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The article announce the winners of the periodical's 10th Anniversary Best Paper Award given to "Unmanned Aircraft Systems in Remote Sensing and Scientific Research: Classification and Considerations of Use" in the special award category.

Canopy volume is a crucial biological parameter for assessing tree growth, accurately estimating forest Above-Ground Biomass (AGB), and evaluating ecosystem stability. Airborne Laser Scanning (ALS) and Terrestrial Laser Scanning (TLS) are advanced precision mapping technologies that capture highly accurate point clouds for forest digitization studies. Despite advances in calculating canopy volume, challenges remain in accurately extracting the canopy and removing gaps. This study proposes a canopy volume extraction method based on an improved PointNeXt model, fusing ALS and TLS point cloud data. In this work, improved PointNeXt is first utilized to extract the canopy, enhancing extraction accuracy and mitigating under-segmentation and over-segmentation issues. To effectively calculate canopy volume, the canopy is divided into multiple levels, each projected into the xOy plane. Then, an improved Mean Shift algorithm, combined with KdTree, is employed to remove gaps and obtain parts of the real canopy. Subsequently, a convex hull algorithm is utilized to calculate the area of each part, and the sum of the areas of all parts multiplied by their heights yields the canopy volume. The proposed method's performance is tested on a dataset comprising poplar, willow, and cherry trees. As a result, the improved PointNeXt model achieves a mean intersection over union (mIoU) of 98.19% on the test set, outperforming the original PointNeXt by 1%. Regarding canopy volume, the algorithm's Root Mean Square Error (RMSE) is 0.18 m3, and a high correlation is observed between predicted canopy volumes, with an R-Square (R2) value of 0.92. Therefore, the proposed method effectively and efficiently acquires canopy volume, providing a stable and accurate technical reference for forest biomass statistics. [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]

The use of mobile laser scanning for mapping forests has scarcely been studied in difficult forest conditions. In this paper, we compare the accuracy of retrieving tree attributes, particularly diameter at breast height (DBH), stem curve, stem volume, and tree height, using six different laser scanning systems in a managed natural boreal forest. These compared systems operated both under the forest canopy on handheld and unmanned aerial vehicle (UAV) platforms and above the canopy from a helicopter. The complexity of the studied forest sites ranged from easy to difficult, and thus, this is the first study to compare the performance of several laser scanning systems for the direct measurement of stem curve in difficult forest conditions. To automatically detect tree stems and to calculate their attributes, we utilized our previously developed algorithm integrated with a novel bias compensation method to reduce the overestimation of stem diameter arising from finite laser beam divergence. The bias compensation method reduced the absolute value of the diameter bias by 55–99%. The most accurate laser scanning systems were equipped with a Velodyne VLP-16 sensor, which has a relatively low beam divergence, on a handheld or UAV platform. In easy plots, these systems found a root-mean-square error (RMSE) of below 10% for DBH and stem curve estimates and approximately 10% for stem volume. With the handheld system in difficult plots, the DBH and stem curve estimates had an RMSE under 10%, and the stem volume RMSE was below 20%. Even though bias compensation reduced the difference in bias and RMSE between laser scanners with high and low beam divergence, the RMSE remained higher for systems with a high beam divergence. The airborne laser scanner operating above the forest canopy provided tree attribute estimates close to the accuracy of the under-canopy laser scanners, but with a significantly lower completeness rate for stem detection, especially in difficult forest conditions. [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]

When airborne synthetic aperture radar (SAR) encounters long-time global navigation satellite system (GNSS) denial, the system cannot eliminate inertial navigation system (INS) accumulated drift. Platform positioning technology based on SAR image-matching is one of the important auxiliary navigation methods. This paper proposes a three-step positioning method for an airborne SAR platform, which can achieve the robust and high-precision estimation of platform position and velocity. Firstly, the motion model of the airborne SAR platform is established and a nonlinear overdetermined equation set of SAR Range-Doppler based on the ground-control points set obtained by SAR image-matching is constructed. Then, to overcome the ill-conditioned problem generated by the singular Jacobian matrix when solving the equations directly, a three-step robust and high-precision estimation of platform position and velocity is achieved through singular value decomposition and equation decoupling. Furthermore, the error transfer model of systematic and random platform positioning errors is derived. Finally, a set of semi-physical simulation experiments of airborne SAR is conducted to verify the effectiveness of the positioning method and the accuracy of the error model presented in this paper. [ABSTRACT FROM AUTHOR]

Change detection in remote sensing enables identifying alterations in surface characteristics over time, underpinning diverse applications. However, conventional pixel-based algorithms encounter constraints in terms of accuracy when applied to medium- and high-resolution remote sensing images. Although object-oriented methods offer a step forward, they frequently grapple with missing small objects or handling complex features effectively. To bridge these gaps, this paper proposes an unsupervised object-oriented change detection approach empowered by hierarchical multi-scale segmentation for generating binary ecosystem change maps. This approach meticulously segments images into optimal sizes and leverages multidimensional features to adapt the Iteratively Reweighted Multivariate Alteration Detection (IRMAD) algorithm for GaoFen WFV data. We rigorously evaluated its performance in the Yellow River Source Region, a critical ecosystem conservation zone. The results unveil three key strengths: (1) the approach achieved excellent object-level change detection results, making it particularly suited for identifying changes in subtle features; (2) while simply increasing object features did not lead to a linear accuracy gain, optimized feature space construction effectively mitigated dimensionality issues; and (3) the scalability of our approach is underscored by its success in mapping the entire Yellow River Source Region, achieving an overall accuracy of 90.09% and F-score of 0.8844. Furthermore, our analysis reveals that from 2015 to 2022, changed ecosystems comprised approximately 1.42% of the total area, providing valuable insights into regional ecosystem dynamics. [ABSTRACT FROM AUTHOR]

The characterization of landslides located in remote areas poses significant challenges due to the costs of reaching the sites and the lack of reliable subsurface data to constrain geological interpretations. In this paper, the advantages of combining field and remote sensing techniques to investigate the deformation and stability of rock slopes are demonstrated. The characterization of the Fels landslide, a large, slowly deforming rock slope in central Alaska, is described. Historical aerial imagery is used to highlight the relationship between glacier retreat and developing instability. Airborne laser scanning (ALS) and Structure-from-Motion (SfM) datasets are used to investigate the structural geological setting of the landslide, revealing a good agreement between structural discontinuities at the outcrop and slope scales. The magnitude, plunge, and direction of slope surface displacements and their changes over time are studied using a multi-temporal synthetic aperture radar speckle-tracking (SAR ST) dataset. The analyses show an increase in displacement rates (i.e., an acceleration of the movement) between 2010 and 2020. Significant spatial variations of displacement direction and plunge are noted and correlated with the morphology of the failure surface reconstructed using the vector inclination method (VIM). In particular, steeper displacement vectors were reconstructed in the upper slope, compared to the central part, thus suggesting a change in basal surface morphology, which is largely controlled by rock mass foliation. Through this analytical approach, the Fels landslide is shown to be a slow-moving, compound rockslide, the displacement of which is controlled by structural geological features and promoted by glacier retreat. [ABSTRACT FROM AUTHOR]

In this paper, a ground target extraction system for a novel LiDAR, airborne streak tube imaging LiDAR (ASTIL), is proposed. This system depends on only a single echo and a single data source, and can achieve fast ground target extraction. This system consists of two modules: Autofocus SSD (Single Shot MultiBox Detector) and post-processing. The Autofocus SSD proposed in this paper is used for object detection in the ASTIL echo signal, and its prediction speed exceeds that of the original SSD by a factor of three. In the post-processing module, we describe in detail how the echoes are processed into point clouds. The system was tested on a test set, and it can be seen from a visual perspective that satisfactory results were obtained for the extraction of buildings and trees. The system mAPIoU=0.5 is 0.812, and the FPS is greater than 34. The results prove that this ASTIL processing system can achieve fast ground target extraction based on a single echo and a single data source. [ABSTRACT FROM AUTHOR]

