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The accurate detection of land subsidence rates in urban areas is important to identify damage-prone areas and provide decision-makers with useful information. Meanwhile, no precise measurements of land subsidence have been undertaken within the coastal Port-Said City in Egypt to evaluate its hazard in relationship to sea-level rise. In order to address this shortcoming, this work introduces and evaluates a methodology that substantially improves small subsidence rate estimations in an urban setting. Eight ALOS/PALSAR-1 scenes were used to estimate the land subsidence rates in Port-Said City, using the Small BAse line Subset (SBAS) DInSAR technique. A stereo pair of ALOS/PRISM was used to generate an accurate DEM to minimize the residual topography effect on the generated interferograms. A total of 347 well distributed ground control points (GCP) were collected in Port-Said City using the leveling instrument to calibrate the generated DEM. Moreover, the eight PALSAR scenes were co-registered using 50 well-distributed GCPs and used to generate 22 interferogram pairs. These PALSAR interferograms were subsequently filtered and used together with the coherence data to calculate the phase unwrapping. The phase-unwrapped interferogram-pairs were then evaluated to discard four interferograms that were affected by phase jumps and phase ramps. Results confirmed that using an accurate DEM (ALOS/PRISM) was essential for accurately detecting small deformations. The vertical displacement rate during the investigated period (2007-2010) was estimated to be -28 mm. The results further indicate that the northern area of Port-Said City has been subjected to higher land subsidence rates compared to the southern area. Such land subsidence rates might induce significant environmental changes with respect to sea-level rise. [ABSTRACT FROM AUTHOR]

Estimation of impervious surface area is important to the study of urban environments and social development, but surface characteristics, as well as the temporal, spectral, and spatial resolutions of remote sensing images, influence the estimation accuracy. To investigate the effects of regional environmental characteristics on the estimation of impervious surface area, we divided China into seven sub-regions based on climate, soil type, feature complexity, and vegetation phenology: arid and semi-arid areas, Huang-Huai-Hai winter wheat production areas, typical temperate regions, the Pearl River Delta, the middle and lower reaches of the Yangtze River, typical tropical and subtropical regions, and the Qinghai Tibet Plateau. Impervious surface area was estimated from Landsat 8 images of five typical cities, including Yinchuan, Shijiazhuang, Shenyang, Ningbo, and Kunming. Using the linear spectral unmixing method, impervious and permeable surface areas were determined at the pixel-scale based on end-member proportions. We calculated the producer's accuracy, user's accuracy, and overall accuracy to assess the estimation accuracy, and compared the accuracies among images acquired from different seasons and locations. In tropical and subtropical regions, vegetation canopies can confound the identification of impervious surfaces and, thus, images acquired in winter, early spring, and autumn are most suitable; estimations in the Pearl River Delta, the middle and lower reaches of the Yangtze River are influenced by soil, vegetation phenology, vegetation canopy, and water, and images acquired in spring, summer, and autumn provide the best results; in typical temperate areas, images acquired from spring to autumn are most effective for estimations; in winter wheat-growing areas, images acquired throughout the year are suitable; and in arid and semi-arid areas, summer and early autumn, during which vegetation is abundant, are the optimal seasons for estimations. Knowledge of optimal time frames, multi-source data, and intelligent algorithms should be integrated to reduce spectral confusion and improve the estimation of impervious surface area from Landsat 8 OLI imagery. [ABSTRACT FROM AUTHOR]

The problem of mixed pixels negatively affects the delineation of accurate surface water in Landsat Imagery. Linear spectral unmixing has been demonstrated to be a powerful technique for extracting surface materials at a sub-pixel scale. Therefore, in this paper, we propose an innovative low albedo fraction (LAF) method based on the idea of unconstrained linear spectral unmixing. The LAF stands on the “High Albedo-Low Albedo-Vegetation” model of spectral unmixing analysis in urban environments, and investigates the urban surface water extraction problem with the low albedo fraction map. Three experiments are carefully designed using Landsat TM/ETM+ images on the three metropolises of Wuhan, Shanghai, and Guangzhou in China, and per-pixel and sub-pixel accuracies are estimated. The results are compared against extraction accuracies from three popular water extraction methods including the normalized difference water index (NDWI), modified normalized difference water index (MNDWI), and automated water extraction index (AWEI). Experimental results show that LAF achieves a better accuracy when extracting urban surface water than both MNDWI and AWEI do, especially in boundary mixed pixels. Moreover, the LAF has the smallest threshold variations among the three methods, and the fraction threshold of 1 is a proper choice for LAF to obtain good extraction results. Therefore, the LAF is a promising approach for extracting urban surface water coverage. [ABSTRACT FROM AUTHOR]

This study presents the development of a semi-automated processing chain for urban object-based land-cover and land-use classification. The processing chain is implemented in Python and relies on existing open-source software GRASS GIS and R. The complete tool chain is available in open access and is adaptable to specific user needs. For automation purposes, we developed two GRASS GIS add-ons enabling users (1) to optimize segmentation parameters in an unsupervised manner and (2) to classify remote sensing data using several individual machine learning classifiers or their prediction combinations through voting-schemes. We tested the performance of the processing chain using sub-metric multispectral and height data on two very different urban environments: Ouagadougou, Burkina Faso in sub-Saharan Africa and Liège, Belgium inWestern Europe. Using a hierarchical classification scheme, the overall accuracy reached 93% at the first level (5 classes) and about 80% at the second level (11 and 9 classes, respectively). [ABSTRACT FROM AUTHOR]

Urban megaregions have emerged as a new urbanized form. However, previous studies mostly focused on urban expansion at the city scale, particularly for large cities. Understanding urban expansion at the regional scale including cities having different sizes is important for extending current knowledge of urban growth and its environmental and ecological impacts. Here, we addressed two questions: (1) How do the extent, rate, and morphological model of urban expansion vary at both the regional and city scales? (2) How do factors, such as city size and expansion rate, influence urban expansion models? We focused on the three largest urban megaregions in China, Beijing-Tianjin-Hebei (BTH), Yangtze River Delta (YRD) and Pearl River Delta (PRD). We quantified and compared the spatiotemporal pattern of urban expansion during 2000-2010 at both the regional and city scales based on remote sensing data. We used correlation analysis and linear regressions to address our research questions. We found that (1) the three urban megaregions experienced rapid and massive urban growth, but the spatiotemporal pattern varied greatly. Urban expansion was dominated by edge-expansion in the BTH, edge-expansion and infilling in the YRD, and infilling in the PRD. Cities in the same megaregion tended to have similar expansion morphology; (2) geographical location influenced the model of urban expansion the most, followed by city size and by its expansion rate. Small-sized cities were more likely to develop in a leapfrogging model, while cities with relatively rapid expansion tended to grow in an edge-expansion model. [ABSTRACT FROM AUTHOR]

Water bodies are a fundamental element of urban ecosystems, and water mapping is critical for urban and landscape planning and management. Remote sensing has increasingly been used for water mapping in rural areas; however, when applied to urban areas, this spatially- explicit approach is a challenging task due to the fact that the water bodies are often of a small size and spectral confusion is common between water and the complex features in the urban environment. Water indexes are the most common method of water extraction at the pixel level. More recently, spectral mixture analysis (SMA) has been widely employed in analyzing the urban environment at the subpixel level. The objective of this study is to develop an automatic subpixel water mapping method (ASWM) which can achieve a high accuracy in urban areas. Specifically, we first apply a water index for the automatic extraction of mixed land-water pixels, and the pure water pixels that are generated in this process are exported as the final result. Secondly, the SMA technique is applied to the mixed land-water pixels for water abundance estimation. As for obtaining the most representative endmembers, we propose an adaptive iterative endmember selection method based on the spatial similarity of adjacent ground surfaces. One classical water index method (the modified normalized difference water index (MNDWI)), a pixel-level target detection method (constrained energy minimization (CEM)), and two widely used SMA methods (fully constrained least squares (FCLS) and multiple endmember spectral mixture analysis (MESMA)) were chosen for the water mapping comparison in the experiments. The results indicate that the proposed ASWM was able to detect water pixels more efficiency than other unsupervised water extraction methods, and the water fractions estimated by the proposed ASWM method correspond closely to the reference fractions with the slopes of 0.97, 1.02, 1.04, and 0.98 and the R-squared values of 0.9454, 0.9486, 0.9665, and 0.9607 in regression analysis corresponding to different test regions. In the quantitative accuracy assessment, the ASWM method shows the best performance in water mapping with the mean kappa coefficient of 0.862, mean producer's accuracy of 82.8%, and mean user's accuracy of 91.8% for test regions. [ABSTRACT FROM AUTHOR]

