All rights reserved. PREXXXX 40 Gyro-Stabilized, Gimbaled Video Camera  GPS geotagged video  Stabilized 32X optical zoom  Automatically tracks shapefile polylines
Copyright © 2011 Merrick & Company All rights reserved. PREXXXX 41 Helicopter Airborne Sensors Usage Chart Industry Feature Able To Detect With Sensor Type LiDAR RGB Digital Camera CIR Digital Camera RGB Video Camera Thermal Camera LW Thermal Video Camera UV Corona Video Camera Look Angle Nadir Nadir Oblique Nadir Nadir Oblique Nadir Oblique Oblique Electric Transmission Powerlines X X X X X X X Towers X X X X X X X X Transformers X X X X X X X Attachment Points X X X X X Shield Wires X X X X X Insulators X X X X X X X Suspension or Tangent Towers X X X X X X X X Guy Wires X X X X X Crossing Wires X X X X X Switches X X X X X Foundations X X X X X Vegetation X X X X X X Buildings X X X X X X X X Tower Identification Features X X Corona Discharge X Fences X X X X X Substations X X X X X X X X Transportation Roadway X X X X X X X X Signs X X Lane Markings X X X X X Bridges X X X X X X X X Railings X X X X X X Pavement Quality X X X Vegetation X X X X X X Buildings X X X X X X X X Railroad Tracks X X X X X X Ties X X X X X Bridges X X X X X X Signals X X Right of Way X X X X X X Ballast X X X X X X Overhead Lines X X X X X Switches X X X X X Third Rail X X X X X X Pipeline Scar / Right Of Way X X X X X X Initial Injection Station X X X X X X Compressor / Pump Stations X X X X X X Partial Delivery Station X X X X X X Block Valve Station X X X X X X Final Delivery Station X X X X X X Buildings X X X X X X X X
Copyright © 2011 Merrick & Company All rights reserved. PREXXXX 42 Airborne Meteorological Sensor • Temperature (Celsius) • Relative Humidity (% RH) • Barometric Pressure (Pascals) • u Wind Vector Component in earth-fixed reference frame (m/s - +’ve North) • v Wind Vector Component in earth-fixed reference frame (m/s - +’ve East) • True Air Speed (TAS) (m/s) • w (vertical) Wind Vector Component in earth-fixed frame (m/s) • Wind Status Flag (0 – Not Valid, 1 – Valid)
Copyright © 2011 Merrick & Company All rights reserved. PREXXXX 43 Real-time GPS Tracking System
Copyright © 2011 Merrick & Company All rights reserved. PREXXXX 44 Optech Orion C200 Test Results
Copyright © 2011 Merrick & Company All rights reserved. PREXXXX 45 Low AGL flying coupled with a LiDAR system design to collect features with a wide range of signal to noise ratio (SNR) yields complete feature collection. The total solution is able to collect: All powerline features, line crossings, fences, guardrails, building edges, any small, thin object, etc. Data Differences – Prevent Low SNR LiDAR Misses Flown 5 times with a fixed wing LiDAR system, pulsing as high as possible and flying as low and slow as possible Flown 1 time with a helicopter LiDAR system
Copyright © 2011 Merrick & Company All rights reserved. PREXXXX 46 Minimum Pulse Separation – Vegetation Penetration LiDAR cross section (top view: points colored by return, bottom view: elevation TIN) Optech Orion LiDAR cross section (top view: points colored by return, bottom view: elevation TIN) LiDAR cross section (top view: points colored by return, bottom view: elevation TIN) Optech Orion LiDAR cross section (top view: points colored by return, bottom view: elevation TIN)
Copyright © 2011 Merrick & Company All rights reserved. PREXXXX 47 Minimum Pulse Separation – Feature Definition LiDAR colored by returns (no 2nd returns due to large minimum pulse separation) Optech Orion – colored by returns (2nd returns widely present due to 0.7 m minimum pulse separation) LiDAR colored by return, lack of vegetation penetration to the ground Optech Orion – colored by return, good vegetation penetration to the ground
Copyright © 2011 Merrick & Company All rights reserved. PREXXXX 48 LiDAR colored by return with control (white); note the lack of penetration near control Optech Orion – colored by return with control (white); note canopy penetration and multiple returns Minimum Pulse Separation – Accuracy LiDAR colored by return Optech Orion – colored by return
Copyright © 2011 Merrick & Company All rights reserved. PREXXXX 49 Minimum Pulse Separation – Structure and Fence Detection First return of many returns (all multiple returns turned off) colored by elevation Optech Orion – First return of many returns (all multiple returns turned off) colored by elevation First return of many returns (all multiple returns turned off) colored by elevation Optech Orion – First return of many returns (all multiple returns turned off) colored by elevation