The geometrical measurement precision of laser spots is affected by the deviation between the parameters of the laser altimeter and the laboratory measurement results, and the inversion accuracy of surface object height is also limited. The measurement parameters and the load state can be obtained by calibration of the laser altimeter system. Usually, ground detectors are deployed to calibrate the measurement parameters of the laser altimeter, including the divergence angle and the energy distribution of the laser beam. A calibration method for a laser footprint spot without a calibration field was proposed in this paper, focused on the airborne large-footprint laser altimeter system. The geometric parameters of the laser spot were calibrated through the laser echo waveforms of a specific terrain. The experimental results show that geometric calibration of the large-footprint laser altimeter can be achieved in the area of the step surface. The divergence angle of the laser beams obtained from the six experimental areas is 4.604 ± 0.359 mRad, and the consistency of the energy distribution from each laser spot reaches 92.67%. A new method of on-orbit calibration and verification is provided for the satellite laser altimeter system. [ABSTRACT FROM AUTHOR]

This paper presents the development and application of a deep learning-based approach for semi-automated detection of tar production kilns using new Finnish high-density Airborne Laser Scanning (ALS) data in the boreal taiga forest zone. The historical significance of tar production, an important livelihood for centuries, has had extensive environmental and ecological impacts, particularly in the thinly inhabited northern and eastern parts of Finland. Despite being one of the most widespread archaeological features in the country, tar kilns have received relatively little attention until recently. The authors employed a Convolutional Neural Networks (CNN) U-Net-based algorithm to detect these features from the ALS data, which proved to be more accurate, faster, and capable of covering systematically larger spatial areas than human actors. It also produces more consistent, replicable, and ethically sustainable results. This semi-automated approach enabled the efficient location of a vast number of previously unknown archaeological features, significantly increasing the number of tar kilns in each study area compared to the previous situation. This has implications also for the cultural resource management in Finland. The authors' findings have influenced the preparation of the renewal of the Finnish Antiquities Act, raising concerns about the perceived impacts on cultural heritage management and land use sectors due to the projected tenfold increase in archaeological site detection using deep learning algorithms. The use of environmental remote sensing data may provide a means of examining the long-term cultural and ecological impacts of tar production in greater detail. Our pilot studies suggest that artificial intelligence and deep learning techniques have the potential to revolutionize archaeological research and cultural resource management in Finland, offering promising avenues for future exploration. [ABSTRACT FROM AUTHOR]

Over the last two decades, UAVs have become an indispensable acquisition platform in the remote sensing community. Meanwhile, advanced lightweight sensors have been introduced in the market, including LiDAR scanners with multiple beams and hyperspectral cameras measuring reflectance using many different narrow-banded filters. To date, however, few fully fledged drone systems exist that combine different sensing modalities in a way that complements the strengths and weaknesses of each. In this paper, we present our multimodal drone payload and sensor fusion pipeline, which allows multispectral point clouds to be generated at subcentimeter accuracy. To that end, we combine high-frequency navigation outputs from a professional-grade GNSS with photogrammetric bundle adjustment and a dedicated point cloud registration algorithm that takes full advantage of LiDAR's specifications. We demonstrate that the latter significantly improves the quality of the reconstructed point cloud in terms of fewer ghosting effects and less noise. Finally, we thoroughly discuss the impact of the quality of the GNSS/INS system on the structure from the motion and LiDAR SLAM reconstruction process. [ABSTRACT FROM AUTHOR]

An interdisciplinary study of the ancient landscape of the Trieste Karst (north-eastern Italy) is presented in this paper. Airborne Laser Scanning (ALS) has been applied to obtain high-resolution topography of the 25 km2 investigated area in order to identify potential archaeological anomalies. The ALS-derived high-resolution Digital Terrain Models have been visualized and managed using QGIS and Relief Visualization Toolbox. Possible archaeological anomalies have been verified through field surveys and interpreted using a multidisciplinary approach mainly based on the collection of associated archaeological materials and geomorphological and stratigraphic evidence. From a methodological perspective, the elaboration and study of ALS-derived images, and in particular the local relief model visualization, combined with the collection of Roman shoe hobnails, have proven to be effective approaches for the certain identification and dating of Roman roads in karst environments. The obtained results have revealed an almost completely unknown Roman landscape: the investigated area was crossed by important public roads, whose layout has been accurately reconstructed for a total length of over 10 km, and occupied by large country estates, sometimes enclosed within boundary walls perfectly fitting the Roman land division grid. One of the identified buildings could correspond to a road station, perhaps the Avesica known from ancient itinerary documents—i.e., the itinerarium Antonini Augusti—due to its position and proximity to a major road junction. [ABSTRACT FROM AUTHOR]

Spatio–temporal determination of phenotypic traits, such as height, leaf angles, and leaf area, is important for the understanding of crop growth and development in modern agriculture and crop science. Measurements of these parameters for individual plants so far have been possible only in greenhouse environments using high-resolution 3D measurement techniques, such as laser scanning or image-based 3D reconstruction. Although aerial and ground-based vehicles equipped with laser scanners and cameras are more and more used in field conditions to perform large-scale phenotyping, these systems usually provide parameters more on the plot level rather than on a single plant or organ level. The reason for this is that the quality of the 3D information generated with those systems is mostly not high enough to reconstruct single plants or plant organs. This paper presents the usage of a robot equipped with a high-resolution mobile laser scanning system. We use the system, which is usually used to create high-definition 3D maps of urban environments, for plant and organ-level morphological phenotyping in agricultural field conditions. The analysis focuses on the point cloud quality as well as the system's potential by defining quality criteria for the point cloud and system and by using them to evaluate the measurements taken in an experimental agricultural field with different crops. Criteria for evaluation are the georeferencing accuracy, point precision, spatial resolution, and point cloud completeness. Additional criteria are the large-scale scan efficiency and the potential for automation. Wind-induced plant jitter that may affect the crop point cloud quality is discussed afterward. To show the system's potential, exemplary phenotypic traits of plant height, leaf area, and leaf angles for different crops are extracted based on the point clouds. The results show a georeferencing accuracy of 1–2 cm, a point precision on crop surfaces of 1–2 mm, and a spatial resolution of just a few millimeters. Point clouds become incomplete in the later stages of growth since the vegetation is denser. Wind-induced plant jitters can lead to distorted crop point clouds depending on wind force and crop size. The phenotypic parameter extraction of leaf area, leaf angles, and plant height from the system's point clouds highlight the outstanding potential for 3D crop phenotyping on the plant-organ level in agricultural fields. [ABSTRACT FROM AUTHOR]

Ground-based forest inventories are reliable methods for forest carbon monitoring, reporting, and verification schemes and the cornerstone of forest ecology research. Recent work using LiDAR-equipped mobile phones to automate parts of the forest inventory process assumes that tree trunks are well-spaced and visually unoccluded, or else require manual intervention or offline processing to identify and measure tree trunks. In this paper, we designed an algorithm that exploits a low-cost smartphone LiDAR sensor to estimate the trunk diameter automatically from a single image in complex and realistic field conditions. We implemented our design and built it into an app on a Huawei P30 Pro smartphone, demonstrating that the algorithm has low enough computational costs to run on this commodity platform in near real-time. We evaluated our app in 3 different forests across 3 seasons and found that in a corpus of 97 sample tree images, our app estimated the trunk diameter with a RMSE of 3.7 cm ( R 2 = 0.97; 8.0% mean absolute error) compared to manual DBH measurement. It achieved a 100% tree detection rate while reducing the surveyor time by up to a factor of 4.6. Our work contributes to the search for a low-cost, low-expertise alternative to terrestrial laser scanning that is nonetheless robust and efficient enough to compete with manual methods. We highlight the challenges that low-end mobile depth scanners face in occluded conditions and offer a lightweight, fully automatic approach for segmenting depth images and estimating the trunk diameter despite these challenges. Our approach lowers the barriers to in situ forest measurements outside of an urban or plantation context, maintaining a tree detection and accuracy rate comparable to previous mobile phone methods even in complex forest conditions. [ABSTRACT FROM AUTHOR]

