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Filtering from airborne LiDAR datasets in urban area is one important process during the building of digital and smart cities. However, the existing filters encounter poor filtering performance and heavy computational burden when processing large-scale and complicated urban environments. To tackle this issue, a self-adaptive filtering method based on object primitive global energy minimization is proposed in this paper. In this paper, mode points were first acquired for generating the mode graph. The mode points were the cluster centers of the LiDAR data obtained in a mean shift algorithm. The graph constructed with mode points was named "mode graph" in this paper. By defining the energy function based on the mode graph, the filtering process is transformed to iterative global energy minimization. In each iteration, the graph cuts technique was adopted to achieve global energy minimization. Meanwhile, the probability of each point belonging to the ground was updated, which would lead to a new refined ground surface using the points whose probabilities were greater than 0.5. This process was iterated until two successive fitted ground surfaces were determined to be close enough. Four urban samples with different urban environments were adopted for verifying the effectiveness of the filter developed in this paper. Experimental results indicate that the developed filter obtained the best filtering performance. Both the total error and the Kappa coefficient are superior to those of the other three classical filtering methods. [ABSTRACT FROM AUTHOR]

Clouds are crucial in regulating the Earth's energy budget. Global cloud top heights have been easily retrieved from satellite measurements, but there are few methods for determining cloud base height (CBH) from satellite measurements. The Cloud Base Altitude Spatial Extrapolator (CBASE) algorithm was proposed to derive the height of the lower-troposphere liquid cloud base by using the Cloud-Aerosol Lidar with Orthogonal polarization cloud aerosol LiDAR (CALIOP) profiles and weather observations at airports from aviation routine and special weather report (METARs and SPECIs, called METAR) observation data in the United States. A modification to the CBASE algorithm over China (CNMETAR-CBASE) is presented in this paper. In this paper, the ability of the CBASE algorithm to calculate CBH in China is evaluated, and METAR observations over China (CNMETAR) were then used to modify the CBASE algorithm. The results including CNMETAR observation data in China can better retrieve CBH over China compared with the results using the original CBASE algorithm, and the accuracy of the global CBH results has been improved. Overestimations of CBH with the original algorithm range from 500 to 800 m in China, which have been reduced to about 300 m with an improved algorithm. The deviations calculated by the algorithm also have a significant reduction, from 480 m (CBASE) to 420 m (CNMETAR-CBASE). In conclusion, the modified CBASE algorithm not only calculates the CBH more accurately in China but also improves the results of the global CBH retrieved from satellites. [ABSTRACT FROM AUTHOR]

LiDAR-based simultaneous localization and mapping (SLAM) offer robustness against illumination changes, but the inherent sparsity of LiDAR point clouds poses challenges for continuous tracking and navigation, especially in feature-deprived scenarios. This paper proposes a novel LiDAR/SINS tightly integrated SLAM algorithm designed to address the localization challenges in urban environments characterized in sparse structural features. Firstly, the method extracts edge points from the LiDAR point cloud using a traditional segmentation method and clusters them to form distinctive edge lines. Then, a rotation-invariant feature—line distance—is calculated based on the edge line properties that were inspired by the traditional tightly integrated navigation system. This line distance is utilized as the observation in a Kalman filter that is integrated into a tightly coupled LiDAR/SINS system. This system tracks the same edge lines across multiple frames for filtering and correction instead of tracking points or LiDAR odometry results. Meanwhile, for loop closure, the method modifies the common SCANCONTEXT algorithm by designating all bins that do not reach the maximum height as special loop keys, which reduce false matches. Finally, the experimental validation conducted in urban environments with sparse structural features demonstrated a 17% improvement in positioning accuracy when compared to the conventional point-based methods. [ABSTRACT FROM AUTHOR]

Challenges have been observed in the traditional circumferential-scanning LiDAR underwater to balance between the detection range and the sealing performance. To tackle these challenges, a new scanning unit is presented in this paper, employing a pyramidal-shaped reflector for enhanced performance. Furthermore, an innovative magneto–electric detection module comprising Hall switches and magnetic rings is introduced. It can facilitate the accurate identification of the reflector's edge, thereby enhancing the precision of the target-orientation detection. A rapid target orientation coding method based on split-frequency clocks is proposed on FPGAs. It can output the target's initial and termination orientation codes immediately after capturing it, exhibiting a significantly low output delay of 20 ns and a high detection resolution of 15°. Finally, a prototype is fabricated to validate the design in this paper. The experimental results demonstrate that the scanning unit enables reliable scanning and orientation recognition of the target. In addition, it is trustworthy in receiving echo signals when the laser passes through glass and then an aqueous medium. [ABSTRACT FROM AUTHOR]

The canopy height model (CHM) derived from LiDAR point cloud data is usually used to accurately identify the position and the canopy dimension of single tree. However, local invalid values (also called data pits) are often encountered during the generation of CHM, which results in low-quality CHM and failure in the detection of treetops. For this reason, this paper proposes an innovative method, called "pixels weighted differential gradient", to filter these data pits accurately and improve the quality of CHM. First, two characteristic parameters, gradient index (GI) and Z-score value (ZV) are extracted from the weighted differential gradient between the pit pixels and their eight neighbors, and then GIs and ZVs are commonly used as criterion for initial identification of data pits. Secondly, CHMs of different resolutions are merged, using the image processing algorithm developed in this paper to distinguish either canopy gaps or data pits. Finally, potential pits were filtered and filled with a reasonable value. The experimental validation and comparative analysis were carried out in a coniferous forest located in Triangle Lake, United States. The experimental results showed that our method could accurately identify potential data pits and retain the canopy structure information in CHM. The root-mean-squared error (RMSE) and mean bias error (MBE) from our method are reduced by between 73% and 26% and 76% and 28%, respectively, when compared with six other methods, including the mean filter, Gaussian filter, median filter, pit-free, spike-free and graph-based progressive morphological filtering (GPMF). The average F1 score from our method could be improved by approximately 4% to 25% when applied in single-tree extraction. [ABSTRACT FROM AUTHOR]

Appropriate environmental sensing methods and visualization representations are crucial foundations for the in situ exploration of planets. In this paper, we developed specialized visualization methods to facilitate the rover's interaction and decision-making processes, as well as to address the path-planning and obstacle-avoidance requirements for lunar polar region exploration and Mars exploration. To achieve this goal, we utilize simulated lunar polar regions and Martian environments. Among them, the lunar rover operating in the permanently shadowed region (PSR) of the simulated crater primarily utilizes light detection and ranging (LiDAR) for environmental sensing; then, we reconstruct a mesh using the Poisson surface reconstruction method. After that, the lunar rover's traveling environment is represented as a red-green-blue (RGB) image, a slope coloration image, and a theoretical water content coloration image, based on different interaction needs and scientific objectives. For the rocky environment where the Mars rover is traveling, this paper enhances the display of the rocks on the Martian surface. It does so by utilizing depth information of the rock instances to highlight their significance for the rover's path-planning and obstacle-avoidance decisions. Such an environmental sensing and enhanced visualization approach facilitates rover path-planning and remote–interactive operations, thereby enabling further exploration activities in the lunar PSR and Mars, in addition to facilitating the study and communication of specific planetary science objectives, and the production and display of basemaps and thematic maps. [ABSTRACT FROM AUTHOR]

Due to the limitation of a single sensor such as only camera or only LiDAR, the Visual SLAM detects few effective features in the case of poor lighting or no texture. The LiDAR SLAM will also degrade in an unstructured environment and open spaces, which reduces the accuracy of pose estimation and the quality of mapping. In order to solve this problem, on account of the high efficiency of Visual odometry and the high accuracy of LiDAR odometry, this paper investigates the multi-sensor fusion of bidirectional visual–inertial odometry with 3D LiDAR for pose estimation. This method can couple the IMU with the bidirectional vision respectively, and the LiDAR odometry is obtained assisted by the bidirectional visual inertial. The factor graph optimization is constructed, which effectively improves the accuracy of pose estimation. The algorithm in this paper is compared with LIO-LOAM, LeGO-LOAM, VINS-Mono, and so on using challenging datasets such as KITTI and M2DGR. The results show that this method effectively improves the accuracy of pose estimation and has high application value for mobile robots. [ABSTRACT FROM AUTHOR]