The urban heat island (UHI) phenomenon is a significant worldwide problem caused by rapid population growth and associated urbanization. The UHI effect exacerbates heat waves during the summer, increases energy and water consumption, and causes the high risk of heat-related morbidity and mortality. UHI mitigation efforts have increasingly relied on wisely designing the urban residential environment such as using high albedo rooftops, green rooftops, and planting trees and shrubs to provide canopy coverage and shading. Thus, strategically designed residential rooftops and their surrounding landscaping have the potential to translate into significant energy, long-term cost savings, and health benefits. Rooftop albedo, material, color, area, slope, height, aspect and nearby landscaping are factors that potentially contribute. To extract, derive, and analyze these rooftop parameters and outdoor landscaping information, high resolution optical satellite imagery, LIDAR (light detection and ranging) point clouds and thermal imagery are necessary. Using data from the City of Tempe AZ (a 2010 population of 160,000 people), we extracted residential rooftop footprints and rooftop configuration parameters from airborne LIDAR point clouds and QuickBird satellite imagery (2.4 m spatial resolution imagery). Those parameters were analyzed against surface temperature data from the MODIS/ASTER airborne simulator (MASTER). MASTER images provided fine resolution (7 m) surface temperature data for residential areas during daytime and night time. Utilizing these data, ordinary least squares (OLS) regression was used to evaluate the relationships between residential building rooftops and their surface temperature in urban environment. The results showed that daytime rooftop temperature was closely related to rooftop spectral attributes, aspect, slope, and surrounding trees. Night time temperature was only influenced by rooftop spectral attributes and slope. [ABSTRACT FROM AUTHOR]

Change detection is a major issue for urban area monitoring. In this paper, a new three-step point-based method for detecting changes to buildings and trees using airborne light detection and ranging (LiDAR) data is proposed. First, the airborne LiDAR data from two dates are accurately registered using the iterative closest point algorithm, and a progressive triangulated irregular network densification filtering algorithm is used to separate ground points from non-ground points. Second, an octree is generated from the non-ground points to store and index the irregularly-distributed LiDAR points. Finally, by comparing the LiDAR points from two dates and using the AutoClust algorithm, those areas of buildings and trees in the urban environment that have changed are determined effectively and efficiently. The key contributions of this approach are the development of a point-based method to effectively solve the problem of objects at different scales, and the establishment of rules to detect changes in buildings and trees to urban areas, enabling the use of the point-based method over large areas. To evaluate the proposed method, a series of experiments using aerial images are conducted. The results demonstrate that satisfactory performance can be obtained using the proposed approach. [ABSTRACT FROM AUTHOR]

The urban morphology has impacts on the urban thermal environment, which has drawn extensive attention, especially in metropolitan regions with intensive populations and high building densities. This study explored the relationship between the urban morphology and spatial variation of land surface temperature (LST) in Wuhan by using the local climate zone (LCZ) and seven natural and social factors. A deep learning model (light LCZ model) was used to generate LCZ map in Wuhan, and a geographic detector model was utilized to explore the driving mechanism of LST spatial differentiation. The results show that the LST difference between LCZ classes in summer is greater than that in winter, and the LST of the built-up classes (LCZ 1–10) are significantly higher than that of the vegetation classes in summer. Among the six residential building classes (i.e., LCZ 1–6), LCZ 1 is characterized by compact and high buildings and has the largest average LST. Building density and height have a warming effect, and the building density has a stronger effect than the height. Compared with other natural and social factors, LCZ has the largest explanatory power for LST spatial differentiation in the main urban area and surrounding areas of Wuhan, with explanatory power (q) values reaching 0.660 (summer) and 0.316 (winter). The types of interaction for all pairwise cases are mutual and nonlinear. The strongest interaction is MNDWI-NDBI combination (0.780) in summer and LCZ-NDBI combination (0.460) in winter. [ABSTRACT FROM AUTHOR]

Under the threat of COVID-19, many regions around the world implemented lockdown policies to control the spread of the virus. This restriction on both social and economic activities has improved the quality of the environment in certain aspects. However, most previous studies have only focused on the short-term impact of lockdown policies on the urban environment. The long-term effects of lockdown require a more focused exploration and analysis. Thus, five major urban agglomerations in China were selected as the research area; changes in the numerical and spatial distribution of NO2 concentration and surface temperature during four different lockdown stages in 2019, 2020, and 2021 were investigated to analyze the long-term effects of lockdown policies on the urban environment. The results indicated that the impact of shorter lockdowns was short-term and unsustainable; the NO2 concentrations increased again with the resumption of production. Compared with air pollutants, thermal environmental problems are more complex. The effect of the lockdown policy was not reflected in the decrease in the area proportions of the high- and sub-high-temperature regions but rather in the spatial distribution of the high-temperature area, which was manifested as a fragmentation and dispersion of heat source patches. In addition to the severity of the lockdown, the impact of the lockdown policy was also closely related to the level of development and industrial structure of each city. Among the urban environments of the five agglomerations, the most affected were the Yangtze River Delta and Yangtze River Middle-Reach urban agglomerations, which had the largest decline in NO2 concentrations and the most notable fragmentation of heat source patches. [ABSTRACT FROM AUTHOR]

High-precision localization through multi-sensor fusion has become a popular research direction in unmanned driving. However, most previous studies have performed optimally only in open-sky conditions; therefore, high-precision localization in complex urban environments required an urgent solution. The complex urban environments employed in this study include dynamic environments, which result in limited visual localization performance, and highly occluded environments, which yield limited global navigation satellite system (GNSS) performance. In order to provide high-precision localization in these environments, we propose a vision-aided GNSS positioning method using semantic information by integrating stereo cameras and GNSS into a loosely coupled navigation system. To suppress the effect of dynamic objects on visual positioning accuracy, we propose a dynamic-simultaneous localization and mapping (Dynamic-SLAM) algorithm to extract semantic information from images using a deep learning framework. For the GPS-challenged environment, we propose a semantic-based dynamic adaptive Kalman filtering fusion (S-AKF) algorithm to develop vision aided GNSS and achieve stable and high-precision positioning. Experiments were carried out in GNSS-challenged environments using the open-source KITTI dataset to evaluate the performance of the proposed algorithm. The results indicate that the dynamic-SLAM algorithm improved the performance of the visual localization algorithm and effectively suppressed the error spread of the visual localization algorithm. Additionally, after vision was integrated, the loosely-coupled navigation system achieved continuous high-accuracy positioning in GNSS-challenged environments. [ABSTRACT FROM AUTHOR]

Vehicular positioning in urban environments has become a research hotspot in recent years, and global navigation satellite system/inertial navigation system (GNSS/INS) tightly coupled positioning is a commonly used method. With the broadcast of BDS-3 and Galileo four-frequency signals, the multi-frequency and multi-system tightly coupled positioning method provides more possibilities for vehicular positioning in urban environments. At present, most of the studies on multi-frequency and multi-system mainly focus on static or baseline solutions, and there are few studies on the urban dynamic environment. In this paper, based on the triple-frequency GPS/BDS-2/INS tightly coupled positioning model, the BDS-3 four-frequency observation is introduced to conduct a preliminary study on the performance of GPS/BDS-2/BDS-3/INS tightly coupled positioning. Taking into account the positioning accuracy and calculation efficiency of the tightly coupled positioning, single epoch extra-wide-lane/wide-lane (EWL/WL) observation is used to participate in the modeling of tightly coupled positioning. The EWL/WL ambiguity is solved by the geometry-free (GF) method, in which triple-frequency carrier ambiguity resolution (TCAR) and four-frequency carrier ambiguity resolution (FCAR) are used for triple-frequency and four-frequency observations, respectively. Finally, the positioning performance of the tightly coupled method in this paper is evaluated through vehicular experiment. The experimental results show that in the urban dynamic environment, due to the higher quality of the linear combination of BDS-3 four-frequency, the positioning accuracy of the BDS-3/INS tightly coupled was slightly better than that of the triple-frequency BDS-2/INS. Compared with GPS/BDS-2/INS, the GPS/BDS-2/BDS-3/INS tightly coupled positioning accuracy increased by 29.1% and 58.7% in horizontal and vertical directions, respectively, which can realize decimeter positioning accuracy in urban environments. [ABSTRACT FROM AUTHOR]