Copyright © 2011 Merrick & Company All rights reserved. PREXXXX 50 LiDAR Dropouts LiDAR dropouts on the coal pile (left half of screenshot) Optech Orion – no LiDAR dropouts on the coal pile (left half of screenshot) LiDAR dropouts were found on this line presumably due to newly paved asphalt Optech Orion – no dropouts (missing points on the right side is water)
Copyright © 2011 Merrick & Company All rights reserved. PREXXXX 51 Intensity / Range Issues LiDAR TINed and colored by elevation; note the 1’ rise in elevation on reflective paint stripes Optech Orion – TINed and colored by elevation; note the smooth surface over the paint stripes LiDAR TINed and colored by elevation; note the rise in elevation on the crosswalk paint stripes Optech Orion – TINed and colored by elevation; note the smooth surface over the paint stripes and the definition of power/traffic lines
Copyright © 2011 Merrick & Company All rights reserved. PREXXXX 52 Laser Shot Noise LiDAR data (blue) has a shot noise of 0.10’ on medium reflective surfaces and 0.15’ on dark reflective surfaces. Optech data (red) has a shot noise of 0.05’ on medium reflective surfaces and 0.075’ on dark reflective surfaces. LiDAR profile shows paint stripe rising and noisy data, Optech’s profile is flat and smooth. LiDAR data profiles colored by flight line with control points along the runway Optech data profiles colored by flight line with control points along the runway
Copyright © 2011 Merrick & Company All rights reserved. PREXXXX 53 Powerline Detection (main, static, and crossing) Points on lines are present but sporadic and static lines are not present Optech Orion – Points on lines are dense and static line is also present on all lines; small tower present First return of many returns (all multiple returns turned off) colored by elevation Optech Orion – First return of many returns (all multiple returns turned off) colored by elevation
Copyright © 2011 Merrick & Company All rights reserved. PREXXXX 54 Wire Detection Test Site - Diagram Existing homeowner’s power distribution lines
Copyright © 2011 Merrick & Company All rights reserved. PREXXXX 55 Wire Detection Test Site – Air Photo
Copyright © 2011 Merrick & Company All rights reserved. PREXXXX 56 Ground Photo 1 – Facing East
Copyright © 2011 Merrick & Company All rights reserved. PREXXXX 57 Ground Photo 2 – Facing West
Copyright © 2011 Merrick & Company All rights reserved. PREXXXX 58 Wire Detection Test Site Results– all returns • All returns displayed, colored by elevation • Single flight line displayed • All test lines were successfully detected
Copyright © 2011 Merrick & Company All rights reserved. PREXXXX 59 Wire Detection Test Site Results - first of manys • Points displayed by first return but not singles (first of manys), colored by elevation • Single flight line displayed • All test lines were successfully detected
Copyright © 2011 Merrick & Company All rights reserved. PREXXXX 60 Wire Detection Test Site Results - lines labeled • Points displayed by first return but not singles (first of manys), colored by elevation • Single flight line displayed • All test lines were successfully detected
Copyright © 2011 Merrick & Company All rights reserved. PREXXXX 61 Wire Detection Test Site Results – all lines • Points displayed by first return but not singles (first of manys) • Points colored by flight line • All test lines were successfully detected
Copyright © 2011 Merrick & Company All rights reserved. PREXXXX 62 Wire Detection Test Site Results – video (play in slideshow)
Copyright © 2011 Merrick & Company All rights reserved. PREXXXX 63 “Fishing Line” Detection Test
Copyright © 2011 Merrick & Company All rights reserved. PREXXXX 64 “Fishing Line” Detection Test
Copyright © 2011 Merrick & Company All rights reserved. PREXXXX 65 “Fishing Line” Detection Test Ladder Fence Lines
Copyright © 2011 Merrick & Company All rights reserved. PREXXXX 66 LiDAR Power Line Examples
Copyright © 2011 Merrick & Company All rights reserved. PREXXXX 67
Copyright © 2011 Merrick & Company All rights reserved. PREXXXX 77 Sensor Fusion from a Helicopter Platform

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