Aerosol–cloud interactions play a crucial role in shaping Earth's climate and hydrological cycle. Observing these interactions with high precision and accuracy is of the utmost importance for improving climate models and predicting Earth's climate. Over the past few decades, lidar techniques have emerged as powerful tools for investigating aerosol–cloud interactions due to their ability to provide detailed vertical profiles of aerosol particles and clouds with high spatial and temporal resolutions. This review paper provides an overview of recent advancements in the study of ACI using lidar techniques. The paper begins with a description of the different cloud microphysical processes that are affected by the presence of aerosol, and with an outline of lidar remote sensing application in characterizing aerosol particles and clouds. The subsequent sections delve into the key findings and insights gained from lidar-based studies of aerosol–cloud interactions. This includes investigations into the role of aerosol particles in cloud formation, evolution, and microphysical properties. Finally, the review concludes with an outlook on future research. By reporting the latest findings and methodologies, this review aims to provide valuable insights for researchers engaged in climate science and atmospheric research. [ABSTRACT FROM AUTHOR]

Mobile LiDAR technology is a powerful tool that accurately captures spatial information about typical static objects in road scenes. However, the precise extraction and classification of these objects pose persistent technical challenges. In this paper, we employ a deep learning approach to tackle the point cloud classification problem. Despite the popularity of the PointNet++ network for direct point cloud processing, it encounters issues related to insufficient feature learning and low accuracy. To address these limitations, we introduce a novel layer-wise optimization network, LO-Net. Initially, LO-Net utilizes the set abstraction module from PointNet++ to extract initial local features. It further enhances these features through the edge convolution capabilities of GraphConv and optimizes them using the "Unite_module" for semantic enhancement. Finally, it employs a point cloud spatial pyramid joint pooling module, developed by the authors, for the multiscale pooling of final low-level local features. Combining three layers of local features, LO-Net sends them to the fully connected layer for accurate point cloud classification. Considering real-world scenarios, road scene data often consist of incomplete point cloud data due to factors such as occlusion. In contrast, models in public datasets are typically more complete but may not accurately reflect real-world conditions. To bridge this gap, we transformed road point cloud data collected by mobile LiDAR into a dataset suitable for network training. This dataset encompasses nine common road scene features; hence, we named it the Road9 dataset and conducted classification research based on this dataset. The experimental analysis demonstrates that the proposed algorithm model yielded favorable results on the public datasets ModelNet40, ModelNet10, and the Sydney Urban Objects Dataset, achieving accuracies of 91.2%, 94.2%, and 79.5%, respectively. On the custom road scene dataset, Road9, the algorithm model proposed in this paper demonstrated outstanding classification performance, achieving a classification accuracy of 98.5%. [ABSTRACT FROM AUTHOR]

Most advances in the remote sensing of floating marine plastic litter have been made using passive remote-sensing techniques in the visible (VIS) to short-wave-infrared (SWIR) parts of the electromagnetic spectrum based on the spectral absorption features of plastic surfaces. In this paper, we present developments of new and emerging remote-sensing technologies of marine plastic litter such as passive techniques: fluid lensing, multi-angle polarimetry, and thermal infrared sensing (TIS); and active techniques: light detection and ranging (LiDAR), multispectral imaging detection and active reflectance (MiDAR), and radio detection and ranging (RADAR). Our review of the detection capabilities and limitations of the different sensing technologies shows that each has their own weaknesses and strengths, and that there is not one single sensing technique that applies to all kinds of marine litter under every different condition in the aquatic environment. Rather, we should focus on the synergy between different technologies to detect marine plastic litter and potentially the use of proxies to estimate its presence. Therefore, in addition to further developing remote-sensing techniques, more research is needed in the composition of marine litter and the relationships between marine plastic litter and their proxies. In this paper, we propose a common vocabulary to help the community to translate concepts among different disciplines and techniques. [ABSTRACT FROM AUTHOR]

Hyperspectral LiDAR (HSL) has been utilized as an efficacious technique in object classification and recognition based on its unique capability to obtain ranges and spectra synchronously. Different kinds of HSL prototypes with varied structures have been promoted and measured its performance. However, almost all of these HSL prototypes employ complex and large spectroscopic devices, such as an Acousto-Optic Tunable Filter and Liquid-Crystal Tunable Filter, which makes this HSL system bulky and expensive, and then hinders its extensive application in many fields. In this paper, a smart and smaller spectroscopic component, an intergraded optical filter (IOF), is promoted to miniaturize these HSL systems. The system calibration, range precision, and spectral profile experiments were carried out to test the HSL prototype. Although the IOF employed here only covered a wavelength range of 699–758 nm with a six-channel passband and showed a transmittance of less than 50%, the HSL prototype showed excellent performance in ranging and spectral profile collecting. The spectral profiles collected are well in accordance with those acquired based on the AOTF. The spectral profiles of the fruits, vegetables, plants, and ore samples collected by the HSL based on an IOF can effectively reveal the status of the plants, the component materials, and ore species. Finally, we also showed the integrated design of the HSL based on a three-dimensional IOF and combined with a detector. The performance and designs of this HSL system based on an IOF show great potential for miniaturizing in some specific applications. [ABSTRACT FROM AUTHOR]

This article addresses the challenges of measuring the 3D architecture traits, such as height and volume, of fruit tree canopies, constituting information that is essential for assessing tree growth and informing orchard management. The traditional methods are time-consuming, prompting the need for efficient alternatives. Recent advancements in unmanned aerial vehicle (UAV) technology, particularly using Light Detection and Ranging (LiDAR) and RGB cameras, have emerged as promising solutions. LiDAR offers precise 3D data but is costly and computationally intensive. RGB and photogrammetry techniques like Structure from Motion and Multi-View Stereo (SfM-MVS) can be a cost-effective alternative to LiDAR, but the computational demands still exist. This paper introduces an innovative approach using UAV-based single-lens stereoscopic photography to overcome these limitations. This method utilizes color variations in canopies and a dual-image-input network to generate a detailed canopy height map (CHM). Additionally, a block structure similarity method is presented to enhance height estimation accuracy in single-lens UAV photography. As a result, the average rates of growth in canopy height (CH), canopy volume (CV), canopy width (CW), and canopy project area (CPA) were 3.296%, 9.067%, 2.772%, and 5.541%, respectively. The r2 values of CH, CV, CW, and CPA were 0.9039, 0.9081, 0.9228, and 0.9303, respectively. In addition, compared to the commonly used SFM-MVS approach, the proposed method reduces the time cost of canopy reconstruction by 95.2% and of the cost of images needed for canopy reconstruction by 88.2%. This approach allows growers and researchers to utilize UAV-based approaches in actual orchard environments without incurring high computation costs. [ABSTRACT FROM AUTHOR]

This paper shows the observation and estimation of convective wind gusts by different satellite sensors at the C-band (Sentinel-1 SAR) and L-band (ALOS-1 SAR and SMAP radiometer) over Lake Victoria, the Gulf of Guinea, and the Gulf of Mexico. These areas are significantly impacted by deep convection associated with strong surface winds and heavy rainfall. In particular, the collocation of Sentinel-1 and SMAP images enables the observation of the movement of surface wind gusts corresponding to that of deep convective clouds. The convective wind intensity estimated from Sentinel-1 and SMAP data varies from 10 to 25 m/s. Additionally, we present an agreement in the observation of deep convective clouds, dynamics, and strong surface winds by different satellite sensors, including Meteosat geostationary (GEO), Aeolus Lidar, and Sentinel-1 SAR, respectively. We also evaluate the estimated convective wind gusts by comparison with the in situ measurements of the weather stations installed in the Gulf of Mexico, where deep convection occurs regularly. The result shows an agreement between the two wind sources estimated and measured. Likewise, the peaks of the measured wind gusts correspond to the occurrence of deep convective clouds observed by the GOES-16 GEO satellite. [ABSTRACT FROM AUTHOR]

