LIDAR Based Terrain Mapping and Safe Landing Zone Detection


INTRODUCTION

The goal of this research is to utilize a LIDAR sensor to perform real time terrain mapping as a helicopter flies over an area. From the terrain map, the helicopter will calculate the safest area to land.

LITERATURE REVIEW

The following link is a power point presentation which summarizes the major works related to safe landing zone identification:

Safe Landing Zone Literature Review

GANTRY TESTS

Initial scans were taken inside a mock urban environment. A SICK LMS 200 scanning lidar sensor was attached to the landing gear of the helicopter. A 3DOF gantry was then used to translate the assembly through a mock yurban environment. The data gathered from these tests can be used to test algorithms offline. Pictures from the tests and a video are shown below.



VIDEO:

The results of these scans were processed and plotted as point cloud maps. The plots of these results are shown below. The first row of pictures show the testing environment and the plot viewed from the same vantage point. The second row of pictures show an end-on vantage point and a isometric view of the point cloud map. In the second row of pictures, notice that there are streaks suspended above the ground. These are the result of the sensor detecting the landing gear as the scan was being performed.

The following is a story board of the notional mission:
STORY BOARD

Towards the notional mission, laser scans were taken of the flight area using a Riegl LMSZ210 3D scanner. The results are shown below. The color seen in the image is derrived from the scans (based on the reflection).

For camparison, a panorama shot of the area was taken using a regular digital camera:

Piasecki Panorama Image