Fig. 7: Three enhancements of the mapping module.
From: Slope inspection under dense vegetation using LiDAR-based quadrotors
a The unknown grid cells inflation in the 2D case. In this case, both the resolution of the probability map and the inflated map are set to 0.1 m, and the inflation radius, rocc and runk, are both set to 0.2 m. As a result, the quantities of Iocc and Iunk are equal, with both being 9. b Characteristics of Livox Mid-360 LiDAR scanning on clothing. As the distance increases, the ratio of invalid measurement points to the total measurement points decreases. When the distance exceeds 1 m, this ratio approaches zero, indicating that nearly all measurement points are considered valid. c The incremental frontiers update in the 2D case.