Airborne light detection and ranging (LiDAR) data are increasingly used in various fields such as topographic mapping, urban planning, and emergency management. A necessary processing step in the application of airborne LiDAR data is the elimination of mismatch errors. This paper proposes a new method for airborne LiDAR strip adjustment based on point clouds with planar neighborhoods; this method is intended to eliminate errors in airborne LiDAR point clouds. Initially, standard pre-processing tasks such as denoising, ground separation, and resampling are performed on the airborne LiDAR point clouds. Subsequently, this paper introduces a unique approach to extract point clouds with planar neighborhoods which is designed to enhance the registration accuracy of the iterative closest point (ICP) algorithm within the context of airborne LiDAR point clouds. Following the registration of the point clouds using the ICP algorithm, tie points are extracted via a point-to-plane projection method. Finally, a strip adjustment calculation is executed using the extracted tie points, in accordance with the strip adjustment equation for airborne LiDAR point clouds that was derived in this study. Three sets of airborne LiDAR point cloud data were utilized in the experiment outlined in this paper. The results indicate that the proposed strip adjustment method can effectively eliminate mismatch errors in airborne LiDAR point clouds, achieving a registration accuracy and absolute accuracy of 0.05 m. Furthermore, this method's processing efficiency was more than five times higher than that of traditional methods such as ICP and LS3D. [ABSTRACT FROM AUTHOR]

When it comes to forest management and protection, knowledge is key. Therefore, forest mapping is crucial to obtain the required knowledge towards profitable resource exploitation and increased resilience against wildfires. Within this context, this paper presents a literature review on tree classification and segmentation using data acquired by unmanned aerial vehicles, with special focus on the last decade (2013–2023). The latest research trends in this field are presented and analyzed in two main vectors, namely: (1) data, where used sensors and data structures are resumed; and (2) methods, where remote sensing and data analysis methods are described, with particular focus on machine learning approaches. The study and review methodology filtered 979 papers, which were then screened, resulting in the 144 works included in this paper. These are systematically analyzed and organized by year, keywords, purpose, sensors, and methods used, easily allowing the readers to have a wide, but at the same time detailed, view of the latest trends in automatic tree classification and segmentation using unmanned aerial vehicles. This review shows that image processing and machine learning techniques applied to forestry and segmentation and classification tasks are focused on improving the accuracy and interpretability of the results by using multi-modal data, 3D information, and AI methods. Most works use RGB or multispectral cameras, or LiDAR scanners, individually. Classification is mostly carried out using supervised methods, while segmentation mostly uses unsupervised machine learning techniques. [ABSTRACT FROM AUTHOR]

This Special Issue gathers papers reporting research on various aspects of the use of low-cost photogrammetric and lidar sensors for indoor building reconstruction. It includes contributions presenting improvements in the alignment of mobile mapping systems with and without a prior 3D BIM model, the interpretation of both imagery and lidar data of indoor scenery and finally the reconstruction and enrichment of existing 3D point clouds and meshes with BIM information. Concretely, the publications showcase methods and experiments for the Reconstruction of Indoor Navigation Elements for Point Cloud of Buildings with Occlusions and Openings by Wall Segment Restoration from Indoor Context Labeling, Two-Step Alignment of Mixed Reality Devices to Existing Building Data, Pose Normalization of Indoor Mapping Datasets Partially Compliant with the Manhattan World Assumption, A Robust Rigid Registration Framework of 3D Indoor Scene Point Clouds Based on RGB-D Information, 3D Point Cloud Semantic Augmentation for Instance Segmentation of 360° Panoramas by Deep Learning Techniques and the Symmetry-Based Coarse Registration of Smartphone's Colorful Point Clouds with CAD Drawings (RegARD) for Low-Cost Digital Twin Buildings. [ABSTRACT FROM AUTHOR]

Differencing digital terrain models (DTMs) generated from multitemporal airborne light detection and ranging (lidar) data provide accurate and detailed information about three-dimensional (3D) changes on the Earth. However, noticeable spurious errors along flight paths are often included in the differencing results, hindering the accurate analysis of the topographic changes. This paper proposes a new scalable method to alleviate the problematic systematic errors with a high degree of automation in consideration of the practical limitations raised when processing the rapidly increasing amount of large-scale lidar datasets. The proposed method focused on estimating the displacements caused by vertical positioning errors, which are the most critical error source, and adjusting the DTMs already produced as basic lidar products without access to the point cloud and raw data from the laser scanner. The feasibility and effectiveness of the proposed method were evaluated with experiments with county-level multitemporal airborne lidar datasets in Indiana, USA. The experimental results demonstrated that the proposed method could estimate the vertical displacement reasonably along the flight paths and improve the county-level lidar differencing results by reducing the problematic errors and increasing consistency across the flight paths. The improved differencing results presented in this paper are expected to provide more consistent information about topographic changes in Indiana. In addition, the proposed method can be a feasible solution to upcoming problems induced by rapidly increasing large-scale multitemporal lidar given recent active government-driven lidar data acquisition programs, such as the U.S. Geological Survey (USGS) 3D Elevation Program (3DEP). [ABSTRACT FROM AUTHOR]

Utilizing multi-modal data, as opposed to only hyperspectral image (HSI), enhances target identification accuracy in remote sensing. Transformers are applied to multi-modal data classification for their long-range dependency but often overlook intrinsic image structure by directly flattening image blocks into vectors. Moreover, as the encoder deepens, unprofitable information negatively impacts classification performance. Therefore, this paper proposes a learnable transformer with an adaptive gating mechanism (AGMLT). Firstly, a spectral–spatial adaptive gating mechanism (SSAGM) is designed to comprehensively extract the local information from images. It mainly contains point depthwise attention (PDWA) and asymmetric depthwise attention (ADWA). The former is for extracting spectral information of HSI, and the latter is for extracting spatial information of HSI and elevation information of LiDAR-derived rasterized digital surface models (LiDAR-DSM). By omitting linear layers, local continuity is maintained. Then, the layer Scale and learnable transition matrix are introduced to the original transformer encoder and self-attention to form the learnable transformer (L-Former). It improves data dynamics and prevents performance degradation as the encoder deepens. Subsequently, learnable cross-attention (LC-Attention) with the learnable transfer matrix is designed to augment the fusion of multi-modal data by enriching feature information. Finally, poly loss, known for its adaptability with multi-modal data, is employed in training the model. Experiments in the paper are conducted on four famous multi-modal datasets: Trento (TR), MUUFL (MU), Augsburg (AU), and Houston2013 (HU). The results show that AGMLT achieves optimal performance over some existing models. [ABSTRACT FROM AUTHOR]

With the continuous emergence and development of 3D sensors in recent years, it has become increasingly convenient to collect point cloud data for 3D object detection tasks, such as the field of autonomous driving. But when using these existing methods, there are two problems that cannot be ignored: (1) The bird's eye view (BEV) is a widely used method in 3D objective detection; however, the BEV usually compresses dimensions by combined height, dimension, and channels, which makes the process of feature extraction in feature fusion more difficult. (2) Light detection and ranging (LiDAR) has a much larger effective scanning depth, which causes the sector to become sparse in deep space and the uneven distribution of point cloud data. This results in few features in the distribution of neighboring points around the key points of interest. The following is the solution proposed in this paper: (1) This paper proposes multi-scale feature fusion composed of feature maps at different levels made of Deep Layer Aggregation (DLA) and a feature fusion module for the BEV. (2) A point completion network is used to improve the prediction results by completing the feature points inside the candidate boxes in the second stage, thereby strengthening their position features. Supervised contrastive learning is applied to enhance the segmentation results, improving the discrimination capability between the foreground and background. Experiments show these new additions can achieve improvements of 2.7%, 2.4%, and 2.5%, respectively, on KITTI easy, moderate, and hard tasks. Further ablation experiments show that each addition has promising improvement over the baseline. [ABSTRACT FROM AUTHOR]

With the development and popularization of LiDAR technology, point clouds are becoming widely used in multiple fields. Point cloud classification plays an important role in segmentation, geometric analysis, and vegetation description. However, existing point cloud classification algorithms have problems such as high computational complexity, a lack of feature optimization, and low classification accuracy. This paper proposes an efficient point cloud classification algorithm based on dynamic spatial–spectral feature optimization. It can eliminate redundant features, optimize features, reduce computational costs, and improve classification accuracy. It achieves feature optimization through three key steps. First, the proposed method extracts spatial, geometric, spectral, and other features from point cloud data. Then, the Gini index and Fisher score are used to calculate the importance and relevance of features, and redundant features are filtered. Finally, feature importance factors are used to dynamically enhance the discriminative power of highly distinguishable features to strengthen their contribution to point cloud classification. Four real-scene datasets from STPLS3D are utilized for experimentation. Compared to the other five algorithms, the proposed algorithm achieves at least a 37.97% improvement in mean intersection over union (mIoU). Meanwhile, the results indicate that the proposed algorithm can achieve high-precision point cloud classification with low computational complexity. [ABSTRACT FROM AUTHOR]