Forests are the main part of the terrestrial ecosystem. Airborne LiDAR is fast, comprehensive, penetrating, and contactless and can depict 3D canopy information with a high efficiency and accuracy. Therefore, it plays an important role in forest ecological protection, tree species recognition, carbon sink calculation, etc. Accurate recognition of individual trees in forests is a key step to various application. In real practice, however, the accuracy of individual tree segmentation (ITS) is often compromised by under-segmentation due to the diverse species, obstruction and understory trees typical of a high-density multistoried mixed forest area. Therefore, this paper proposes an ITS optimization method based on Gaussian mixture model for airborne LiDAR data. First, the mean shift (MS) algorithm is used for the initial ITS of the pre-processed airborne LiDAR data. Next, under-segmented samples are extracted by integrated learning, normally segmented samples are classified by morphological approximation, and the approximate distribution uncertainty of the normal samples is described with a covariance matrix. Finally, the class composition among the under-segmented samples is determined, and the under-segmented samples are re-segmented using Gaussian mixture model (GMM) clustering, in light of the optimal covariance matrix of the corresponding categories. Experiments with two datasets, Trento and Qingdao, resulted in ITS recall of 94% and 96%, accuracy of 82% and 91%, and F-scores of 0.87 and 0.93. Compared with the MS algorithm, our method is more accurate and less likely to under-segment individual trees in many cases. It can provide data support for the management and conservation of high-density multistoried mixed forest areas. [ABSTRACT FROM AUTHOR]

Numerous semi- and fully-automatic algorithms have been developed for individual tree detection from airborne laser-scanning data, but different rates of falsely detected treetops also accompany their results. In this paper, we proposed an approach that includes a machine learning-based refinement step to reduce the number of falsely detected treetops. The approach involves the local maxima filtering and segmentation of the canopy height model to extract different segment-level features used for the classification of treetop candidates. The study was conducted in a mixed temperate forest, predominantly deciduous, with a complex topography and an area size of 0.6 km × 4 km. The classification model's training was performed by five machine learning approaches: Random Forest (RF), Extreme Gradient Boosting, Artificial Neural Network, the Support Vector Machine, and Logistic Regression. The final classification model with optimal hyperparameters was adopted based on the best-performing classifier (RF). The overall accuracy (OA) and kappa coefficient (κ) obtained from the ten-fold cross validation for the training data were 90.4% and 0.808, respectively. The prediction of the test data resulted in an OA = 89.0% and a κ = 0.757. This indicates that the proposed method could be an adequate solution for the reduction of falsely detected treetops before tree crown segmentation, especially in deciduous forests. [ABSTRACT FROM AUTHOR]

This paper presents an innovative approach to the automatic modeling of buildings composed of rotational surfaces, based exclusively on airborne LiDAR point clouds. The proposed approach starts by detecting the gravity center of the building's footprint. A thin point slice parallel to one coordinate axis around the gravity center was considered, and a vertical cross-section was rotated around a vertical axis passing through the gravity center, to generate the 3D building model. The constructed model was visualized with a matrix composed of three matrices, where the same dimensions represented the X, Y, and Z Euclidean coordinates. Five tower point clouds were used to evaluate the performance of the proposed algorithm. Then, to estimate the accuracy, the point cloud was superimposed onto the constructed model, and the deviation of points describing the building model was calculated, in addition to the standard deviation. The obtained standard deviation values, which express the accuracy, were determined in the range of 0.21 m to 1.41 m. These values indicate that the accuracy of the suggested method is consistent with approaches suggested previously in the literature. In the future, the obtained model could be enhanced with the use of points that have considerable deviations. The applied matrix not only facilitates the modeling of buildings with various levels of architectural complexity, but it also allows for local enhancement of the constructed models. [ABSTRACT FROM AUTHOR]

Nowadays, Poland is one of the European countries most affected by agricultural land abandonment (ALA). Though considered to be a negative phenomenon, ALA opens up several options for planning future land uses critical for biodiversity conservation or future carbon sequestration. So far, many studies of ALA have been done in the mountainous areas in Poland, but less is known about the magnitude of ALA in other regions. In this paper we use the declassified CORONA satellite imagery (1969) to backdate the information on land cover and land abandonment from topographic maps from 1970s for the region located in central Poland and currently affected by widespread ALA. The information from archival materials is compared with current High-Resolution Layers and airborne laser scanning products, indicating that a forest cover increase of 23% was observed. The output of vegetation height analysis confirmed significant land use transformation from non-forest and ALA into forest area. Additionally, analysis of forest pattern change revealed that although forest core areas have increased since 1970, its share in total forest cover decreased due to newly established small forest patches. Our research shows the importance of archival remote sensing materials and indicates their role in understanding ALA-related forest cover change in Poland over the last 50 years. [ABSTRACT FROM AUTHOR]

"Beg, borrow and steal": in many ways, this is a strapline for archaeology as a discipline, and perhaps especially so for archaeological remote sensing? Specifically, in archaeological remote sensing, and despite the steady developments in remote sensing technology over the past three decades, the thoughtful integration of data sources and methods into theoretically aware archaeological practice remains relatively underdeveloped. 10.3390/rs11070869 2 Raczkowski W. Power and/or Penury of Visualizations: Some Thoughts on Remote Sensing Data and Products in Archaeology. [Extracted from the article]

The demand for mobile laser scanning in urban areas has grown in recent years. Mobile-based light detection and ranging (LiDAR) technology can be used to collect high-precision digital information on city roads and building façades. However, due to the small size of curbs, the information that can be used for curb detection is limited. Moreover, occlusion may cause the extraction method unable to correctly capture the curb area. This paper presents the development of an algorithm for extracting street curbs from mobile-based LiDAR point cloud data to support city managers in street deformation monitoring and urban street reconstruction. The proposed method extracts curbs in three complex scenarios: vegetation covering the curbs, curved street curbs, and occlusion curbs by vehicles, pedestrians. This paper combined both spatial information and geometric information, using the spatial attributes of the road boundary. It can adapt to different heights and different road boundary structures. Analyses of real study sites show the rationality and applicability of this method for obtaining accurate results in curb-based street extraction from mobile-based LiDAR data. The overall performance of road curb extraction is fully discussed, and the results are shown to be promising. Both the completeness and correctness of the extracted left and right road edges are greater than 98%. [ABSTRACT FROM AUTHOR]

Submerged aquatic vegetation, also referred to as submerged macrophytes, provides important habitats and serves as a significant ecological indicator for assessing the condition of water bodies and for gaining insights into the impacts of climate change. In this study, we introduce a novel approach for the classification of submerged vegetation captured with bathymetric LiDAR (Light Detection And Ranging) as a basis for monitoring their state and change, and we validated the results against established monitoring techniques. Employing full-waveform airborne laser scanning, which is routinely used for topographic mapping and forestry applications on dry land, we extended its application to the detection of underwater vegetation in Lake Constance. The primary focus of this research lies in the automatic classification of bathymetric 3D LiDAR point clouds using a decision-based approach, distinguishing the three vegetation classes, (i) Low Vegetation, (ii) High Vegetation, and (iii) Vegetation Canopy, based on their height and other properties like local point density. The results reveal detailed 3D representations of submerged vegetation, enabling the identification of vegetation structures and the inference of vegetation types with reference to pre-existing knowledge. While the results within the training areas demonstrate high precision and alignment with the comparison data, the findings in independent test areas exhibit certain deficiencies that are likely addressable through corrective measures in the future. [ABSTRACT FROM AUTHOR]

