A method to detect vertically long and small diameter pipes in a nature field using in-vehicle LiDAR

Abstract

In final waste disposal sites, after the waste was buried in the ground, it produces gas in the process of decomposition. Degassing pipes are installed at the final disposal site, and the gas concentration is measured regularly in order to check the progress of purification. For labor saving, it is desired that the autonomous vehicle for environmental survey travels to the gas vent pipe and automatically measures the gas concentration. To investigate rough terrain efficiently, we have developed a prototype utilizing a four-wheeled ATV and proposed a control method named Path-Generating Regulator (PGR). This paper focuses on the detection of the gas vent pipe as a destination of the ATV, proposes an algorithm to detect the gas vent pipe. In addition, we will confirm the detection accuracy of the gas vent pipe.