Stereo cameras can capture the rich image textures of a scene, while LiDAR can obtain accurate 3D coordinates of point clouds of a scene. They complement each other and can achieve comprehensive and accurate environment perception through data fusion. The primary step in data fusion is to establish the relative positional relationship between the stereo cameras and the 3D LiDAR, known as extrinsic calibration. Existing methods establish the camera–LiDAR relationship by constraints of the correspondence between different planes in the images and point clouds. However, these methods depend on the planes and ignore the multipath-closure constraint among the camera–LiDAR–camera sensors, resulting in poor robustness and accuracy of the extrinsic calibration. This paper proposes a trihedron as the calibration object to effectively establish various coplanar and collinear constraints between stereo cameras and 3D LiDAR. With the various constraints, the multipath-closure constraint between the three sensors is further formulated for the extrinsic calibration. Firstly, the coplanar and collinear constraints between the camera–LiDAR–camera are built using the trihedron calibration object. Then, robust and accurate coplanar constraint information is extracted through iterative maximum a posteriori (MAP) estimation. Finally, a multipath-closure extrinsic calibration method for multi-sensor systems is developed with structurally mutual validation between the cameras and the LiDAR. Extensive experiments are conducted on simulation data with different noise levels and a large amount of real data to validate the accuracy and robustness of the proposed calibration algorithm. [ABSTRACT FROM AUTHOR]

The Simultaneous Localization and Mapping (SLAM) scanner is an easy and portable Light Detection and Ranging (LiDAR) data acquisition device. Its main output is a 3D point cloud covering the scanned scene. Regarding the importance of accuracy in the survey domain, this paper aims to assess the accuracy of two SLAM scanners: the NavVis VLX and the BLK2GO scanner. This assessment is conducted for both outdoor and indoor environments. In this context, two types of reference data were used: the total station (TS) and the static scanner Z+F Imager 5016. To carry out the assessment, four comparisons were tested: cloud-to-cloud, cloud-to-mesh, mesh-to-mesh, and edge detection board assessment. However, the results of the assessments confirmed that the accuracy of indoor SLAM scanner measurements (5 mm) was greater than that of outdoor ones (between 10 mm and 60 mm). Moreover, the comparison of cloud-to-cloud provided the best accuracy regarding direct accuracy measurement without manipulations. Finally, based on the high accuracy, scanning speed, flexibility, and the accuracy differences between tested cases, it was confirmed that SLAM scanners are effective tools for data acquisition. [ABSTRACT FROM AUTHOR]

In various practical applications, such as autonomous vehicle and unmanned aerial vehicle navigation, Global Navigation Satellite Systems (GNSSs) are commonly used for positioning. However, traditional GNSS positioning methods are often affected by disturbances due to external observational conditions. For instance, in areas with dense buildings, tree cover, or tunnels, GNSS signals may be obstructed, resulting in positioning failures or decreased accuracy. Therefore, improving the accuracy and stability of GNSS positioning in these complex environments is a critical concern. In this paper, we propose a novel multi-sensor fusion framework based on multi-frame residual optimization for GNSS/INS/LiDAR to address the challenges posed by complex satellite environments. Our system employs a novel residual detection and optimization method for continuous-time GNSS within keyframes. Specifically, we use rough pose measurements from LiDAR to extract keyframes for the global system. Within these keyframes, the multi-frame residuals of GNSS and IMU are estimated using the Median Absolute Deviation (MAD) and subsequently employed for the degradation detection and sliding window optimization of the GNSS. Building on this, we employ a two-stage factor graph optimization strategy, significantly improving positioning accuracy, especially in environments with limited GNSS signals. To validate the effectiveness of our approach, we assess the system's performance on the publicly available UrbanLoco dataset and conduct experiments in real-world environments. The results demonstrate that our system can achieve continuous decimeter-level positioning accuracy in these complex environments, outperforming other related frameworks. [ABSTRACT FROM AUTHOR]

Although the collaborative use of hyperspectral images (HSIs) and LiDAR data in land cover classification tasks has demonstrated significant importance and potential, several challenges remain. Notably, the heterogeneity in cross-modal information integration presents a major obstacle. Furthermore, most existing research relies heavily on category names, neglecting the rich contextual information from language descriptions. Visual-language pretraining (VLP) has achieved notable success in image recognition within natural domains by using multimodal information to enhance training efficiency and effectiveness. VLP has also shown great potential for land cover classification in remote sensing. This paper introduces a dual-sensor multimodal semantic collaborative classification network (DSMSC2N). It uses large language models (LLMs) in an instruction-driven manner to generate land cover category descriptions enriched with domain-specific knowledge in remote sensing. This approach aims to guide the model to accurately focus on and extract key features. Simultaneously, we integrate and optimize the complementary relationship between HSI and LiDAR data, enhancing the separability of land cover categories and improving classification accuracy. We conduct comprehensive experiments on benchmark datasets like Houston 2013, Trento, and MUUFL Gulfport, validating DSMSC2N's effectiveness compared to various baseline methods. [ABSTRACT FROM AUTHOR]

The long-term atmospheric mixing layer height (MLH) information plays an important role in air quality and weather forecasting. However, it is not sufficient to study the characteristics of MLH using long-term high spatial and temporal resolution data in the desert. In this paper, over the southern edge of the Taklimakan Desert, the diurnal, monthly, and seasonal variations in the daytime MLH (retrieved by coherent Doppler wind lidar) and surface meteorological elements (provided by the local meteorological station) in a two-year period (from July 2021 to July 2023) were statistically analyzed, and the relationship between the two kinds of data was summarized. It was found that the diurnal average MLH exhibits a unimodal distribution, and the decrease rate in the MLH in the afternoon is much higher than the increase rate before noon. From the seasonal and monthly perspective, the most frequent deep mixing layer (>4 km) was formed in June, and the MLH is the highest in spring and summer. Finally, in terms of their mutual relationship, it was observed that the east-pathway wind has a greater impact on the formation of the deep mixing layer than the west-pathway wind; the dust weather with visibility of 1–10 km contributes significantly to the formation of the mixing layer; the temperature and relative humidity also exhibit a clear trend of a concentrated distribution at about the height of 3 km. The statistical analysis of the MLH deepens the understanding of the characteristics of dust pollution in this area, which is of great significance for the treatment of local dust pollution. [ABSTRACT FROM AUTHOR]

Clouds are key to understanding the atmosphere and climate, and a long series of satellite observations provide invaluable information to study their properties. EUMETSAT has published Release 1 of the Optimal Cloud Analysis (OCA) Climate Data Record (CDR), which provides a homogeneous time series of cloud properties of up to two overlapping layers, together with uncertainties. The OCA product is derived using the 15 min Spinning Enhanced Visible and Infrared Imager (SEVIRI) measurements onboard Meteosat Second Generation (MSG) in geostationary orbit and covers the period from 19 January 2004 until 31 August 2019. This paper presents the validation of the OCA cloud-top pressure (CTP) against independent lidar-based estimates and the quality assessment of the cloud optical thickness (COT) and cloud particle effective radius (CRE) against a combination of products from satellite-based active and passive instruments. The OCA CTP is in good agreement with the CTP sensed by lidar for low thick liquid clouds and substantially below in the case of high ice clouds, in agreement with previous studies. The retrievals of COT and CRE are more reliable when constrained by solar channels and are consistent with other retrievals from passive imagers. The resulting cloud properties are stable and homogeneous over the whole period when compared against similar CDRs from passive instruments. For CTP, the OCA CDR and the near-real-time OCA products are consistent, allowing for the use of OCA near-real time products to extend the CDR beyond August 2019. [ABSTRACT FROM AUTHOR]