A recently proposed modelling strategy predicts the net primary production (NPP) of forest ecosystems by combining the outputs of a NDVI-driven model, Modified C-Fix, and a bio-geochemical model, BIOME-BGC. This combination strategy takes into account the effects of forest disturbances but still assumes the presence of a mixture of differently aged trees. The application of this strategy to even-aged forests, therefore, requires a methodological advancement aimed at properly modifying the modelling of main ecosystem processes. In particular, the adaptation of the method to even-aged forests is based on the use of high-spatial-resolution airborne laser scanning (ALS) datasets, which yields green and woody biomass estimates that regulate the simulation of photosynthetic and respiratory processes, respectively. This approach was experimented in a Mediterranean study area, San Rossore Regional Park (Central Italy), which is covered by even-aged pine stands in different development phases. The modelling strategy is driven by MODIS NDVI images and meteorological data across five years (2011–2015), which are combined with estimates of forest canopy cover and height obtained from ALS data taken in 2015. This allows the production of stand NPP estimates, which, when converted into respective current annual increment (CAI) values, reasonably reproduce the age dependency of the available ground observations. The CAI estimates also show a highly significant correlation with these observations (r = 0.773) and moderate error levels (RMSE = 2.03 m3 ha−1 year−1, MBE = −0.45 m3 ha−1 year−1). These results confirm the potential of the modified simulation method to yield accurate high-spatial-resolution NPP estimates, which can offer valuable insights into C cycling and storage, in even-aged forests. [ABSTRACT FROM AUTHOR]

Canopy base height (CBH) is a key parameter used in forest-fire modeling, particularly crown fires. However, estimating CBH is a challenging task, because normally, it is difficult to measure it in the field. This has led to the use of simple estimators (e.g., the average of individual trees in a plot) for modeling CBH. In this paper, we propose a method for estimating CBH from airborne light detection and ranging (LiDAR) data. We also compare the performance of several estimators (Lorey's mean, the arithmetic mean and the 40th and 50th percentiles) used to estimate CBH at the plot level. The method we propose uses a moving voxel to estimate the height of the gaps (in the LiDAR point cloud) below tree crowns and uses this information for modeling CBH. The advantage of this approach is that it is more tolerant to variations in LiDAR data (e.g., due to season) and tree species, because it works directly with the height information in the data. Our approach gave better results when compared to standard percentile-based LiDAR metrics commonly used in modeling CBH. Using Lorey's mean, the arithmetic mean and the 40th and 50th percentiles as CBH estimators at the plot level, the highest and lowest values for root mean square error (RMSE) and root mean square error for cross-validation (RMSEcv) and R2 for our method were 1.74/2.40, 2.69/3.90 and 0.46/0.71, respectively, while with traditional LiDAR-based metrics, the results were 1.92/2.48, 3.34/5.51 and 0.44/0.65. Moreover, the use of Lorey's mean as a CBH estimator at the plot level resulted in models with better predictive value based on the leave-one-out cross-validation (LOOCV) results used to compute the RMSEcv values. [ABSTRACT FROM AUTHOR]

The topic of this paper is the airborne evaluation of ICESat-2 Advanced Topographic Laser Altimeter System (ATLAS) measurement capabilities and surface-height-determination over crevassed glacial terrain, with a focus on the geodetical accuracy of geophysical data collected from a helicopter. To obtain surface heights over crevassed and otherwise complex ice surface, ICESat-2 data are analyzed using the density-dimension algorithm for ice surfaces (DDA-ice), which yields surface heights at the nominal 0.7 m along-track spacing of ATLAS data. As the result of an ongoing surge, Negribreen, Svalbard, provided an ideal situation for the validation objectives in 2018 and 2019, because many different crevasse types and morphologically complex ice surfaces existed in close proximity. Airborne geophysical data, including laser altimeter data (profilometer data at 905 nm frequency), differential Global Positioning System (GPS), Inertial Measurement Unit (IMU) data, on-board-time-lapse imagery and photographs, were collected during two campaigns in summers of 2018 and 2019. Airborne experiment setup, geodetical correction and data processing steps are described here. To date, there is relatively little knowledge of the geodetical accuracy that can be obtained from kinematic data collection from a helicopter. Our study finds that (1) Kinematic GPS data collection with correction in post-processing yields higher accuracies than Real-Time-Kinematic (RTK) data collection. (2) Processing of only the rover data using the Natural Resources Canada Spatial Reference System Precise Point Positioning (CSRS-PPP) software is sufficiently accurate for the sub-satellite validation purpose. (3) Distances between ICESat-2 ground tracks and airborne ground tracks were generally better than 25 m, while distance between predicted and actual ICESat-2 ground track was on the order of 9 m, which allows direct comparison of ice-surface heights and spatial statistical characteristics of crevasses from the satellite and airborne measurements. (4) The Lasertech Universal Laser System (ULS), operated at up to 300 m above ground level, yields full return frequency (400 Hz) and 0.06–0.08 m on-ice along-track spacing of height measurements. (5) Cross-over differences of airborne laser altimeter data are −0.172 ± 2.564 m along straight paths, which implies a precision of approximately 2.6 m for ICESat-2 validation experiments in crevassed terrain. (6) In summary, the comparatively light-weight experiment setup of a suite of small survey equipment mounted on a Eurocopter (Helicopter AS-350) and kinematic GPS data analyzed in post-processing using CSRS-PPP leads to high accuracy repeats of the ICESat-2 tracks. The technical results (1)–(6) indicate that direct comparison of ice-surface heights and crevasse depths from the ICESat-2 and airborne laser altimeter data is warranted. Numerical evaluation of height comparisons utilizes spatial surface roughness measures. The final result of the validation is that ICESat-2 ATLAS data, analyzed with the DDA-ice, facilitate surface-height determination over crevassed terrain, in good agreement with airborne data, including spatial characteristics, such as surface roughness, crevasse spacing and depth, which are key informants on the deformation and dynamics of a glacier during surge. [ABSTRACT FROM AUTHOR]

In an airborne laser bathymetry system, the full-waveform echo signal is usually recorded by discrete sampling. The accuracy of signal recognition and the amount of effective information that can be extracted by conventional methods are limited. To improve the validity and reliability of airborne laser bathymetry data and to extract more information to better understand the water reflection characteristics, we select the effective portion of the original waveform for further research, suppress random noise, and decompose the selected portion progressively using the half-wavelength Gaussian function with the time sequence of the received echo signals. After parameter optimization, a reasonable and effective reflection component selection mechanism is established to obtain accurate parameters for the reflected components. The processing strategy proposed in this paper reduces the problems of unreasonable decomposition and the reflected pulse peak-position shift caused by echo waveform superposition and offers good precision for waveform decomposition and peak detection. In another experiment, the regional processing result shows an obvious improvement in the shallow water area, and the bottom point cloud is as accurate as the intelligent waveform digitizer (IWD), a subsystem of airborne laser terrain mapping (ALTM). These findings confirm that the proposed method has high potential for application. [ABSTRACT FROM AUTHOR]