The literature review indicates that a scaling effect does exist in downscaling land surface temperature (DLST) processes, and no substantial methods were specially developed for addressing it. In this research, the main aim is to develop a new method to reduce the scaling effect on DLST maps at high resolutions. A thermal component-based thermal spectral unmixing (TSU) model was modified and a multiple regression (REG) model was adopted to create DLST maps at high resolutions. A combined variance of red and NIR bands at a very high resolution with a difference image between upscaled LST and DLST was used to develop a new method. With two case data sets, LSTs at coarse resolutions were downscaled by using the modified TSU model and the REG model to create DLST results. The new method with a correction term expression (a linear model created by using a semi-empirical approach) was used to improve the DLST maps in the two case study areas. The experimental results indicate that the new method could reduce the root mean square error and the mean absolute error >30% and >33%, respectively, and thus demonstrate that the proposed method was effective and significant, especially reducing the scaling effect on DLST results at very high resolutions. The novel significance for the new method is directly reducing the scaling effect on DLST maps at high resolutions. [ABSTRACT FROM AUTHOR]

Aiming at the GNSS receiver vulnerability in challenging urban environments and low power consumption of integrated navigation systems, an improved robust adaptive Kalman filter (IRAKF) algorithm with real-time performance and low computation complexity for single-frequency GNSS/MEMS-IMU/odometer integrated navigation module is proposed. The algorithm obtains the scale factor by the prediction residual, and uses it to adjust the artificially set covariance matrix of the observation vector under different GNSS solution states, so that the covariance matrix of the observation vector changes continuously with the complex scene. Then, the adaptive factor is calculated by the Mahalanobis distance to inflate the state prediction covariance matrix. In addition, the one-step prediction Kalman filter is introduced to reduce the computational complexity of the algorithm. The performance of the algorithm is verified by vehicle experiments in the challenging urban environments. Experiments show that the algorithm can effectively weaken the effects of abnormal model deviations and outliers in the measurements and improve the positioning accuracy of real-time integrated navigation. It can meet the requirements of low power consumption real-time vehicle navigation applications in the complex urban environment. [ABSTRACT FROM AUTHOR]

Urban building morphology has a significant impact on the urban thermal environment (UTE). The sky view factor (SVF) is an important structure index of buildings and combines height and density attributes. These factors have impact on the land surface temperature (LST). Thus, it is crucial to analyze the relationship between SVF and LST in different spatial-temporal scales. Therefore, we tried to use a building vector database to calculate the SVF, and we used remote sensing thermal infrared band to retrieve LST. Then, we analyzed the influence between SVF and LST in different spatial and temporal scales, and we analyzed the seasonal variation, day–night variation, and the impact of building height and density of the SVF–LST relationship. We selected the core built-up area of Beijing as the study area and analyzed the SVF–LST relationship in four periods in 2018. The temporal experimental results indicated that LST is higher in the obscured areas than in the open areas at nighttime. In winter, the maximum mean LST is in the open areas. The spatial experimental results indicate that the SVF and LST relationship is different in the low SVF region, with 30 m and 90 m pixel scale in the daytime. This may be the shadow cooling effect around the buildings. In addition, we discussed the effects of building height and shading on the SVF–LST relationship, and the experimental results show that the average shading ratio is the largest at 0.38 in the mid-rise building area in winter. [ABSTRACT FROM AUTHOR]

Detecting small objects (e.g., manhole covers, license plates, and roadside milestones) in urban images is a long-standing challenge mainly due to the scale of small object and background clutter. Although convolution neural network (CNN)-based methods have made significant progress and achieved impressive results in generic object detection, the problem of small object detection remains unsolved. To address this challenge, in this study we developed an end-to-end network architecture that has three significant characteristics compared to previous works. First, we designed a backbone network module, namely Reduced Downsampling Network (RD-Net), to extract informative feature representations with high spatial resolutions and preserve local information for small objects. Second, we introduced an Adjustable Sample Selection (ADSS) module which frees the Intersection-over-Union (IoU) threshold hyperparameters and defines positive and negative training samples based on statistical characteristics between generated anchors and ground reference bounding boxes. Third, we incorporated the generalized Intersection-over-Union (GIoU) loss for bounding box regression, which efficiently bridges the gap between distance-based optimization loss and area-based evaluation metrics. We demonstrated the effectiveness of our method by performing extensive experiments on the public Urban Element Detection (UED) dataset acquired by Mobile Mapping Systems (MMS). The Average Precision (AP) of the proposed method was 81.71%, representing an improvement of 1.2% compared with the popular detection framework Faster R-CNN. [ABSTRACT FROM AUTHOR]

Positioning accuracy and power consumption are essential performance indicators of integrated navigation and positioning chips. This paper proposes a single-frequency GNSS/MEMS-IMU/odometer real-time high-precision integrated navigation algorithm with dynamic power adaptive adjustment capability in complex environments. It is implemented in a multi-sensor fusion navigation SiP (system in package) chip. The simplified INS algorithm and the simplified Kalman filter algorithm are adopted to reduce the computation load, and the strategy of adaptively adjusting the data rate and selecting the observation information for measurement update in different scenes and motion modes is combined to realize high-precision positioning and low power consumption in complex scenes. The performance of the algorithm is verified by real-time vehicle experiments in a variety of complex urban environments. The results show that the RMS statistical value of the overall positioning error in the entire road section is 0.312 m, and the overall average power consumption is 141 mW, which meets the requirements of real-time integrated navigation for high-precision positioning and low power consumption. It supports single-frequency GNSS/MEMS-IMU/odometer integrated navigation SiP chip in real-time, high-precision, low-power, and small-volume applications. [ABSTRACT FROM AUTHOR]

GNSS-only attitude determination is difficult to perform well in poor-satellite-tracking environments such as urban areas with high and dense buildings or trees. In addition, it is harder to resolve integer ambiguity in the case of single-frequency single-epoch process mode. In this contribution, a low-cost MEMS gyroscope is integrated with multi-antenna GNSS to improve the performance of the attitude determination. A new tightly coupled (TC) model is proposed, which uses a single filter to achieve the optimal estimation of attitude drift, gyro biases and ambiguities. In addition, a MEMS-Attitude-aided Quality-Control method (MAQC) for GNSS observations is designed to eliminate both the carrier multipath errors and half-cycle slips disturbing ambiguity resolution. Vehicle experiments show that in GNSS-friendly scenarios, the Ambiguity Resolution (AR) success rate of the proposed model with MAQC can reach 100%, and the accuracy of attitudes are (0.12, 0.2, 0.2) degrees for heading, pitch and roll angles, respectively. Even in harsh scenarios, the AR success rate increases from about 67% for the GNSS only case to above 90% after coupling GNSS tightly with MEMS, and it is further improved to about 98% with MAQC. Meanwhile, the accuracy and continuity of attitude determination are effectively guaranteed. [ABSTRACT FROM AUTHOR]

Computational fluid dynamics (CFD) simulation is a core component of wind engineering assessment for urban planning and architecture. CFD simulations require clean and low-complexity models. Existing modeling methods rely on static data from geographic information systems along with manual efforts. They are extraordinarily time-consuming and have difficulties accurately incorporating the up-to-date information of a target area into the flow model. This paper proposes an automated simulation framework with superior modeling efficiency and accuracy. The framework adopts aerial point clouds and an integrated two-dimensional and three-dimensional (3D) deep learning technique, with four operational modules: data acquisition and preprocessing, point cloud segmentation based on deep learning, geometric 3D reconstruction, and CFD simulation. The advantages of the framework are demonstrated through a case study of a local area in Shenzhen, China. [ABSTRACT FROM AUTHOR]