This paper investigates the impact of flood-induced hydrodynamic forces and high discharge on the masonry arch "Hannibal Bridge" (called "Ponte di Annibale" in Italy) using the Hydraulic Engineering Center's River Analysis Simulation (HEC-RAS) v6.5.0. hydraulic numerical method, incorporating Unmanned Aerial Vehicle (UAV) photogrammetry and aerial Light Detection and Ranging (LIDAR) data for visual analysis. The research highlights the highly transient behavior of fast flood flows, particularly when carrying debris, and their effect on bridge superstructures. Utilizing a Digital Elevation Model to extract cross-sectional and elevation data, the research examined 23 profiles over 800 m of the river. The results indicate that the maximum allowable water depth in front of the bridge is 4.73 m, with a Manning's coefficient of 0.03 and a longitudinal slope of 9 m per kilometer. Therefore, a novel method to identify the risks through HEC-RAS modeling significantly improves the conservation of masonry bridges by providing precise topographical and hydrological data for accurate simulations. Moreover, the detailed information obtained from LIDAR and UAV photogrammetry about the bridge's materials and structures can be incorporated into the conservation models. This comprehensive approach ensures that preservation efforts are not only addressing the immediate hydrodynamic threats but are also informed by a thorough understanding of the bridge's structural and material conditions. Understanding rating curves is essential for water management and flood forecasting, with the study confirming a Manning roughness coefficient of 0.03 as suitable for smooth open-channel flows and emphasizing the importance of geomorphological conditions in hydraulic simulation. [ABSTRACT FROM AUTHOR]

Deep learning techniques are increasingly applied to point cloud semantic segmentation, where single-modal point cloud often suffers from accuracy-limiting confusion phenomena. Moreover, some networks with image and LiDAR data lack an efficient fusion mechanism, and the occlusion of images may do harm to the segmentation accuracy of a point cloud. To overcome the above issues, we propose the integration of multi-modal data to enhance network performance, addressing the shortcomings of existing feature-fusion strategies that neglect crucial information and struggle with matching modal features effectively. This paper introduces the Multi-View Guided Point Cloud Semantic Segmentation Model (MVG-Net), which extracts multi-scale and multi-level features and contextual data from urban aerial images and LiDAR, and then employs a multi-view image feature-aggregation module to capture highly correlated texture information with the spatial and channel attentions of point-wise image features. Additionally, it incorporates a fusion module that uses image features to instruct point cloud features for stressing key information. We present a new dataset, WK2020, which combines multi-view oblique aerial images with LiDAR point cloud to validate segmentation efficacy. Our method demonstrates superior performance, especially in building segmentation, achieving an F1 score of 94.6% on the Vaihingen Dataset—the highest among the methods evaluated. Furthermore, MVG-Net surpasses other networks tested on the WK2020 Dataset. Compared to backbone network for single point modality, our model achieves overall accuracy improvement of 5.08%, average F1 score advancement of 6.87%, and mean Intersection over Union (mIoU) betterment of 7.9%. [ABSTRACT FROM AUTHOR]

Transformers have shown remarkable success in modeling sequential data and capturing intricate patterns over long distances. Their self-attention mechanism allows for efficient parallel processing and scalability, making them well-suited for the high-dimensional data in hyperspectral and LiDAR imagery. However, further research is needed on how to more deeply integrate the features of two modalities in attention mechanisms. In this paper, we propose a novel Multi-Feature Cross Attention-Induced Transformer Network (MCAITN) designed to enhance the classification accuracy of hyperspectral and LiDAR data. The MCAITN integrates the strengths of both data modalities by leveraging a cross-attention mechanism that effectively captures the complementary information between hyperspectral and LiDAR features. By utilizing a transformer-based architecture, the network is capable of learning complex spatial-spectral relationships and long-range dependencies. The cross-attention module facilitates the fusion of multi-source data, improving the network's ability to discriminate between different land cover types. Extensive experiments conducted on benchmark datasets demonstrate that the MCAITN outperforms state-of-the-art methods in terms of classification accuracy and robustness. [ABSTRACT FROM AUTHOR]

Space-based atmospheric backscatter lidars provide critical information about the vertical distribution of clouds and aerosols, thereby improving our understanding of the climate system. They are additionally useful for detecting hazards to aviation and human health, such as volcanic plumes and man-made pollution events. The Cloud-Aerosol Lidar with Orthogonal Polarization (CALIOP, 2006–2023), Cloud-Aerosol Transport System (CATS, 2015–2017), and Advanced Topographic Laser Altimeter System (ATLAS 2018–present) are three such lidars that operated within the past 20 years. The signal-to-noise ratio (SNR) for these lidars is significantly lower in daytime data compared with nighttime data due to the solar background signal increasing the detector response noise. Averaging horizontally across profiles has been the standard way to increase SNR, but this comes at the expense of resolution. Modern, deep learning-based denoising algorithms can be applied to improve the SNR without coarsening resolution. This paper describes how one such model architecture, Dense Dense U-Net (DDUNet), was trained to denoise CATS 1064 nm raw signal data (photon counts) using artificially noised nighttime data. Simulated CATS daytime 1064 nm data were then created to assess the model's performance. The denoised simulated data increased the daytime SNR by a factor of 2.5 (on average) and decreased minimum detectable backscatter (MDB) to ~ 7.3 × 10 − 4 km−1sr−1, which is lower than the CALIOP 1064 nm night MDB value of 8.6 × 10 − 4 km−1sr−1. Layer detection was performed on simulated 2 km horizontal resolution denoised and 60 km averaged data. Despite the finer resolution input, the denoised layers had more true positives, fewer false positives, and an overall Jaccard Index of 0.54 versus 0.44 when compared to the layers detected on averaged data. Layer detection was also performed on a full month of denoised daytime CATS data (Aug. 2015) to detect layers for comparison with CATS standard Level 2 (L2) product layers. The detection on the denoised data yielded 2.33 times more, higher-quality bins within detected layers at 2.7–33 times finer resolution than the CATS L2 products. [ABSTRACT FROM AUTHOR]

To address the issue of accuracy in Simultaneous Localization and Mapping (SLAM) for forested areas, a novel point cloud adaptive filtering algorithm is proposed in the paper, based on point cloud data obtained by backpack Light Detection and Ranging (LiDAR). The algorithm employs a K-D tree to construct the spatial position information of the 3D point cloud, deriving a linear model that is the guidance information based on both the original and filtered point cloud data. The parameters of the linear model are determined by minimizing the cost function using an optimization strategy, and a guidance point cloud filter is subsequently constructed based on these parameters. The results demonstrate that, comparing the diameter at breast height (DBH) and tree height before and after filtering with the measured true values, the accuracy of SLAM mapping is significantly improved after filtering. The Mean Absolute Error (MAE) of DBH before and after filtering are 2.20 cm and 1.16 cm; the Root Mean Square Error (RMSE) values are 4.78 cm and 1.40 cm; and the relative RMSE values are 29.30% and 8.59%. For tree height, the MAE before and after filtering are 0.76 m and 0.40 m; the RMSE values are 1.01 m and 0.50 m; the relative RMSE values are 7.33% and 3.65%. The experimental results validate that the proposed adaptive point cloud filtering method based on guided information is an effective point cloud preprocessing method for enhancing the accuracy of SLAM mapping in forested areas. [ABSTRACT FROM AUTHOR]

Inverse synthetic aperture LiDAR (ISAL) can create high-resolution images within a few milliseconds, which are employed for long-range airspace target identification. However, its optical signal characteristics incur the non-negligible higher-order kinematic parameters of the target and phase errors due to atmospheric turbulence. These higher-order parameters and phase errors make it challenging for imaging the ISAL signals. In this paper, we propose an approach integrating the RD algorithm with an image translation network. Unlike the conventional methods, our approach does not require high accuracy in estimating each target motion and atmospheric parameter. The phase error of the RD image is fitted by an image translation network, which greatly simplifies the computational difficulty of the ISAL imaging model. The experimental results demonstrate that our model has good generalization performance. Specifically, our method consistently performs well in capturing the target information under different types of noise and sparsity aperture (SA) rates compared to other conventional methods. In addition, our approach can be applied to the measured data after training the network by using simulated data. [ABSTRACT FROM AUTHOR]