Three-dimensional (3D) reconstruction of trees has always been a key task in precision forestry management and research. Due to the complex branch morphological structure of trees themselves and the occlusions from tree stems, branches and foliage, it is difficult to recreate a complete three-dimensional tree model from a two-dimensional image by conventional photogrammetric methods. In this study, based on tree images collected by various cameras in different ways, the Neural Radiance Fields (NeRF) method was used for individual tree dense reconstruction and the exported point cloud models are compared with point clouds derived from photogrammetric reconstruction and laser scanning methods. The results show that the NeRF method performs well in individual tree 3D reconstruction, as it has a higher successful reconstruction rate, better reconstruction in the canopy area and requires less images as input. Compared with the photogrammetric dense reconstruction method, NeRF has significant advantages in reconstruction efficiency and is adaptable to complex scenes, but the generated point cloud tend to be noisy and of low resolution. The accuracy of tree structural parameters (tree height and diameter at breast height) extracted from the photogrammetric point cloud is still higher than those derived from the NeRF point cloud. The results of this study illustrate the great potential of the NeRF method for individual tree reconstruction, and it provides new ideas and research directions for 3D reconstruction and visualization of complex forest scenes. [ABSTRACT FROM AUTHOR]

Digital surface models (DSMs) derived from spaceborne and airborne sensors enable the monitoring of the vertical structures for forests in large areas. Nevertheless, due to the lack of an objective performance assessment for this task, it is difficult to select the most appropriate data source for DSM generation. In order to fill this gap, this paper performs change detection analysis including forest decrease and tree growth. The accuracy of the DSMs is evaluated by comparison with measured tree heights from inventory plots (field data). In addition, the DSMs are compared with LiDAR data to perform a pixel-wise quality assessment. DSMs from four different satellite stereo sensors (ALOS/PRISM, Cartosat-1, RapidEye andWorldView-2), one satellite InSAR sensor (TanDEM-X), two aerial stereo camera systems (HRSC and UltraCam) and two airborne laser scanning datasets with different point densities are adopted for the comparison. The case study is a complex central European temperate forest close to Traunstein in Bavaria, Germany. As a major experimental result, the quality of the DSM is found to be robust to variations in image resolution, especially when the forest density is high. The forest decrease results confirm that besides aerial photogrammetry data, very high resolution satellite data, such asWorldView-2, can deliver results with comparable quality as the ones derived from LiDAR, followed by TanDEM-X and Cartosat DSMs. The quality of the DSMs derived from ALOS and Rapid-Eye data is lower, but the main changes are still correctly highlighted. Moreover, the vertical tree growth and their relationship with tree height are analyzed. The major tree height in the study site is between 15 and 30 m and the periodic annual increments (PAIs) are in the range of 0.30–0.50 m. [ABSTRACT FROM AUTHOR]

This paper presents an automated and effective framework for classifying airborne laser scanning (ALS) point clouds. The framework is composed of four stages: (i) step-wise point cloud segmentation, (ii) feature extraction, (iii) Random Forests (RF) based feature selection and classification, and (iv) post-processing. First, a step-wise point cloud segmentation method is proposed to extract three kinds of segments, including planar, smooth and rough surfaces. Second, a segment, rather than an individual point, is taken as the basic processing unit to extract features. Third, RF is employed to select features and classify these segments. Finally, semantic rules are employed to optimize the classification result. Three datasets provided by Open Topography are utilized to test the proposed method. Experiments show that our method achieves a superior classification result with an overall classification accuracy larger than 91.17%, and kappa coefficient larger than 83.79%. [ABSTRACT FROM AUTHOR]

Airborne laser scanning (ALS) has proven to be a strong basis for 3D building reconstruction. While ALS data allows for a highly automated processing workflow, a major drawback is often in the point spacing. As a consequence, the precision of roof plane and ridge line parameters is usually significantly better than the precision of gutter lines. To cope with this problem, the paper presents an approach for geometric refinement of building models reconstructed from ALS data using monoscopic aerial images. The core idea of the proposed modeling method is to obtain refined roof edges by intersecting roof planes accurately and reliably extracted from 3D point clouds with viewing planes assigned with building edges detected in a high resolution aerial image. In order to minimize ambiguities that may arise during the integration of modeling cues, the ALS data is used as the master providing initial information about building shape and topology. We evaluate the performance of our algorithm by comparing the results of 3D reconstruction executed using only laser scanning data and reconstruction enhanced by image information. The assessment performed within a framework of the International Society for Photogrammetry and Remote Sensing (ISPRS) benchmark shows an increase in the final quality indicator up to 8.7%. [ABSTRACT FROM AUTHOR]

This paper investigated the potential of multispectral airborne laser scanning (ALS) data for individual tree detection and tree species classification. The aim was to develop a single-sensor solution for forest mapping that is capable of providing species-specific information, required for forest management and planning purposes. Experiments were conducted using 1903 ground measured trees from 22 sample plots and multispectral ALS data, acquired with an Optech Titan scanner over a boreal forest, mainly consisting of Scots pine (Pinus Sylvestris), Norway spruce (Picea Abies), and birch (Betula sp.), in southern Finland. ALS-features used as predictors for tree species were extracted from segmented tree objects and used in random forest classification. Different combinations of features, including point cloud features, and intensity features of single and multiple channels, were tested. Among the field-measured trees, 61.3% were correctly detected. The best overall accuracy (OA) of tree species classification achieved for correctly-detected trees was 85.9% (Kappa = 0.75), using a point cloud and single-channel intensity features combination, which was not significantly different from the ones that were obtained either using all features (OA = 85.6%, Kappa = 0.75), or single-channel intensity features alone (OA = 85.4%, Kappa = 0.75). Point cloud features alone achieved the lowest accuracy, with an OA of 76.0%. Field-measured trees were also divided into four categories. An examination of the classification accuracy for four categories of trees showed that isolated and dominant trees can be detected with a detection rate of 91.9%, and classified with a high overall accuracy of 90.5%. The corresponding detection rate and accuracy were 81.5% and 89.8% for a group of trees, 26.4% and 79.1% for trees next to a larger tree, and 7.2% and 53.9% for trees situated under a larger tree, respectively. The results suggest that Channel 2 (1064 nm) contains more information for separating pine, spruce, and birch, followed by channel 1 (1550 nm) and channel 3 (532 nm) with an overall accuracy of 81.9%, 78.3%, and 69.1%, respectively. Our results indicate that the use of multispectral ALS data has great potential to lead to a single-sensor solution for forest mapping. [ABSTRACT FROM AUTHOR]

Imaging spectroscopy (hyperspectral sensing) is a proven tool for mapping and monitoring the spatial distribution of vegetation species composition. However, there exists a gap when it comes to the availability of high-resolution spatial and spectral imagery for accurate tree species mapping, particularly in complex forest environments, despite the continuous advancements in operational remote sensing and field sensor technologies. Here, we aim to bridge this gap by enhancing our fundamental understanding of imaging spectrometers via complex simulated environments. We used DIRSIG, a physics-based, first-principles simulation approach to model canopy-level reflectance for 3D plant models and species-level leaf reflectance in a synthetic forest scene. We simulated a realistic scene, based on the same species composition, found at Harvard Forest, MA (USA). Our simulation approach allowed us to better understand the interplay between instrument parameters and landscape characteristics, and facilitated comprehensive traceability of error budgets. To enhance our understanding of the impact of sensor design on classification performance, we simulated image samples at different spatial, spectral, and scale resolutions (by modifying the pixel pitch and the total number of pixels in the sensor array, i.e., the focal plane dimension) of the imaging sensor and assessed the performance of a deep learning-based convolutional neural network (CNN) and a traditional machine learning classifier, support vector machines (SVMs), to classify vegetation species. Overall, across all resolutions and species mixtures, the highest classification accuracy varied widely from 50 to 84%, and the number of genus-level species classes identified ranged from 2 to 17, among 24 classes. Harnessing this simulation approach has provided us valuable insights into sensor configurations and the optimization of data collection methodologies to improve the interpretation of spectral signatures for accurate tree species mapping in forest scenes. Note that we used species classification as a proxy for a host of imaging spectroscopy applications. However, this approach can be extended to other ecological scenarios, such as in evaluating the changing ecosystem composition, detecting invasive species, or observing the effects of climate change on ecosystem diversity. [ABSTRACT FROM AUTHOR]