Accurate positioning and mapping are significant for autonomous systems with navigation requirements. In this paper, a coarse-to-fine loosely-coupled (LC) LiDAR-inertial odometry (LC-LIO) that could explore the complementariness of LiDAR and inertial measurement unit (IMU) was proposed for the real-time and accurate pose estimation of a ground vehicle in urban environments. Different from the existing tightly-coupled (TC) LiDAR-inertial fusion schemes which directly use all the considered ranges and inertial measurements to optimize the vehicle pose, the method proposed in this paper performs loosely-couped integrated optimization with the high-frequency motion prediction, which was produced by IMU integration based on optimized results, employed as the initial guess of LiDAR odometry to approach the optimality of LiDAR scan-to-map registration. As one of the prominent contributions, thorough studies were conducted on the performance upper bound of the TC LiDAR-inertial fusion schemes and LC ones, respectively. Furthermore, the experimental verification was performed on the proposition that the proposed pipeline can fully relax the potential of the LiDAR measurements (centimeter-level ranging accuracy) in a coarse-to-fine way without being disturbed by the unexpected IMU bias. Moreover, an adaptive covariance estimation method employed during LC optimization was proposed to explain the uncertainty of LiDAR scan-to-map registration in dynamic scenarios. Furthermore, the effectiveness of the proposed system was validated on challenging real-world datasets. Meanwhile, the process that the proposed pipelines realized the coarse-to-fine LiDAR scan-to-map registration was presented in detail. Comparing with the existing state-of-the-art TC-LIO, the focus of this study would be placed on that the proposed LC-LIO work could achieve similar or better accuracy with a reduced computational expense. [ABSTRACT FROM AUTHOR]

As the modern navigation business evolves, demands for high-precision positioning in GNSS-challenged environments increase, and the integrated system composed of Global Navigation Satellite System (GNSS)-based Real-Time Kinematic (RTK), inertial system (INS), Light Detection and Ranging (LiDAR), etc., is accepted as the most feasible solution to the issue. For prior-map-free situations, as the only sensor with a global frame, RTK determines and maintains the global positioning precision of the integrated system. However, RTK performance degrades greatly in GNSS-challenged environments, and most of the existing integrated systems adopt loose coupling mode, which does nothing to improve RTK and, thus, prevents integrated systems from further improvement. Aiming at improving RTK performance in the RTK/LiDAR/INS integrated system, we proposed an innovative integrated algorithm that utilizes RTK to register LiDAR features while integrating the pre-registered LiDAR features to RTK and adopts parallel filters in the ambiguity-position-joint domain to weaken the effects of low satellite availability, cycle slips, and multipath. By doing so, we can improve the RTK fix rate and stability in GNSS-challenged environments. The results of the theoretical analyses, simulation experiments, and a road test proved that the proposed method improved RTK performance in GNSS-challenged environments and, thus, guaranteed the global positioning precision of the whole system. [ABSTRACT FROM AUTHOR]

Unmanned aerial vehicles (UAVs) can capture high-quality aerial photos and have been widely used for large-scale urban 3D reconstruction. However, even with the help of commercial flight control software, it is still a challenging task for non-professional users to capture full-coverage aerial photos in complex urban environments, which normally leads to incomplete 3D reconstruction. In this paper, we propose a novel path planning method for the high-quality aerial 3D reconstruction of urban scenes. The proposed approach first captures aerial photos, following an initial path to generate a coarse 3D model as prior knowledge. Then, 3D viewpoints with constrained location and orientation are generated and evaluated, according to the completeness and accuracy of the corresponding visible regions of the prior model. Finally, an optimized path is produced by smoothly connecting the optimal viewpoints. We perform an extensive evaluation of our method on real and simulated data sets, in comparison with a state-of-the-art method. The experimental results indicate that the optimized trajectory generated by our method can lead to a significant boost in the performance of aerial 3D urban reconstruction. [ABSTRACT FROM AUTHOR]

Landslides are a worldwide occurring hazard that can produce economic impact and even fatalities. The collection and monitoring of data regarding active landslides are important for predicting future landslides in that region, and is critical to minimize the losses caused. In the expanding metropolitan area of Cluj-Napoca, Romania, drastic changes of land use and increasement of construction zones represent a current evolution issue. The urban sprawl phenomenon imposed the expansion of the city limits and outside the old built-up area, and due to the hilly terrain and geomorphology, natural hazards such as landslides and erosion processes are susceptible to appearance or reactivation. The study incorporates interdisciplinary research composed of evaluation of a landslide susceptible hotspot located in an area of interest to the municipality by means of geodetic and topographic precise measurements, combined with the use of unmanned aerial vehicles (UAV) monitoring of surface movement and GIS spatial analysis. The data obtained in a span of over two years reveal that the investigated slope is subjected to a shallow active landslide of a few centimeters per year, and based on the 64 individual placed landmarks the highest displacement value was 67 mm. Through geomatic tools the exchange rate of the slope surface was evaluated with comprehensive volume calculations, such as displacement, erosion, and accumulation that illustrate a volume of material displaced of 107.2 m3 and the accumulated one of 55.7 m3. The results provide valuable insight into the complex landslide and erosion dynamics that are crucial when predicting future movements and prevention measures. [ABSTRACT FROM AUTHOR]

Dynamic Line Rating (DLR) is a process which electrical network operators can implement to improve efficiency by dynamically adjusting the load capacity as conditions allow. To implement DLR an accurate model of the conductors and their clearances is needed. Airborne LiDAR, while expensive, is the most common method of collecting line data as it is fast and is of high quality. State of the art methods for automatically reconstructing conductors first classify conductor points before fitting conductor models. This approach works well for high tension lines with significant separation between conductors but tends to perform poorly in urban environments where conductors are packed tightly together and surrounded by clutter. The method presented in this article attempts to overcome these challenges by performing an informed search for the conductors, anchored to the utility poles. Before the conductors are classified, their layout and sag are estimated, converting conductor segmentation into a linear problem; and a 3D to 2D projection is used to improve density and simplify clustering. The work also attempts to reduce the cost of conductor reconstruction by utilising lower-cost vehicle-mounted LiDAR. By avoiding point classification, higher precision can be achieved in scenarios where previous methods have suffered from significantly degraded performance. [ABSTRACT FROM AUTHOR]

Using ground-based, remote hyperspectral images from 0.4–1.0 micron in ∼850 spectral channels—acquired with the Urban Observatory facility in New York City—we evaluate the use of one-dimensional Convolutional Neural Networks (CNNs) for pixel-level classification and segmentation of built and natural materials in urban environments. We find that a multi-class model trained on hand-labeled pixels containing Sky, Clouds, Vegetation, Water, Building facades, Windows, Roads, Cars, and Metal structures yields an accuracy of 90–97% for three different scenes. We assess the transferability of this model by training on one scene and testing to another with significantly different illumination conditions and/or different content. This results in a significant (∼45%) decrease in the model precision and recall as does training on all scenes at once and testing on the individual scenes. These results suggest that while CNNs are powerful tools for pixel-level classification of very high-resolution spectral data of urban environments, retraining between scenes may be necessary. Furthermore, we test the dependence of the model on several instrument- and data-specific parameters including reduced spectral resolution (down to 15 spectral channels) and number of available training instances. The results are strongly class-dependent; however, we find that the classification of natural materials is particularly robust, especially the Vegetation class with a precision and recall >94% for all scenes and model transfers and >90% with only a single training instance. [ABSTRACT FROM AUTHOR]

For disaster emergency response, timely information is critical and satellite data is a potential source for such information. High-resolution optical satellite images are often the most informative, but these are only available on cloud-free days. For some extreme weather disasters, like cyclones, access to cloud-free images is unlikely for days both before and after the main impact. In this situation, Synthetic Aperture Radar (SAR) data is a unique first source of information, as it works irrespective of weather and sunlight conditions. This paper shows, in the context of the cyclone Idai that hit Mozambique in March 2019, that Change Detection between pairs of SAR data is a perfect match with weather data, and therefore captures impact from the severe cyclone. For emergency operations, the filtering of Change Detections by external data on the location of houses prior to an event allows assessment of the impact on houses as opposed to impact on the surrounding natural environment. The free availability of SAR data from Sentinel-1, with further automated processing of it, means that this analysis is a cost-effective and quick potential first indication of cyclone destruction. [ABSTRACT FROM AUTHOR]