The current deformation and stable state of slopes with historical shatter signs is a concern for engineering construction. Suspected landslide scarps were discovered at the rear edge of the Genie slope on the Tibetan Plateau during a field investigation. To qualitatively determine the current status of the surface deformation of this slope, this study used high-resolution optical remote sensing, airborne light detection and ranging (LiDAR), and interferometric synthetic aperture radar (InSAR) technologies for comprehensive analysis. The interpretation of high-resolution optical and airborne LiDAR data revealed that the rear edge of the slope exhibits three levels of scarps. However, no deformation was detected with differential InSAR (D-InSAR) analysis of ALOS-1 radar images from 2007 to 2008 or with Stacking-InSAR and small baseline subset InSAR (SBAS-InSAR) processing of Sentinel-1A radar images from 2017 to 2020. This study verified the credibility of the InSAR results using the standard deviation of the phase residuals, as well as in-borehole displacement monitoring data. A conceptual model of the slope was developed by combining field investigation, borehole coring, and horizontal exploratory tunnel data, and the results indicated that the slope is composed of steep anti-dip layered dolomite limestone and that the scarps at the trailing edges of the slope were caused by historical shallow toppling. Unlike previous remote sensing studies of deformed landslides, this paper argues that remote sensing results with reliable accuracy are also applicable to the study of undeformed slopes and can help make preliminary judgments about the stability of unexplored slopes. The study demonstrates that the long-term consistency of InSAR results in integrated remote sensing can serve as an indicator for assessing slope stability. [ABSTRACT FROM AUTHOR]

Contemporary land administration (LA) systems incorporate the concepts of cadastre and land registration. Conceptually, LA is part of a global land management paradigm incorporating LA functions such as land value, land tenure, land development, and land use. The implementation of land-related policies integrated with well-maintained spatial information reflects the aim set by the United Nations to deliver tenure security for all (Sustainable Development Goal target 1.4, amongst many others). Innovative methods for data acquisition, processing, and maintaining spatial information are needed in response to the global challenges of urbanization and complex urban infrastructure. Current technological developments in remote sensing and geo-spatial information science provide enormous opportunities in this respect. Over the past decade, the increasing usage of unmanned aerial vehicles (UAVs), satellite and airborne-based acquisitions, as well as active remote sensing sensors such as LiDAR, resulted in high spatial, spectral, radiometric, and temporal resolution data. Moreover, significant progress has also been achieved in automatic image orientation, surface reconstruction, scene analysis, change detection, classification, and automatic feature extraction with the help of artificial intelligence, spatial statistics, and machine learning. These technology developments, applied to LA, are now being actively demonstrated, piloted, and scaled. This Special Issue hosts papers focusing on the usage and integration of emerging remote sensing techniques and their potential contribution to the LA domain. [ABSTRACT FROM AUTHOR]

In autonomous driving, LiDAR (light detection and ranging) data are acquired over time. Most existing 3D object detection algorithms propose the object bounding box by processing each frame of data independently, which ignores the temporal sequence information. However, the temporal sequence information is usually helpful to detect the object with missing shape information due to long distance or occlusion. To address this problem, we propose a temporal sequence information fusion 3D point cloud object detection algorithm based on the Ada-GRU (adaptive gated recurrent unit). In this method, the feature of each frame for the LiDAR point cloud is extracted through the backbone network and is fed to the Ada-GRU together with the hidden features of the previous frames. Compared to the traditional GRU, the Ada-GRU can adjust the gating mechanism adaptively during the training process by introducing the adaptive activation function. The Ada-GRU outputs the temporal sequence fusion features to predict the 3D object in the current frame and transmits the hidden features of the current frame to the next frame. At the same time, the label uncertainty of the distant and occluded objects affects the training effect of the model. For this problem, this paper proposes a probability distribution model of 3D bounding box coordinates based on the Gaussian distribution function and designs the corresponding bounding box loss function to enable the model to learn and estimate the uncertainty of the positioning of the bounding box coordinates, so as to remove the bounding box with large positioning uncertainty in the post-processing stage to reduce the false positive rate. Finally, the experiments show that the methods proposed in this paper improve the accuracy of the object detection without significantly increasing the complexity of the algorithm. [ABSTRACT FROM AUTHOR]

The joint utilization of multi-source data is of great significance in geospatial observation applications, such as urban planning, disaster assessment, and military applications. However, this approach is confronted with challenges including inconsistent data structures, irrelevant physical properties, scarce training data, insufficient utilization of information and an imperfect feature fusion method. Therefore, this paper proposes a novel binary-tree Transformer network (BTRF-Net), which is used to fuse heterogeneous information and utilize complementarity among multi-source remote sensing data to enhance the joint classification performance of hyperspectral image (HSI) and light detection and ranging (LiDAR) data. Firstly, a hyperspectral network (HSI-Net) is employed to extract spectral and spatial features of hyperspectral images, while the elevation information of LiDAR data is extracted using the LiDAR network (LiDAR-Net). Secondly, a multi-source transformer complementor (MSTC) is designed that utilizes the complementarity and cooperation among multi-modal feature information in remote sensing images to better capture their correlation. The multi-head complementarity attention mechanism (MHCA) within this complementor can effectively capture global features and local texture information of images, hence achieving full feature fusion. Then, to fully obtain feature information of multi-source remote sensing images, this paper designs a complete binary tree structure, binary feature search tree (BFST), which fuses multi-modal features at different network levels to obtain multiple image features with stronger representation abilities, effectively enhancing the stability and robustness of the network. Finally, several groups of experiments are designed to compare and analyze the proposed BTRF-Net with traditional methods and several advanced deep learning networks using two datasets: Houston and Trento. The results show that the proposed network outperforms other state-of-the-art methods even with small training samples. [ABSTRACT FROM AUTHOR]

Nonrigid registration presents a significant challenge in the domain of point cloud processing. The general objective is to model complex nonrigid deformations between two or more overlapping point clouds. Applications are diverse and span multiple research fields, including registration of topographic data, scene flow estimation, and dynamic shape reconstruction. To provide context, the first part of the paper gives a general introduction to the topic of point cloud registration, including a categorization of existing methods. Then, a general mathematical formulation for the point cloud registration problem is introduced, which is then extended to address also nonrigid registration methods. A detailed discussion and categorization of existing approaches to nonrigid registration follows. In the second part of the paper, we propose a new method that uses piecewise tricubic polynomials for modeling nonrigid deformations. Our method offers several advantages over existing methods. These advantages include easy control of flexibility through a small number of intuitive tuning parameters, a closed-form optimization solution, and an efficient transformation of huge point clouds. We demonstrate our method through multiple examples that cover a broad range of applications, with a focus on remote sensing applications—namely, the registration of airborne laser scanning (ALS), mobile laser scanning (MLS), and terrestrial laser scanning (TLS) point clouds. The implementation of our algorithms is open source and can be found our public repository. [ABSTRACT FROM AUTHOR]

Landslide traces are crucial geomorphological features of landslides. Through the recognition of landslide traces, a better grasp of the topographical features of landslides can be achieved, thereby aiding in the enhancement of capabilities for the prevention, response, and management of landslides. Aiming at the complex topographic features of landslide traces, only using a single DEM product could provide a complete and comprehensive recognition of landslide traces. A method of landslide tracing recognition based on the fusion of multi-feature information from the Unmanned Aerial Vehicle-based Light Detection and Ranging (UAV-based LiDAR) Digital Elevation Model (DEM) is proposed. First, a high-precision DEM is constructed by using the LiDAR point cloud data. Based on the DEM, four multi-feature images that can enhance the landslide geomorphology are generated: hillshading, slope, positive openness, and sky-view factor. Furtherore, the DEM multi-feature images were fused using the Visualization for Archaeological Topography (VAT) method to obtain the DEM Multi-Feature Fusion Image (DEM-DFFI). Finally, the landslide traces were extracted from the DEM-DFFI based on fractal theory. The method presented in this paper makes full use of DEM multi-feature images and fuses them, which can accurately and clearly show the topographic and geomorphological features of landslides. Based on this, it helps improve landslide trace recognition accuracy. [ABSTRACT FROM AUTHOR]

Individual tree modeling for terrestrial LiDAR point clouds always involves heavy computation burden and low accuracy toward a complex tree structure. To solve these problems, this paper proposed a self-adaptive optimization individual tree modeling method. In this paper, we first proposed a joint neighboring growing method to segment wood points into object primitives. Subsequently, local object primitives were optimized to alleviate the computation burden. To build the topology relation among branches, branches were separated based on spatial connectivity analysis. And then the nodes corresponding to each object primitive were adopted to construct the graph structure of the tree. Furthermore, each object primitive was fitted as a cylinder. To revise the local abnormal cylinder, a self-adaptive optimization method based on the constructed graph structure was proposed. Finally, the constructed tree model was further optimized globally based on prior knowledge. Twenty-nine field datasets obtained from three forest sites were adopted to evaluate the performance of the proposed method. The experimental results show that the proposed method can achieve satisfying individual tree modeling accuracy. The mean volume deviation of the proposed method is 1.427 m3. In the comparison with two other famous tree modeling methods, the proposed method can achieve the best individual tree modeling result no matter which accuracy indicator is selected. [ABSTRACT FROM AUTHOR]