Earth observation satellites offer vast opportunities for quantifying landscapes and regional land cover composition and changes. The integration of artificial intelligence in remote sensing is essential for monitoring significant land cover types like forests, demanding a substantial volume of labeled data for effective AI model development and validation. The Wald5Dplus project introduces a distinctive open benchmark dataset for mid-European forests, labeling Sentinel-1/2 time series using data from airborne laser scanning and multi-spectral imagery. The freely accessible satellite images are fused in polarimetric, spectral, and temporal domains, resulting in analysis-ready data cubes with 512 channels per year on a 10 m UTM grid. The dataset encompasses labels, including tree count, crown area, tree types (deciduous, coniferous, dead), mean crown volume, base height, tree height, and forested area proportion per pixel. The labels are based on an individual tree characterization from high-resolution airborne LiDAR data using a specialized segmentation algorithm. Covering three test sites (Bavarian Forest National Park, Steigerwald, and Kranzberg Forest) and encompassing around six million trees, it generates over two million labeled samples. Comprehensive validation, including metrics like mean absolute error, median deviation, and standard deviation, in the random forest regression confirms the high quality of this dataset, which is made freely available. [ABSTRACT FROM AUTHOR]

Deep Neural Network (DNN)-based point cloud semantic segmentation has presented significant breakthrough using large-scale labeled aerial laser point cloud datasets. However, annotating such large-scaled point clouds is time-consuming. Self-Supervised Learning (SSL) is a promising approach to this problem by pre-training a DNN model utilizing unlabeled samples followed by a fine-tuned downstream task involving very limited labels. The traditional contrastive learning for point clouds selects the hardest negative samples by solely relying on the distance between the embedded features derived from the learning process, potentially evolving some negative samples from the same classes to reduce the contrastive learning effectiveness. This work proposes a hard-negative sample-aware self-supervised contrastive learning algorithm to pre-train the model for semantic segmentation. We designed a k-means clustering-based Absolute Positive And Negative samples (AbsPAN) strategy to filter the possible false-negative samples. Experiments on two typical ALS benchmark datasets demonstrate that the proposed method is more appealing than supervised training schemes without pre-training. Especially when the labels are severely inadequate (10% of the ISPRS training set), the results obtained by the proposed HAVANA method still exceed 94% of the supervised paradigm performance with full training set. [ABSTRACT FROM AUTHOR]

Three-dimensional semantic segmentation is the foundation for automatically creating enriched Digital Twin Cities (DTCs) and their updates. For this task, prior-level fusion approaches show more promising results than other fusion levels. This article proposes a new approach by developing and benchmarking three prior-level fusion scenarios to enhance the outcomes of point cloud-enriched semantic segmentation. The latter were compared with a baseline approach that used the point cloud only. In each scenario, specific prior knowledge (geometric features, classified images, or classified geometric information) and aerial images were fused into the neural network's learning pipeline with the point cloud data. The goal was to identify the one that most profoundly enhanced the neural network's knowledge. Two deep learning techniques, "RandLaNet" and "KPConv", were adopted, and their parameters were modified for different scenarios. Efficient feature engineering and selection for the fusion step facilitated the learning process and improved the semantic segmentation results. Our contribution provides a good solution for addressing some challenges, particularly for more accurate extraction of semantically rich objects from the urban environment. The experimental results have demonstrated that Scenario 1 has higher precision (88%) on the SensatUrban dataset compared to the baseline approach (71%), the Scenario 2 approach (85%), and the Scenario 3 approach (84%). Furthermore, the qualitative results obtained by the first scenario are close to the ground truth. Therefore, it was identified as the efficient fusion approach for point cloud-enriched semantic segmentation, which we have named the efficient prior-level fusion (Efficient-PLF) approach. [ABSTRACT FROM AUTHOR]

Airborne Laser Scanning (ALS) point cloud classification in ground and non-ground points can be accurately performed using various algorithms, which rely on a range of information, including signal analysis, intensity, amplitude, echo width, and return number, often focusing on the last return. With its high point density and the vast majority of points (approximately 99%) measured with the first return, filtering LiDAR-UAS data proves to be a more challenging task when compared to ALS point clouds. Various algorithms have been proposed in the scientific literature to differentiate ground points from non-ground points. Each of these algorithms has advantages and disadvantages, depending on the specific terrain characteristics. The aim of this research is to obtain an enhanced Digital Terrain Model (DTM) based on LiDAR-UAS data and to qualitatively and quantitatively compare three filtering approaches, i.e., hierarchical robust, volume-based, and cloth simulation, on a complex terrain study area. For this purpose, two flights over a residential area of about 7.2 ha were taken at 60 m and 100 m, with a DJI Matrice 300 RTK UAS, equipped with a Geosun GS-130X LiDAR sensor. The vertical and horizontal accuracy of the LiDAR-UAS point cloud, obtained via PPK trajectory processing, was tested using Check Points (ChPs) and manually extracted features. A combined approach for ground point classification is proposed, using the results from a hierarchic robust filter and applying an 80% slope condition for the volume-based filtering result. The proposed method has the advantage of representing with accuracy man-made structures and sudden slope changes, improving the overall accuracy of the DTMs by 40% with respect to the hierarchical robust filtering algorithm in the case of a 60 m flight height and by 28% in the case of a 100 m flight height when validated against 985 ChPs. [ABSTRACT FROM AUTHOR]

In this paper, we investigate the performance of six data structures for managing voxelised full-waveform airborne LiDAR data during 3D polygonal model creation. While full-waveform LiDAR data has been available for over a decade, extraction of peak points is the most widely used approach of interpreting them. The increased information stored within the waveform data makes interpretation and handling difficult. It is, therefore, important to research which data structures are more appropriate for storing and interpreting the data. In this paper, we investigate the performance of six data structures while voxelising and interpreting full-waveform LiDAR data for 3D polygonal model creation. The data structures are tested in terms of time efficiency and memory consumption during run-time and are the following: (1) 1D-Array that guarantees coherent memory allocation, (2) Voxel Hashing, which uses a hash table for storing the intensity values (3) Octree (4) Integral Volumes that allows finding the sum of any cuboid area in constant time, (5) Octree Max/Min, which is an upgraded octree and (6) Integral Octree, which is proposed here and it is an attempt to combine the benefits of octrees and Integral Volumes. In this paper, it is shown that Integral Volumes is the more time efficient data structure but it requires the most memory allocation. Furthermore, 1D-Array and Integral Volumes require the allocation of coherent space in memory including the empty voxels, while Voxel Hashing and the octree related data structures do not require to allocate memory for empty voxels. These data structures, therefore, and as shown in the test conducted, allocate less memory. To sum up, there is a need to investigate how the LiDAR data are stored in memory. Each tested data structure has different benefits and downsides; therefore, each application should be examined individually. [ABSTRACT FROM AUTHOR]