Urban Surface Ecological Status (USES) reflects the structure and function of an urban ecosystem. USES is influenced by the surface biophysical, biochemical, and biological properties. The assessment and modeling of USES is crucial for sustainability assessment in support of achieving sustainable development goals such as sustainable cities and communities. The objective of this study is to present a new analytical framework for assessing the USES. This analytical framework is centered on a new index, Remotely Sensed Urban Surface Ecological index (RSUSEI). In this study, RSUSEI is used to assess the USES of six selected cities in the U.S.A. To this end, Landsat 8 images, water vapor products, and the National Land Cover Database (NLCD) land cover and imperviousness datasets are downloaded for use. Firstly, Land Surface Temperature (LST), Wetness, Normalized Difference Vegetation Index (NDVI), and Normalized Difference Soil Index (NDSI) are derived by remote sensing methods. Then, RSUSEI is developed by the combination of NDVI, NDSI, Wetness, LST, and Impervious Surface Cover (ISC) with Principal Components Analysis (PCA). Next, the spatial variations of USES across the cities are evaluated and compared. Finally, the association degree of each parameter in the USES modeling is investigated. Results show that the spatial variability of LST, ISC, NDVI, NDSI, and Wetness is heterogeneous within and between cities. The mean (standard deviation) value of RSUSEI for Minneapolis, Dallas, Phoenix, Los Angeles, Chicago and Seattle yielded 0.58 (0.16), 0.54 (0.17), 0.47 (0.19), 0.63 (0.21), 0.50 (0.17), and 0.44 (0.19), respectively. For all the cities, PC1 included more than 93% of the surface information, which is contributed by greenness, moisture, dryness, heat, and imperviousness. The highest and lowest mean values of RSUSEI are found in "Developed, High intensity" (0.76) and "Developed, Open Space" (0.35) lands, respectively. The mean correlation coefficient between RSUSEI and LST, ISC, NDVI, NDSI, and Wetness, is 0.47, 0.97, −0.31, 0.17, and −0.27, respectively. The statistical significance of these correlations is confirmed at 95% confidence level. These results suggest that the association degree of ISC in USES modeling is the highest, despite the differences in land cover and biophysical characteristics in the cities. RSUSEI could be very useful in modeling and comparing USES across cities with different geographical, climatic, environmental, and biophysical conditions and can also be used for assessing urban sustainability over space and time. [ABSTRACT FROM AUTHOR]

TRUST (Thermal Remote sensing Unmixing for Subpixel Temperature) is a spectral unmixing method developed to provide subpixel abundances and temperatures from radiance images in the thermal domain. By now, this method has been studied in simple study cases, with a low number of endmembers, high spatial resolutions (1 m) and more than 30 spectral bands in the thermal domain. Thus, this article aims to show the applicability of TRUST on a highly challenging study case: the analysis of a heterogeneous urban environment with airborne multispectral (eight thermal bands) images at 8-m resolution. Thus, this study is necessary to generalize the use of TRUST in the analysis of urban thermography. Since TRUST allows linking intrapixel temperatures to specific materials, it appears as a very useful tool to characterize Surface Urban Heat Islands and its dynamics at high spatial resolutions. Moreover, this article presents an improved version of TRUST, called TRUST-DNS (Day and Night Synergy), which takes advantage of daytime and nighttime acquisitions to improve the unmixing performances. In this study, both TRUST and TRUST-DNS were applied on daytime and nighttime airborne thermal images acquired over the center of Madrid during the DESIREX (Dual-use European Security IR Experiment) campaign in 2008. The processed images were obtained with the Aircraft Hyperspectral Scanner (AHS) sensor at 4-m spatial resolution on 4 July. TRUST-DNS appears to be more stable and slightly outperforms TRUST on both day and night images. In addition, TRUST applied on daytime outperforms TRUST on nighttime, illustrating the importance of the temperature contrasts during day for thermal unmixing. [ABSTRACT FROM AUTHOR]

This article provides an angular-based radiometric slope correction routine for Sentinel-1 SAR imagery on the Google Earth Engine platform. Two established physical reference models are implemented. The first model is optimised for vegetation applications by assuming volume scattering on the ground. The second model is optimised for surface scattering, and therefore targeted at urban environments or analysis of soil characteristics. The framework of both models is extended to simultaneously generate masks of invalid data in active layover and shadow affected areas. A case study, using openly available and reproducible code, exemplarily demonstrates the improvement of the backscatter signal in a mountainous area of the Austrian Alps. Furthermore, suggestions for specific use cases are discussed and drawbacks of the method with respect to pixel-area based methods are highlighted. The radiometrically corrected radar backscatter products are overcoming current limitations and are compliant with recent CEOS specifications for SAR backscatter over land. This improves a wide range of potential usage scenarios of the Google Earth Engine platform in mapping various land surface parameters with Sentinel-1 on a large scale and in a rapid manner. The provision of an openly accessible Earth Engine module allows users a smooth integration of the routine into their own workflows. [ABSTRACT FROM AUTHOR]

This paper describes in detail the applicability of the developed ground-penetrating radar (GPR) model with a kinematic GPR and self-tracking (robotic) terrestrial positioning system (TPS) surveying setup (GPR-TPS model) for the acquisition, processing and visualisation of underground utility infrastructure (UUI) in a real urban environment. The integration of GPR with TPS can significantly improve the accuracy of UUI positioning in a real urban environment by means of efficient control of GPR trajectories. Two areas in the urban part of Celje in Slovenia were chosen. The accuracy of the kinematic GPR-TPS model was analysed by comparing the three-dimensional (3D) position of UUI given as reference values (true 3D position) from the officially consolidated cadastre of utility infrastructure in the Republic of Slovenia and those obtained by the GPR-TPS method. To determine the reference 3D position of the GPR antenna and UUI, the same positional and height geodetic network was used. Small unmanned aerial vehicles (UAV) were used for recording to provide a better spatial display of the results of UUI obtained with the GPR-TPS method. As demonstrated by the results, the kinematic GPR-TPS model for data acquisition can achieve an accuracy of fewer than 15 centimetres in a real urban environment. [ABSTRACT FROM AUTHOR]

High-resolution and accurate rainfall monitoring is of great importance to many applications, including meteorology, hydrology, and flood monitoring. In recent years, microwave backhaul links from wireless communication networks have been suggested for rainfall monitoring purposes, complementing the existing monitoring systems. With the advances in microwave technology, new microwave backhaul solutions have been proposed and applied for 5G networks. Examples of the latest microwave technology include E-band (71–76 and 81–86 GHz) links, multi-band boosters, and line-of-sight multiple-input multiple-output (LOS-MIMO) backhaul links. They all rely on millimeter-wave (mmWave) technology, which is the fastest small-cell backhaul solution. In this paper, we will study the rain attenuation characteristics of these new microwave backhaul techniques at different mmWave frequencies and link lengths. We will also study the potential of using these new microwave solutions for rainfall monitoring. Preliminary results indicate that all the test mmWave links can be very effective for estimating the path-averaged rain rates. The correlation between the mmWave link measurement-derived rain rate and the local rain gauge is in the range of 0.8 to 0.9, showing a great potential to use these links for precipitation and flood monitoring in urban areas. [ABSTRACT FROM AUTHOR]

Achieving continuous and high-precision positioning services via smartphone under a Global Navigation Satellite System (GNSS)-degraded environment is urgently demanded by the mass market. In 2018, Xiaomi launched the world's first dual-frequency GNSS smartphone, Xiaomi Mi 8. The newly added L5/E5 signals are more precise and less prone to distortions from multipath reflections. This paper discusses the characteristics of raw dual-frequency GNSS observations from Xiaomi Mi 8 in urban environments; they are characterized by high pseudorange noise and frequent signal interruption. The traditional dual-frequency ionosphere-free combination is not suitable for Xiaomi Mi 8 raw GNSS data processing, since the noise of the combined measurements is much larger than the influence of the ionospheric delay. Therefore, in order to reasonably utilize the high precision carrier phase observations, a time differenced positioning filter is presented in this paper to deliver continuous and smooth navigation results in urban environments. The filter first estimates the inter-epoch position variation (IEPV) with time differenced uncombined L1/E1 and L5/E5 carrier phase observations and constructs the state equation with IEPV to accurately describe the user's movement. Secondly, the observation equations are formed with uncombined L1/E1 and L5/E5 pseudorange observations. Then, kinematic experiments in open-sky and GNSS-degraded environments are carried out, and the proposed filter is assessed in terms of the positioning accuracy and solution availability. The result in an open-sky environment shows that, assisted with L5/E5 observations, the root mean square (RMS) of the stand-alone horizontal and vertical positioning errors are about 1.22 m and 1.94 m, respectively, with a 97.8% navigation availability. Encouragingly, even in a GNSS-degraded environment, smooth navigation services with accuracies of 1.61 m and 2.16 m in the horizontal and vertical directions are obtained by using multi-GNSS and L5/E5 observations. [ABSTRACT FROM AUTHOR]