One of the core issues of mobile measurement is the pose estimation of the carrier. The classic Global Navigation Satellite System/Inertial Measurement Unit (GNSS/IMU) integrated navigation scheme has high positioning accuracy but is vulnerable to Global Navigation Satellite System (GNSS) signal occlusion and multipath effect. Simultaneous Localization and Mapping (SLAM) is not affected by signal occlusion, but there are problems such as error accumulation and scene degradation. The multi-sensor fusion scheme combining the two technologies can effectively expand the scene coverage and improve the positioning accuracy and system robustness. However, the current scheme has some limitations. On the one hand, GNSS plays a less important role in most SLAM systems, only for initialization or as a closed-loop factor and other auxiliary work. On the other hand, in the fusion method, most of the current systems only use filtering or graph optimization, without taking into account the advantages of both. Aiming at pose estimation for mobile carriers, this paper combines the advantages of the global optimization of the factor graph and the local optimization of filtering and proposes a GNSS-IMU-LiDAR Constraint Kalman Filter (abbreviated as GIL-CKF), which has the characteristics of full coverage and effectively improving absolute accuracy and high output frequency. The scheme proposed in this paper consists of three parts. Firstly, an extensible factor map is used to fuse the positioning information from different sources, including GNSS, IMU, LiDAR, and a closed-loop map, to maintain a high-precision SLAM system, and the output is used as Multi-Sensor-Fusion-Odometry (MSFO). Then, the scene is divided according to the GNSS quality factor, and a Scene Optimizer (SO) is designed to filter GNSS pose and MSFO. Finally, the results are input into the Extended Kalman Filter (EKF) together with the original IMU data for further optimization and smoothing. The experimental results show that the integration of high-precision GNSS positioning information with IMU, LiDAR, a closed-loop map, and other information through the factor map can effectively suppress error accumulation and improve the overall accuracy of the SLAM system. The SO based on GNSS indicators can fully retain high-precision GNSS positioning information, effectively play their respective advantages of filtering and graph optimization, and alleviate the conflict between global and local optimization. SO with EKF filtering furthers optimization, can improve the output frequency, and smooth the trajectory. GIL-CKF can effectively improve the accuracy and robustness of pose estimation and has obvious advantages in multi-sensor scene complementarity, partial road section accuracy improvement, and high input frequency. [ABSTRACT FROM AUTHOR]

This paper introduces a novel method for accurately calculating the upper biomass of single trees using Light Detection and Ranging (LiDAR) point cloud data. The proposed algorithm involves classifying the tree point cloud into two distinct ones: the trunk point cloud and the crown point cloud. Each part is then processed using specific techniques to create a 3D model and determine its volume. The trunk point cloud is segmented based on individual stems, each of which is further divided into slices that are modeled as cylinders. On the other hand, the crown point cloud is analyzed by calculating its footprint and gravity center. The footprint is further divided into angular sectors, with each being used to create a rotating surface around the vertical line passing through the gravity center. All models are represented in a matrix format, simplifying the process of minimizing and calculating the tree's upper biomass, consisting of crown biomass and trunk biomass. To validate the proposed approach, both terrestrial and airborne datasets are utilized. A comparison with existing algorithms in the literature confirms the effectiveness of the new method. For a tree dimensions estimation, the study shows that the proposed algorithm achieves an average fit between 0.01 m and 0.49 m for individual trees. The maximum absolute quantitative accuracy equals 0.49 m, and the maximum relative absolute error equals 0.29%. [ABSTRACT FROM AUTHOR]

Tomographic Synthetic Aperture Radar (SAR) allows the reconstruction of the 3D radar reflectivity of forests from a large(r) number of multi-angular acquisitions. However, in most practical implementations it suffers from limited vertical resolution and/or reconstruction artefacts as the result of non-ideal acquisition setups. Polarisation Coherence Tomography (PCT) offers an alternative to traditional tomographic techniques that allow the reconstruction of the low-frequency 3D radar reflectivity components from a small(er) number of multi-angular SAR acquisitions. PCT formulates the tomographic reconstruction problem as a series expansion on a given function basis. The expansion coefficients are estimated from interferometric coherence measurements between acquisitions. In its original form, PCT uses the Legendre polynomial basis for the reconstruction of the 3D radar reflectivity. This paper investigates the use of new basis functions for the reconstruction of X-band 3D radar reflectivity of forests derived from available lidar waveforms. This approach enables an improved 3D radar reflectivity reconstruction with enhanced vertical resolution, tailored to individual forest conditions. It also allows the translation from sparse lidar waveform vertical reflectivity information into continuous vertical reflectivity estimates when combined with interferometric SAR measurements. This is especially relevant for exploring the synergy of actual missions such as GEDI and TanDEM-X. The quality of the reconstructed 3D radar reflectivity is assessed by comparing simulated InSAR coherences derived from the reconstructed 3D radar reflectivity against measured coherences at different spatial baselines. The assessment is performed and discussed for interferometric TanDEM-X acquisitions performed over two tropical Gabonese rainforest sites: Mondah and Lopé. The results demonstrate that the lidar-derived basis provides more physically realistic vertical reflectivity profiles, which also produce a smaller bias in the simulated coherence validation, compared to the conventional Legendre polynomial basis. [ABSTRACT FROM AUTHOR]

The real-time tracking of moving objects has extensive applications in various domains. Existing tracking methods typically utilize video image processing, but their performance is limited due to the high information throughput and computational requirements associated with processing continuous images. Additionally, imaging in certain spectral bands can be costly. This paper proposes a non-imaging real-time three-dimensional tracking technique for distant moving targets using single-pixel LiDAR. This novel approach involves compressing scene information from three-dimensional to one-dimensional space using spatial encoding modulation and then obtaining this information through single-pixel detection. A LiDAR system is constructed based on this method, where the peak position of the detected full-path one-dimensional echo signal is used to obtain the target distance, while the peak intensity is used to obtain the azimuth and pitch information of the moving target. The entire process requires minimal data collection and a low computational load, making it feasible for the real-time three-dimensional tracking of single or multiple moving targets. Outdoor experiments confirmed the efficacy of the proposed technology, achieving a distance accuracy of 0.45 m and an azimuth and pitch angle accuracy of approximately 0.03° in localizing and tracking a flying target at a distance of 3 km. [ABSTRACT FROM AUTHOR]

The complexity of terrain features poses a substantial challenge in the effective processing and application of airborne LiDAR data, particularly in regions characterized by steep slopes and diverse objects. In this paper, we propose a novel multiscale filtering method utilizing a modified 3D alpha shape algorithm to increase the ground point extraction accuracy in complex terrain. Our methodology comprises three pivotal stages: preprocessing for outlier removal and potential ground point extraction; the deployment of a modified 3D alpha shape to construct multiscale point cloud layers; and the use of a multiscale triangulated irregular network (TIN) densification process for precise ground point extraction. In each layer, the threshold is adaptively determined based on the corresponding α. Points closer to the TIN surface than the threshold are identified as ground points. The performance of the proposed method was validated using a classical benchmark dataset provided by the ISPRS and an ultra-large-scale ground filtering dataset called OpenGF. The experimental results demonstrate that this method is effective, with an average total error and a kappa coefficient on the ISPRS dataset of 3.27% and 88.97%, respectively. When tested in the large scenarios of the OpenGF dataset, the proposed method outperformed four classical filtering methods and achieved accuracy comparable to that of the best of learning-based methods. [ABSTRACT FROM AUTHOR]

