lidR (version 4.1.0)

track_sensor_gatziolis2019: Sensor tracking algorithm

Description

This function is made to be used in track_sensor. It implements an algorithm from Gatziolis and McGaughey 2019 (see reference) for sensor tracking using multiple returns to estimate the positioning of the sensor by computing the intersection in space of the lines passing through the first and last returns.

Usage

Gatziolis2019(SEGLENFactor = 1.0059, AngleFactor = 0.8824, deltaT = 0.5)

Arguments

SEGLENFactor

scalar. Weighting factor for the distance b/w 1st and last pulse returns

AngleFactor

scalar. Weighting factor for view angle of mother pulse of a return

deltaT

scalar. TimeBlock duration (in seconds)

Author

Demetrios Gaziolis and Jean-Romain Roussel

Details

In the original paper, two steps are described: (1) closest point approach (CPA) and (2) cubic spline fitting. Technically, the cubic spline fitting step is a post-processing step and is not included in this algorithm.

The source code of the algorithm is a slight modification of the original source code provided with the paper to fit with the lidR package.

References

Gatziolis, D., & McGaughey, R. J. (2019). Reconstructing Aircraft Trajectories from Multi-Return Airborne Laser-Scanning Data. Remote Sensing, 11(19), 2258.

Examples

# A valid file properly populated
LASfile <- system.file("extdata", "Topography.laz", package="lidR")
las = readLAS(LASfile)
flightlines <- track_sensor(las, Gatziolis2019())

plot(las@header)
plot(flightlines, add = TRUE)