Satellite-derived land surface temperature (LST) reveals the variations and impacts on the terrestrial thermal environment on a broad spatial scale. The drastic growth of urbanization-induced impervious surfaces and the urban population has generated a remarkably increasing influence on the urban thermal environment in China. This research was aimed to investigate land surface temperature (LST) intensity response to urban land cover/use by examining the thermal impact on urban settings in ten Chinese megacities (i.e., Beijing, Dongguan, Guangzhou, Hangzhou, Harbin, Nanjing, Shenyang, Suzhou, Tianjin, and Wuhan). Surface urban heat island (SUHI) footprints were scrutinized and compared by magnitude and extent. The causal mechanism among land cover composition (LCC), population, and SUHI was also identified. Spatial patterns of the thermal environments were identical to those of land cover/use. In addition, most impervious surface materials (greater than 81%) were labeled as heat sources, on the other hand, water and vegetation were functioned as heat sinks. More than 85% of heat budgets in Beijing and Guangzhou were generated from impervious surfaces. SUHI for all megacities showed spatially gradient decays between urban and surrounding rural areas; further, temperature peaks are not always dominant in the urban core, despite extremely dense impervious surfaces. The composition ratio of land cover (LCC%) negatively correlates with SUHI intensity (SUHII), whereas the population positively associates with SUHII. For all targeted megacities, land cover composition and population account for more than 63.9% of SUHI formation using geographically weighted regression. The findings can help optimize land cover/use to relieve pressure from rapid urbanization, maintain urban ecological balance, and meet the demands of sustainable urban growth. [ABSTRACT FROM AUTHOR]

The way we drive, and the transport of today are going through radical changes. Intelligent mobility envisions to improve the efficiency of traditional transportation through advanced digital technologies, such as robotics, artificial intelligence and Internet of Things. Central to the development of intelligent mobility technology is the emergence of connected autonomous vehicles (CAVs) where vehicles are capable of navigating environments autonomously. For this to be achieved, autonomous vehicles must be safe, trusted by passengers, and other drivers. However, it is practically impossible to train autonomous vehicles with all the possible traffic conditions that they may encounter. The work in this paper presents an alternative solution of using infrastructure to aid CAVs to learn driving policies, specifically for complex junctions, which require local experience and knowledge to handle. The proposal is to learn safe driving policies through data-driven imitation learning of human-driven vehicles at a junction utilizing data captured from surveillance devices about vehicle movements at the junction. The proposed framework is demonstrated by processing video datasets captured from uncrewed aerial vehicles (UAVs) from three intersections around Europe which contain vehicle trajectories. An imitation learning algorithm based on long short-term memory (LSTM) neural network is proposed to learn and predict safe trajectories of vehicles. The proposed framework can be used for many purposes in intelligent mobility, such as augmenting the intelligent control algorithms in driverless vehicles, benchmarking driver behavior for insurance purposes, and for providing insights to city planning. [ABSTRACT FROM AUTHOR]

Medium spatial resolution satellite images are frequently used to characterize thematic land cover and a continuous field at both regional and global scales. However, high spatial resolution remote sensing data can provide details in landscape structures, especially in the urban environment. With upgrades to spatial resolution and spectral coverage for many satellite sensors, the impact of the signal-to-noise ratio (SNR) in characterizing a landscape with highly heterogeneous features at the sub-pixel level is still uncertain. This study used WorldView-3 (WV3) images as a basis to evaluate the impacts of SNR on mapping a fractional developed impervious surface area (ISA). The point spread function (PSF) from the Landsat 8 Operational Land Imager (OLI) was used to resample the WV3 images to three different resolutions: 10 m, 20 m, and 30 m. Noise was then added to the resampled WV3 images to simulate different fractional levels of OLI SNRs. Furthermore, regression tree algorithms were incorporated into these images to estimate the ISA at different spatial scales. The study results showed that the total areal estimate could be improved by about 1% and 0.4% at 10-m spatial resolutions in our two study areas when the SNR changes from half to twice that of the Landsat OLI SNR level. Such improvement is more obvious in the high imperviousness ranges. The root-mean-square-error of ISA estimates using images that have twice and two-thirds the SNRs of OLI varied consistently from high to low when spatial resolutions changed from 10 m to 20 m. The increase of SNR, however, did not improve the overall performance of ISA estimates at 30 m. [ABSTRACT FROM AUTHOR]

Moderate Resolution Imaging Spectroradiometer (MODIS) aerosol products are used worldwide for their reliable accuracy. However, the aerosol optical depth (AOD) usually retrieved by the operational dark target (DT) algorithm of MODIS has been missing for most of the urban regions in Central China. This was due to a high surface reflectance and heavy aerosol loading, especially in winter, when a high cloud cover fraction and the frequent occurrence of haze events reduce the number of effective satellite observations. The retrieval of the AOD from limited satellite data is much needed and important for further aerosol investigations. In this paper, we propose an improved AOD retrieval method for 500 m MODIS data, which is based on an extended surface reflectance estimation scheme and dynamic aerosol models derived from ground-based sun-photometric observations. This improved method was applied to retrieve AOD during heavy aerosol loading and effectively complements the scarcity of AOD in correspondence with urban surface of a higher spatial resolution. The validation results showed that the retrieved AOD was consistent with MODIS DT AOD (R = ~0.87; RMSE = ~0.11) and ground measurements (R = ~0.89; RMSE = ~0.15) from both the Terra and the Aqua satellite. The method can be easily applied to different urban environments affected by air pollution and contributes to the research on aerosol. [ABSTRACT FROM AUTHOR]

This paper proposes to use a correlator-level global positioning system (GPS) line-of-sight/multipath/non-line-of-sight (LOS/MP/NLOS) signal reception classifier to improve positioning performance in an urban environment. Conventional LOS/MP/NLOS classifiers, referred to as national marine electronics association (NMEA)-level and receiver independent exchange format (RINEX)-level classifiers, are usually performed using attributes extracted from basic observables or measurements such as received signal strength, satellite elevation angle, code pseudorange, etc. The NMEA/RINEX-level classification rate is limited because the complex signal propagation in urban environment is not fully manifested in these end attributes. In this paper, LOS/MP/NLOS features were extracted at the baseband signal processing stage. Multicorrelator is implemented in a GPS software-defined receiver (SDR) and exploited to generate features from the autocorrelation function (ACF). A robust LOS/MP/NLOS classifier using a supervised machine learning algorithm, support vector machine (SVM), is then trained. It is also proposed that the Skymask and code pseudorange double difference observable are used to label the real signal type. Raw GPS intermediate frequency data were collected in urban areas in Hong Kong and were postprocessed using a self-developed SDR, which can easily output correlator-level LOS/MP/NLOS features. The SDR measurements were saved in the file with the format of NMEA and RINEX. A fair comparison among NMEA-, RINEX-, and correlator-level classifiers was then carried out on a common ground. Results show that the correlator-level classifier improves the metric of F1 score by about 25% over the conventional NMEA- and RINEX-level classifiers for testing data collected at different places to that of training data. In addition to this finding, correlator-level classifier is found to be more feasible in practical applications due to its less dependency on surrounding scenarios compared with the NMEA/RINEX-level classifiers. [ABSTRACT FROM AUTHOR]

As the world urbanizes and builds more infrastructure, the extraction of built-up areas using remote sensing is crucial for monitoring land cover changes and understanding urban environments. Previous studies have proposed a variety of methods for mapping regional and global built-up areas. However, most of these methods rely on manual selection of training samples and classification thresholds, leading to low extraction efficiency. Furthermore, thematic accuracy is limited by interference from other land cover types like bare land, which hinder accurate and timely extraction and monitoring of dynamic changes in built-up areas. This study proposes a new method to map built-up areas by combining VIIRS (Visible Infrared Imaging Radiometer Suite) nighttime lights (NTL) data and Landsat-8 multispectral imagery. First, an adaptive NTL threshold was established, vegetation and water masks were superimposed, and built-up training samples were automatically acquired. Second, the training samples were employed to perform supervised classification of Landsat-8 data before deriving the preliminary built-up areas. Third, VIIRS NTL data were used to obtain the built-up target areas, which were superimposed onto the built-up preliminary classification results to obtain the built-up area fine classification results. Four major metropolitan areas in Eurasia formed the study areas, and the high spatial resolution (20 m) built-up area product High Resolution Layer Imperviousness Degree (HRL IMD) 2015 served as the reference data. The results indicate that our method can accurately and automatically acquire built-up training samples and adaptive thresholds, allowing for accurate estimates of the spatial distribution of built-up areas. With an overall accuracy exceeding 94.7%, our method exceeded accuracy levels of the FROM-GLC and GUL built-up area products and the PII built-up index. The accuracy and efficiency of our proposed method have significant potential for global built-up area mapping and dynamic change monitoring. [ABSTRACT FROM AUTHOR]