Development of ocean measurement technologies can improve monitoring of the global Ocean Heat Content (OHC) and Heat Storage Rate (HSR) that serve as early-warning indices for climate-critical circulation processes such as the Atlantic Meridional Overturning Circulation and provide real-time OHC assessments for tropical cyclone forecast models. This paper examines the potential of remotely measuring ocean temperature profiles using a simulated Brillouin lidar for calculating ocean HSR. A series of data analysis ('Nature') and Observational Systems Simulation Experiments (OSSEs) were carried out using 26 years (1992–2017) of daily mean temperature and salinity outputs from the ECCOv4r4 ocean circulation model. The focus of this study is to compare various OSSEs carried out to measure the HSR using a simulated Brillouin lidar against the HSR calculated from the ECCOv4r4 model results. Brillouin lidar simulations are used to predict the probability of detecting a return lidar signal under varying sampling strategies. Correlations were calculated for the difference between sampling strategies. These comparisons ignore the measurement errors inherent in a Brillouin lidar. Brillouin lidar technology and instruments are known to contain numerous, instrument-dependent errors and remain an engineering challenge. A significant decrease in the ability to measuring global ocean HSRs is a consequence of measuring ocean temperature from nadir-pointing instruments that can only take measurements along-track. Other sources of errors include the inability to fully profile ocean regions with deep mixed layers, such as the Southern Ocean and North Atlantic, and ocean regions with high light attenuation levels. [ABSTRACT FROM AUTHOR]

In this paper, we propose a localization method applicable to 3D LiDAR by improving the LiDAR localization algorithm, such as AMCL (Adaptive Monte Carlo Localization). The method utilizes multiple sensing information, including 3D LiDAR, IMU and the odometer, and can be used without GNSS. Firstly, the wheel speed odometer and IMU data of the mobile robot are multi-source fused by EKF (Extended Kalman Filter), and the sensor data obtained after multi-source fusion are used as the motion model to participate in the positional prediction of the particle set in AMCL to obtain the initial positioning information of the mobile robot. Then, the position pose difference values output by AMCL at adjacent moments are substituted into the PL-ICP algorithm as the initial position pose transformation matrix, and the 3D laser point cloud is aligned with the nonlinear system using the PL-ICP algorithm. The three-dimensional laser odometer is obtained by LM (Levenberg--Marquard) iterative solution in the PL-ICP algorithm. Finally, the initial position pose output by AMCL is corrected by the three-dimensional laser odometer, and the AMCL particles are weighted and sampled to output the final positioning result of the mobile robot. Through simulation and practical experiments, it is verified that the improved AMCL algorithm has higher positioning accuracy and stability compared to the AMCL algorithm. [ABSTRACT FROM AUTHOR]

To ensure efficient railroad operation and maintenance management, the accurate reconstruction of railroad BIM models is a crucial step. This paper proposes a workflow for automated segmentation and reconstruction of railroad structures using point cloud data, without relying on intensity or trajectory information. The workflow consists of four main components: point cloud adaptive denoising, scene segmentation, structure segmentation combined with deep learning, and model reconstruction. The proposed workflow was validated using two datasets with significant differences in railroad line point cloud data. The results demonstrated significant improvements in both efficiency and accuracy compared to existing methods. The techniques enable direct automated processing from raw data to segmentation results, providing data support for parameterized modeling and greatly reducing manual processing time. The proposed algorithms achieved an intersection over union (IoU) of over 0.9 for various structures in a 450-m-long railroad line. Furthermore, for single-track railroads, the automated segmentation time was within 1 min per kilometer, with an average mean intersection over union (MIoU) and accuracy of 0.9518 and 1.0000, respectively. [ABSTRACT FROM AUTHOR]

Airborne light detection and ranging (LiDAR) technology has been widely utilized for collecting three-dimensional (3D) point cloud data on forest scenes, enabling the generation of high-accuracy digital elevation models (DEMs) for the efficient investigation and management of forest resources. Point cloud filtering serves as the crucial initial step in DEM generation, directly influencing the accuracy of the resulting DEM. However, forest filtering presents challenges in dealing with sparse point clouds and selecting appropriate initial ground points. The introduction of full-waveform LiDAR data offers a potential solution to the problem of sparse point clouds. Additionally, advancements in multi-source data integration and machine learning algorithms have created new avenues that can address the issue of initial ground point selection. To tackle these challenges, this paper proposes a novel filtering method for forest scenes utilizing full-waveform LiDAR data and hyperspectral image data. The proposed method consists of two main steps. Firstly, we employ the improved dynamic graph convolutional neural network (IDGCNN) to extract initial ground points. In this step, we utilize three types of low-correlation features: LiDAR features, waveform features, and spectral features. To enhance its accuracy and adaptability, a self-attention module was incorporated into the DGCNN algorithm. Comparative experiments were conducted to evaluate the effectiveness of the algorithm, demonstrating that the IDGCNN algorithm achieves the highest classification accuracy with an overall accuracy (OA) value of 99.38% and a kappa coefficient of 95.95%. The second-best performer was the RandLA-net algorithm, achieving an OA value of 98.73% and a kappa coefficient of 91.68%. The second step involves refining the initial ground points using the cloth simulation filter (CSF) algorithm. By employing the CSF algorithm, non-ground points present in the initial ground points are effectively filtered out. To validate the efficacy of the proposed filtering method, we generated a DEM with a resolution of 0.5 using the ground points extracted in the first step, the refined ground points obtained with the combination of the first and second steps, and the ground points obtained directly using the CSF algorithm. A comparative analysis with 23 reference control points revealed the effectiveness of our proposed method, as evidenced by the median error of 0.41 m, maximum error of 0.75 m, and average error of 0.33 m. [ABSTRACT FROM AUTHOR]

Forest ecosystems strongly contribute to the mitigation of climate change impacts through the carbon stored in forests and through harvested wood products, such as sawed wood and furniture, which are obtained from many types of timber assortments. Timber assortments are defined as log sections of specific dimensions (log length and maximum/minimum end diameters), gathered from felled trunks, that have both specific commercial timber utilisation and economic value. However, it is challenging to discriminate and assess timber assortment types, especially within a forest stand before the forest has been harvested. Accurate estimations of timber assortments are a fundamental prerequisite in supporting forest holdings and assisting practitioners in the optimisation of harvesting activities and promoting forest wood chains, in addition to forest policy and planning. Based on the georeferenced points cloud tool, light detection and ranging (LiDAR) is a powerful technology for rapidly and accurately depicting forest structure, even if the use of LiDAR for timber assortments estimation is lacking and poorly explored. This systematic literature review aimed to highlight the state-of-the-art applications of the LiDAR systems (spaceborne; airborne, including unmanned aerial UASs; and terrestrial) to quantify and classify different timber assortment types. A total of 304 peer-reviewed papers were examined. The results highlight a constant increment of published articles using LiDAR systems for forest-related aspects in the period between 2000 and 2021. The most recurring investigation topics in LiDAR studies were forest inventory and forest productivity. No studies were found that used spaceborne LiDAR systems for timber assortment assessments, as these were conditioned by the time and sample size (sample size = ~12 m/~25 m of laser footprint and 0.7 m/60 m of space along the track for ICESat-2, GEDI and time = since 2018). Terrestrial LiDAR systems demonstrated a higher performance in successfully characterising the trees belonging to an understory layer. Combining airborne/UAS systems with terrestrial LiDAR systems is a promising approach to obtain detailed data concerning the timber assortments of large forest covers. Overall, our results reveal that the interest of scientists in using machine and deep learning algorithms for LiDAR processes is steadily increasing. [ABSTRACT FROM AUTHOR]

In this paper, a tracking and pointing control system with dual-FSM (fast steering mirror) composite axis is proposed. It is applied to the target-tracking accuracy control in a 3D GISC LiDAR (three-dimensional ghost imaging LiDAR via sparsity constraint) system. The tracking and pointing imaging control system of the dual-FSM 3D GISC LiDAR proposed in this paper is a staring imaging method with multiple measurements, which mainly solves the problem of high-resolution remote-sensing imaging of high-speed moving targets when the technology is transformed into practical applications. In the research of this control system, firstly, we propose a method that combines motion decoupling and sensor decoupling to solve the mechanical coupling problem caused by the noncoaxial sensor installation of the FSM. Secondly, we suppress the inherent mechanical resonance of the FSM in the control system. Thirdly, we propose the optical path design of a dual-FSM 3D GISC LiDAR tracking imaging system to solve the problem of receiving aperture constraint. Finally, after sufficient experimental verification, our method is shown to successfully reduce the coupling from 7% to 0.6%, and the precision tracking bandwidth reaches 300 Hz. Moreover, when the distance between the GISC system and the target is 2.74 km and the target flight speed is 7 m/s, the tracking accuracy of the system is improved from 15.7 μrad (σ) to 2.2 μrad (σ), and at the same time, the system recognizes the target contour clearly. Our research is valuable to put the GISC technology into practical applications. [ABSTRACT FROM AUTHOR]