slope inspection data

Landslides pose significant threats to residents' safety and daily lives. To mitigate such risks, flexible debris-resisting barriers are constructed and regularly inspected, a task known as slope inspection. Traditional manual inspections face challenges due to steep terrains and dense vegetation, making them costly and difficult. Unmanned aerial vehicle (UAV) equipped with LiDAR and cameras offers high mobility, making them well-suited for slope inspections. However, existing UAV solutions lack comprehensive frameworks to address the challenges presented by dense vegetation, including robust localization, high-precision mapping, avoiding small and dynamic obstacles, and navigation through cluttered under-canopy space. To address these challenges, we develop a LiDAR-based quadrotor with a comprehensive software system. It features assisted obstacle avoidance, enabling navigation through under-canopy clutter while executing pilot commands. Field experiments conducted in collaboration with the Hong Kong Civil Engineering and Development Department (CEDD) demonstrate our quadrotor's ability to avoid small obstacles and maneuver in dense vegetation, validating its practical potential for slope inspection.