Mixed pixels in medium spatial resolution imagery create major challenges in acquiring accurate pixel-based land use and land cover information. Deep belief network (DBN), which can provide joint probabilities in land use and land cover classification, may serve as an alternative tool to address this mixed pixel issue. Since DBN performs well in pixel-based classification and object-based identification, examining its performance in subpixel unmixing with medium spatial resolution multispectral image in urban environments would be of value. In this study, (1) we examined DBN's ability in subpixel unmixing with Landsat imagery, (2) explored the best-fit parameter setting for the DBN model and (3) evaluated its performance by comparing DBN with random forest (RF), support vector machine (SVM) and multiple endmember spectral mixture analysis (MESMA). The results illustrated that (1) DBN performs well in subpixel unmixing with a mean absolute error (MAE) of 0.06 and a root mean square error (RMSE) of 0.0077. (2) A larger sample size (e.g., greater than 3000) can provide stable and high accuracy while two-RBM-layer and 50 batch sizes are the best parameters for DBN in this study. Epoch size and learning rate should be decided by specific applications since there is not a consistent pattern in our experiments. Finally, (3) DBN can provide comparable results compared to RF, SVM and MESMA. We concluded that DBN can be viewed as an alternative method for subpixel unmixing with Landsat imagery and this study provides references for other scholars to use DBN in subpixel unmixing in urban environments. [ABSTRACT FROM AUTHOR]

This paper describes in detail the development of a ground-penetrating radar (GPR) model for the acquisition, processing and visualisation of underground utility infrastructure (UUI) in a controlled environment. The initiative was to simulate a subsurface urban environment through the construction of regional road, local road and pedestrian pavement in real urban field/testing pools (RUTPs). The RUTPs represented a controlled environment in which the most commonly used utilities were installed. The accuracy of the proposed kinematic GPR-TPS (terrestrial positioning system) model was analysed using all the available data about the materials, whilst taking into account the thickness of the pavement as well as the materials, dimensions and 3D position of the UUI as given reference values. To determine the reference 3D position of the UUI, a terrestrial geodetic surveying method based on the established positional and height geodetic network was used. In the first phase of the model, the geodetic network was used as a starting point for determining the 3D position of the GPR antenna with the efficient kinematic GPR surveying setup using a GPR and self-tracking (robotic) TPS. In the second phase, GPR-TPS system latency was quantified by matching radargram pairs with a set of fidelity measures based on a correlation coefficient and mean squared error. This was followed by the most important phase, where, by combining sets of "standard" processing routines of GPR signals with the support of advanced algorithms for signal processing, UUI were interpreted and visualised semi-automatically. As demonstrated by the results, the proposed GPR model with a kinematic GPR-TPS surveying setup for data acquisition is capable of achieving an accuracy of less than ten centimetres. [ABSTRACT FROM AUTHOR]

This work is linked to the future Indian–French high spatio-temporal TRISHNA (Thermal infraRed Imaging Satellite for High-resolution natural resource Assessment) mission, which includes shortwave and thermal infrared bands, and is devoted amongst other things to the monitoring of urban heat island events. In this article, the performance of seven empirical thermal unmixing techniques applied on simulated TRISHNA satellite images of an urban scenario is studied across spatial resolutions. For this purpose, Top Of Atmosphere (TOA) images in the shortwave and Thermal InfraRed (TIR) ranges are constructed at different resolutions (20 m, 40 m, 60 m, 80 m, and 100 m) and according to TRISHNA specifications (spectral bands and sensor properties). These images are synthesized by correcting and undersampling DESIREX 2008 Airborne Hyperspectral Scanner (AHS) images of Madrid at 4 m resolution. This allows to compare the Land Surface Temperature (LST) retrieval of several unmixing techniques applied on different resolution images, as well as to characterize the evolution of the performance of each technique across resolutions. The seven unmixing techniques are: Disaggregation of radiometric surface Temperature (DisTrad), Thermal imagery sHARPening (TsHARP), Area-To-Point Regression Kriging (ATPRK), Adaptive Area-To-Point Regression Kriging (AATPRK), Urban Thermal Sharpener (HUTS), Multiple Linear Regressions (MLR), and two combinations of ground classification (index-based classification and K-means classification) with DisTrad. Studying these unmixing techniques across resolutions also allows to validate the scale invariance hypotheses on which the techniques hinge. Each thermal unmixing technique has been tested with several shortwave indices, in order to choose the best one. It is shown that (i) ATPRK outperforms the other compared techniques when characterizing the LST of Madrid, (ii) the unmixing performance of any technique is degraded when the coarse spatial resolution increases, (iii) the used shortwave index does not strongly influence the unmixing performance, and (iv) even if the scale-invariant hypotheses behind these techniques remain empirical, this does not affect the unmixing performances within this range of resolutions. [ABSTRACT FROM AUTHOR]

This paper presents a proposal for a generic urban structure type (UST) scheme. Initially developed in the context of urban ecology, the UST approach is increasingly popular in the remote sensing community. However, there is no consistent and standardized UST framework. Until now, the terms land use and certain USTs are often used and described synonymously, or components of structure and use are intermingled. We suggest a generic nomenclature and a respective UST scheme that can be applied worldwide by stakeholders of different disciplines. Based on the insights of a rigorous literature analysis, we formulate a generic structural- and object-based typology, allowing for the generation of hierarchically and terminologically consistent USTs. The developed terminology exclusively focuses on morphology, urban structures and the general exterior appearance of buildings. It builds on the delimitation of spatial objects at several scales and leaves out all social aspects and land use aspects of an urban area. These underlying objects or urban artefacts and their structure- and object-related features, such as texture, patterns, shape, etc. are the core of the hierarchically structured UST scheme. Finally, the authors present a generic framework for the implementation of a remote sensing-based UST classification along with the requirements regarding sensors, data and data types. [ABSTRACT FROM AUTHOR]

In this paper, persistent scatterer interferometry and Synthetic Aperture Radar (SAR) tomography have been applied to Sentinel-1 data for urban monitoring. The paper analyses the applicability of SAR tomography to Sentinel-1 data, which is not granted, due to the reduced range and azimuth resolutions and the low resolution in elevation. In a first part of the paper, two implementations of the two techniques are described. In the experimental part, the two techniques are used in parallel to process the same Sentinel-1 data over two test areas. An intercomparison of the results from persistent scatterer interferometry and SAR tomography is carried out, comparing the main parameters estimated by the two techniques. Finally, the paper addresses the complementarity of the two techniques, and in particular it assesses the increase of measurement density that can be achieved by adding the double scatterers from SAR tomography to the persistent scatterer interferometry measurements. [ABSTRACT FROM AUTHOR]

Compressive sensing (CS) is a recent technique that promises to dramatically speed up the radar acquisition. Previous works have already tested CS for ground-based synthetic aperture radar (GBSAR) performing preliminary simulations or carrying out measurements in controlled environments. The aim of this article is a systematic study on the effective applicability of CS for GBSAR with data acquired in real scenarios: an urban environment (a seven-storey building), an open-pit mine, and a natural slope (a glacier in the Italian Alps). The authors tested the most popular sets of orthogonal functions (the so-called 'basis') and three different recovery methods (l1-minimization, l2-minimization, orthogonal pursuit matching). They found that Haar wavelets as orthogonal basis is a reasonable choice in most scenarios. Furthermore, they found that, for any tested basis and recovery method, the quality of images is very poor with less than 30% of data. They also found that the peak signal–noise ratio (PSNR) of the recovered images increases linearly of 2.4 dB for each 10% increase of data. [ABSTRACT FROM AUTHOR]