This paper addresses forest height estimation for boreal forests at the test site of Edson in Alberta, Canada, using dual-baseline PolInSAR dataset measured by Intermap's single-pass system. This particular dataset is acquired by using both ping-pong and non-ping-pong modes, which permit forming a dual-baseline TomoSAR configuration, i.e., an extreme configuration for tomographic processing. A tomographic approach, based on polarimetric Capon and MUSIC estimators, is proposed to estimate the elevation of tree top and of underlying ground, and hence forest height is estimated. The resulting forest DTM and DSM over the test site are validated against LiDAR-derived estimates, demonstrating the undeniable capability of the single-pass L-band PolInSAR system for forest monitoring. [ABSTRACT FROM AUTHOR]

This paper presents a rapid multi-return ALS-based (Airborne Laser Scanning) tree trunk detection approach. The multi-core Divide & Conquer algorithm uses a CBH (Crown Base Height) estimation and 3D-clustering approach to isolate points associated with single trunks. For each trunk, a principal-component-based linear model is fitted, while a deterministic modification of LO-RANSAC is used to identify an optimal model. The algorithm returns a vector-based model for each identified trunk while parameters like the ground position, zenith orientation, azimuth orientation and length of the trunk are provided. The algorithm performed well for a study area of 109 trees (about 2/3 Norway Spruce and 1/3 European Beech), with a point density of 7.6 points per m², while a detection rate of about 75% and an overall accuracy of 84% were reached. Compared to crown-based tree detection methods, the aTrunk approach has the advantages of a high reliability (5% commission error) and its high tree positioning accuracy (0.59m average difference and 0.78m RMSE). The usage of overlapping segments with parametrizable size allows a seamless detection of the tree trunks. [ABSTRACT FROM AUTHOR]

Open geospatial data sources provide opportunities for low cost 3D scene reconstruction. In this study, based on a sparse airborne laser scanning (ALS) point cloud (0.8 points/m2) obtained from open source databases, a building reconstruction pipeline for CAD building models was developed. The pipeline includes voxel-based roof patch segmentation, extraction of the key-points representing the roof patch outline, step edge identification and adjustment, and CAD building model generation. The advantages of our method lie in generating CAD building models without the step of enforcing the edges to be parallel or building regularization. Furthermore, although it has been challenging to use sparse datasets for 3D building reconstruction, our result demonstrates the great potential in such applications. In this paper, we also investigated the applicability of open geospatial datasets for 3D road detection and reconstruction. Road central lines were acquired from an open source 2D topographic database. ALS data were utilized to obtain the height and width of the road. A constrained search method (CSM) was developed for road width detection. The CSM method was conducted by splitting a given road into patches according to height and direction criteria. The road edges were detected patch by patch. The road width was determined by the average distance from the edge points to the central line. As a result, 3D roads were reconstructed from ALS and a topographic database. [ABSTRACT FROM AUTHOR]

Structure is a fundamental physical element of habitat, particularly in woodlands, and hence there has been considerable recent uptake of airborne lidar data in forest ecology studies. This paper investigates the significance of lidar data characteristics when modelling organism-habitat relationships, taking a single species case study in a mature woodland ecosystem. We re-investigate work on great tit (Parus major) habitat, focussing on bird breeding data from 1997 and 2001 (years with contrasting weather conditions and a demonstrated relationship between breeding success and forest structure). We use a time series of three lidar data acquisitions across a 12-year period (2000-2012). The lidar data characteristics assessed include time-lag with field data (up to 15 years), spatial sampling density (average post spacing in the range of 1 pulse per 0.14 m2-17.77 m2), approach to processing (raster or point cloud), and the complexity of derived structure metrics (with a total of 33 metrics assessed, each generated separately using all returns and only first returns). Ordinary least squares regression analysis was employed to investigate relationships between great tit mean nestling body mass, calculated per brood, and the various canopy structure measures from all lidar datasets. For the 2001 bird breeding data, the relationship between mean nestling body mass and mean canopy height for a sample area around each nest was robust to the extent that it could be detected strongly and with a high level of statistical significance, with relatively little impact of lidar data characteristics. In 1997, all relationships between lidar structure metrics and mean nestling body mass were weaker than in 2001 and more sensitive to lidar data characteristics, and in almost all cases they were opposite in trend. However, whilst the optimum habitat structure differed between the two study years, the lidar-derived metrics that best characterised this structure were consistent: canopy height percentiles and mean overstorey canopy height (calculated using all returns or only first returns) and the standard deviation of canopy height (calculated using all returns). Overall, our results suggest that for relatively stable woodland habitats, ecologists should not feel prohibited in using lidar data to explore or monitor organism-habitat relationships because of perceived data quality issues, as long as the questions investigated, the scale of analysis, and the interpretation of findings are appropriate for the data available. [ABSTRACT FROM AUTHOR]

Airborne laser scanner (ALS) data provide an enhanced capability to remotely map two key variables in forestry: leaf area index (LAI) and tree height (H). Nevertheless, the cost, complexity and accessibility of this technology are not yet suited for meeting the broad demands required for estimating and frequently updating forest data. Here we demonstrate the capability of alternative solutions based on the use of low-cost color infrared (CIR) cameras to estimate tree-level parameters, providing a cost-effective solution for forest inventories. ALS data were acquired with a Leica ALS60 laser scanner and digital aerial imagery (DAI) was acquired with a consumer-grade camera modified for color infrared detection and synchronized with a GPS unit. In this paper we evaluate the generation of a DAI-based canopy height model (CHM) from imagery obtained with low-cost CIR cameras using structure from motion (SfM) and spatial interpolation methods in the context of a complex canopy, as in forestry. Metrics were calculated from the DAI-based CHM and the DAI-based Normalized Difference Vegetation Index (NDVI) for the estimation of tree height and LAI, respectively. Results were compared with the models estimated from ALS OPEN ACCESS point cloud metrics. Field measurements of tree height and effective leaf area index (LAIe) were acquired from a total of 200 and 26 trees, respectively. Comparable accuracies were obtained in the tree height and LAI estimations using ALS and DAI data independently. Tree height estimated from DAI-based metrics (Percentile 90 (P90) and minimum height (MinH)) yielded a coefficient of determination (R2) = 0.71 and a root mean square error (RMSE) = 0.71 m while models derived from ALS-based metrics (P90) yielded an R2 = 0.80 and an RMSE = 0.55 m. The estimation of LAI from DAI-based NDVI using Percentile 99 (P99) yielded an R2 = 0.62 and an RMSE = 0.17 m2/m-2. A comparative analysis of LAI estimation using ALS-based metrics (laser penetration index (LPI), interquartile distance (IQ), and Percentile 30 (P30)) yielded an R2 = 0.75 and an RMSE = 0.14 m2/m-2. The results provide insight on the appropriateness of using cost-effective 3D photo-reconstruction methods for targeting single trees with irregular and heterogeneous tree crowns in complex open-canopy forests. It quantitatively demonstrates that low-cost CIR cameras can be used to estimate both single-tree height and LAI in forest inventories. [ABSTRACT FROM AUTHOR]

High-voltage power lines can be quite easily mapped using laser scanning data, because vegetation close to high-voltage lines is typically removed and also because the power lines are located higher off the ground in contrast to regional networks and lower voltage networks. On the contrary, lower voltage power lines are located in the middle of dense forests, and it is difficult to classify power lines in such an environment. This paper proposes an automated power line detection method for forest environments. Our method was developed based on statistical analysis and 2D image-based processing technology. During the process of statistical analysis, a set of criteria (e.g., height criteria, density criteria and histogram thresholds) is applied for selecting the candidates for power lines. After transforming the candidates to a binary image, image-based processing technology is employed. Object geometric properties are considered as criteria for power line detection. This method was conducted in six sets of airborne laser scanning (ALS) data from different forest environments. By comparison with reference data, 93.26% of power line points were correctly classified. The advantages and disadvantages of the methods were analyzed and discussed. [ABSTRACT FROM AUTHOR]

Segmentation of urban features is considered a major research challenge in the fields of photogrammetry and remote sensing. However, the dense datasets now readily available through airborne laser scanning (ALS) offer increased potential for 3D object segmentation. Such potential is further augmented by the availability of full-waveform (FWF) ALS data. FWF ALS has demonstrated enhanced performance in segmentation and classification through the additional physical observables which can be provided alongside standard geometric information. However, use of FWF information is not recommended without prior radiometric calibration, taking into account all parameters affecting the backscatter energy. This paper reports the implementation of a radiometric calibration workflow for FWF ALS data, and demonstrates how the resultant FWF information can be used to improve segmentation of an urban area. The developed segmentation algorithm presents a novel approach which uses the calibrated backscatter cross-section as a weighting function to estimate the segmentation similarity measure. The normal vector and the local Euclidian distance are used as criteria to segment the point clouds through a region growing approach. The paper demonstrates the potential to enhance 3D object segmentation in urban areas by integrating the FWF physical backscattered energy alongside geometric information. The method is demonstrated through application to an interest area sampled from a relatively dense FWF ALS dataset. The results are assessed through comparison to those delivered from utilising only geometric information. Validation against a manual segmentation demonstrates a successful automatic implementation, achieving a segmentation accuracy of 82%, and out-performs a purely geometric approach. [ABSTRACT FROM AUTHOR]

Mediterranean pine forests in Spain experience wildland fire events with different frequencies, intensities, and severities which result in diverse socio-ecological consequences. In order to predict fire severity, spectral indices derived from remotely sensed images have been used extensively. Such spectral indices are usually used in combination with ground sampling to relate detected radiometric changes to actual fire effects. However, the potential of the tridimensional information captured by Airborne Laser Scanners (ALS) to severity mapping has been less explored. With the objective of addressing this question, in this paper, explanatory variables extracted from ALS point clouds are related to field estimations of the Composite Burn Index collected in four fires located in Aragón (Spain). Logistic regression models were developed and statistically tested and validated to map fire severity with up to 85.5% accuracy. The canopy relief ratio and the percentage of all returns above one meter height were the most significant variables and were therefore used to create a continuous map of severity levels. [ABSTRACT FROM AUTHOR]

This paper proposes a novel method to reconstruct hierarchical 3D tree models from Mobile Laser Scanning (MLS) point clouds. Starting with a neighborhood graph from the tree point clouds, the method treats the root point of the tree as a source point and determines an initial tree skeleton by using the Dijkstra algorithm. The initial skeleton lines are then optimized by adjusting line connectivity and branch nodes based on morphological characteristics of the tree. Finally, combined with the tree point clouds, the radius of each branch skeleton node is estimated and flat cones are used to simulate tree branches. A local triangulation method is used to connect the gaps between two joint flat cones. Demonstrated by street trees of different sizes and point densities, the proposed method can extract street tree skeletons effectively, generate tree models with higher fidelity, and reconstruct trees with different details according to the skeleton level. It is found out the tree modeling error is related to the average point spacing, with a maximum error at the coarsest level 6 being about 0.61 times the average point spacing. The main source of the modeling error is the self-occlusion of trees branches. Such findings are both theoretically and practically useful for generating high-precision tree models from point clouds. The developed method can be an alternative to the current ones that struggle to balance modeling efficiency and modeling accuracy. [ABSTRACT FROM AUTHOR]

This paper provides the innovative approach of using a spatial extract, transform, load (ETL) solution for 3D building modelling, based on an unmanned aerial vehicle (UAV) photogrammetric point cloud. The main objective of the paper is to present the holistic workflow for 3D building modelling, emphasising the benefits of using spatial ETL solutions for this purpose. Namely, despite the increasing demands for 3D city models and their geospatial applications, the generation of 3D city models is still challenging in the geospatial domain. Advanced geospatial technologies provide various possibilities for the mass acquisition of geospatial data that is further used for 3D city modelling, but there is a huge difference in the cost and quality of input data. While aerial photogrammetry and airborne laser scanning involve high costs, UAV photogrammetry has brought new opportunities, including for small and medium-sized companies, by providing a more flexible and low-cost source of spatial data for 3D modelling. In our data-driven approach, we use a spatial ETL solution to reconstruct a 3D building model from a dense image matching point cloud which was obtained beforehand from UAV imagery. The results are 3D building models in a semantic vector format consistent with the OGC CityGML standard, Level of Detail 2 (LOD2). The approach has been tested on selected buildings in a simple semi-urban area. We conclude that spatial ETL solutions can be efficiently used for 3D building modelling from UAV data, where the data process model developed allows the developer to easily control and manipulate each processing step. [ABSTRACT FROM AUTHOR]

The recent popularization of airborne lidar scanners has provided a steady source of point cloud datasets containing the altitudes of bare earth surface and vegetation features as well as man-made structures. In contrast to terrestrial lidar, which produces dense point clouds of small areas, airborne laser sensors usually deliver sparse datasets that cover large municipalities. The latter are very useful in constructing digital representations of cities; however, reconstructing 3D building shapes from a sparse point cloud is a time-consuming process because automatic shape reconstruction methods work best with dense point clouds and usually cannot be applied for this purpose. Moreover, existing methods dedicated to reconstructing simplified 3D buildings from sparse point clouds are optimized for detecting simple building shapes, and they exhibit problems when dealing with more complex structures such as towers, spires, and large ornamental features, which are commonly found e.g., in buildings from the renaissance era. In the above context, this paper proposes a novel method of reconstructing 3D building shapes from sparse point clouds. The proposed algorithm has been optimized to work with incomplete point cloud data in order to provide a cost-effective way of generating representative 3D city models. The algorithm has been tested on lidar point clouds representing buildings in the city of Gdansk, Poland. [ABSTRACT FROM AUTHOR]

In the Vrancea seismic region (Romanian Carpathians; the most important intermediate-depth seismic source of Europe), the morphology of the slopes is often marked by the existence of numerous high-magnitude, deep-seated active, dormant or relict landslides, which are the subjects of many cases of functional and structural connectivity. Due to the compact and extensive (coniferous and broad leaved) forest coverage and because of the lack of publicly available regional high-resolution DEMs, it is usually difficult to fully understand the morphogenetic framework of such large, deep-seated landslides in order to assess their frequency–magnitude relationship, a key issue in hazard quantification. However, the high impact of such landslides on river networks requires an in-depth understanding of the multi-hazard framework, as cascading effects are likely to affect the presently growing human activities developing along the valleys. Within a case study represented by a 2.5 km long deep-seated landslide, that caused a 500 m lateral occlusion of Buzău River, we used integrated remote sensing technologies (UAV laser scanning) and in situ (geomorphic mapping and ERT investigations) techniques, which allowed us to better understand the structural connectivity which conditions the landslide hazard in such complex morphogenetic conditions, outlining the present potential of the regional seismo-climatic context to trigger potential high-magnitude chain effects. [ABSTRACT FROM AUTHOR]

The segmentation of airborne laser scanning (ALS) point clouds remains a challenge in remote sensing and photogrammetry. Deep learning methods, such as KPCONV, have proven effective on various datasets. However, the rigid convolutional kernel strategy of KPCONV limits its potential use for 3D object segmentation due to its uniform approach. To address this issue, we propose an Integrated Point Convolution (IPCONV) based on KPCONV, which utilizes two different convolution kernel point generation strategies, one cylindrical and one a spherical cone, for more efficient learning of point cloud data features. We propose a customizable Multi-Shape Neighborhood System (MSNS) to balance the relationship between these convolution kernel point generations. Experiments on the ISPRS benchmark dataset, LASDU dataset, and DFC2019 dataset demonstrate the validity of our method. [ABSTRACT FROM AUTHOR]