A digital surface model (DSM) provides the geometry and structure of an urban environment with buildings being the most prominent objects in it. Built-up areas change with time due to the rapid expansion of cities. New buildings are being built, existing ones are expanded, and old buildings are torn down. As a result, 3D surface models can increase the understanding and explanation of complex urban scenarios. They are very useful in numerous fields of remote sensing applications, in tasks related to 3D reconstruction and city modeling, planning, visualization, disaster management, navigation, and decision-making, among others. DSMs are typically derived from various acquisition techniques, like photogrammetry, laser scanning, or synthetic aperture radar (SAR). The generation of DSMs from very high resolution optical stereo satellite imagery leads to high resolution DSMs which often suffer from mismatches, missing values, or blunders, resulting in coarse building shape representation. To overcome these problems, we propose a method for 3D surface model generation with refined building shapes to level of detail (LoD) 2 from stereo half-meter resolution satellite DSMs using deep learning techniques. Mainly, we train a conditional generative adversarial network (cGAN) with an objective function based on least square residuals to generate an accurate LoD2-like DSM with enhanced 3D object shapes directly from the noisy stereo DSM input. In addition, to achieve close to LoD2 shapes of buildings, we introduce a new approach to generate an artificial DSM with accurate and realistic building geometries from city geography markup language (CityGML) data, on which we later perform a training of the proposed cGAN architecture. The experimental results demonstrate the strong potential to create large-scale remote sensing elevation models where the buildings exhibit better-quality shapes and roof forms than just using the matching process. Moreover, the developed model is successfully applied to a different city that is unseen during the training to show its generalization capacity. [ABSTRACT FROM AUTHOR]

In Global Navigation Satellite System (GNSS) positioning, observation precisions are frequently impacted by the site-specific unmodeled errors, especially for the code observations that are widely used by smart phones and vehicles in urban environments. The site-specific unmodeled errors mainly refer to the multipath and other space loss caused by the signal propagation (e.g., non-line-of-sight reception). As usual, the observation precisions are estimated by the weighting function in a stochastic model. Only once the realistic weighting function is applied can we obtain the precise positioning results. Unfortunately, the existing weighting schemes do not fully take these site-specific unmodeled effects into account. Specifically, the traditional weighting models indirectly and partly reflect, or even simply ignore, these unmodeled effects. In this paper, we propose a real-time adaptive weighting model to mitigate the site-specific unmodeled errors of code observations. This unmodeled-error-weighted model takes full advantages of satellite elevation angle and carrier-to-noise power density ratio (C/N0). In detail, elevation is taken as a fundamental part of the proposed model, then C/N0 is applied to estimate the precision of site-specific unmodeled errors. The principle of the second part is that the measured C/N0 will deviate from the nominal values when the signal distortions are severe. Specifically, the template functions of C/N0 and its precision, which can estimate the nominal values, are applied to adaptively adjust the precision of site-specific unmodeled errors. The proposed method is tested in single-point positioning (SPP) and code real-time differenced (RTD) positioning by static and kinematic datasets. Results indicate that the adaptive model is superior to the equal-weight, elevation and C/N0 models. Compared with these traditional approaches, the accuracy of SPP and RTD solutions are improved by 35.1% and 17.6% on average in the dense high-rise building group, as well as 11.4% and 11.9% on average in the urban-forested area. This demonstrates the benefit to code-based positioning brought by a real-time adaptive weighting model as it can mitigate the impacts of site-specific unmodeled errors and improve the positioning accuracy. [ABSTRACT FROM AUTHOR]

Combining TerraSAR-X and Landsat Images for Emergency Response in Urban Environments. The sentence "The obtained pre-event NDVI map is presented in Figure 2" should be "The obtained pre-event NDVI map is presented in Figure 4". 2. The sentence "The combined map (Figure 3) could, therefore, be divided into three major classes" should be "The combined map (Figure 5) could, therefore, be divided into three major classes". [Extracted from the article]

Implying the prosperity and development of the city, impervious surface area (ISA) is playing an increasingly important role in ecological processes, microclimate, material and energy flows, and urban flood. The free sub-meter resolution Google Earth image, which is integrated by several high spatial resolution data, appears to have potential for high-resolution ISA extraction, where present study is rare and performances remain to be improved. Due to the high spatial and spectral variation of the urban environment as well as confusion between ISA and soil, the accurate delineating of ISA with traditional (direct) methods can be costly and time-consuming, which is in a word resource-intensive. However, this paper presents a novel indirect ISA extraction conceptual model and a new detecting and masking background land cover (DMBLC) approach that: uses a freely available, high-resolution dataset; requires a reduced set of training samples; and consists of relatively simple, common, and feasible image processing steps. The key characteristic of DMBLC is to detect the background of ISA (vegetation, soil, and water) accurately and obtain the ISA by masking the background. The approach relies on background detection to avoid the predicaments of direct ISA extraction. Water can be directly gained by water body vector data, in DMBLC; mixture tuned matched filtering (MTMF) is exploited to detect vegetation and soil, image segmentation is used to mitigate the spectral variation problem within the same land cover, and segment rectangularity reduces the confusion between ISA and soil. From experiments in a core area of Fuzhou, China, the DMBLC approach reached high performance and outperformed the powerful traditional support vector machines (SVM) method (overall accuracy of 94.45% and Kappa coefficient of 0.8885, compared to 86.44% and 0.7329, respectively). From the comparison of different levels of complexity within the inner processing steps, it is confirmed that the DMBLC approach is a powerful and flexible changed framework for indirect ISA extraction, which can be improved by using more advanced inner methods. [ABSTRACT FROM AUTHOR]

Most of the methods used to retrieve land surface temperature (LST) from thermal infrared (TIR) satellite data in urban areas do not take into account the complexity of the surface. Cities are characterized by high surface roughness and one of the main constraints to estimate LST over those areas is the difficulty to define an effective emissivity for a given pixel at a given scale. When working with mixed pixels, the emissivity used to estimate the LST is an effective emissivity composed of the emissivities of each basic element constituting the pixel. In urban areas, the surface geometry has a strong impact on this effective emissivity. Its estimation from TIR satellite data must be carried out considering multiple surface reflections and diffusions within the urban canopy in order to retrieve accurate LST values. The objective of this study is then to evaluate the impact of the surface geometry within the pixel on effective emissivity estimation and to propose a method to derive an effective emissivity corrected for those effects. Emissivity can be derived at 90 m of spatial resolution from the TIR data acquired by ASTER. To evaluate the impact of the geometry at the scale of an ASTER pixel, several urban canyon configurations are designed to develop and test the correction method. The basic principle behind the method is to accurately estimate the downwelling TIR radiation received by a pixel integrating contributions from both the atmosphere and the scene inside this pixel and then derive the corrected effective emissivity from ASTER data using the TES (temperature emissivity separation) algorithm. First, the total downwelling TIR radiation is estimated from the geometric characteristics of the scene, using morphological indicators and integrating the non-isothermal behavior of the pixel thanks to 3D thermo-radiative model simulations. The validation of those estimations for each canyon configuration provides a maximum RMSE (Root Mean Square Error) value of 2.2 W·m−2. The validation performed over a district extracted from the 3D numerical model of Strasbourg (France) shows a RMSE of 2.5 W·m−2. Once the method to estimate the total downwelling TIR radiation is validated, LSE and LST maps are retrieved from an ASTER image over three districts of Strasbourg, showing that accounting for the surface geometry highlights thermal behavior differences inside districts, and that the impact of the geometry seems more influenced by building height than street width or building density. [ABSTRACT FROM AUTHOR]

Integration of Landsat images and multisource data using spatial statistical analysis and geographical detector models can reveal the individual and interactive influences of anthropogenic activities and ecological factors on concentrations of atmospheric particulate matter less than 2.5 microns in diameter (PM2.5). This approach has been used in many studies to estimate biomass and forest disturbance patterns and to monitor carbon sinks. However, the approach has rarely been used to comprehensively analyze the individual and interactive influences of anthropogenic factors (e.g., population density, impervious surface percentage) and ecological factors (e.g., canopy density, stand age, and elevation) on PM2.5 concentrations. To do this, we used Landsat-8 images and meteorological data to retrieve quantitative data on the concentrations of particulates (PM2.5), then integrated a forest management planning inventory (FMPI), population density distribution data, meteorological data, and topographic data in a Geographic Information System database, and applied a spatial statistical analysis model to identify aggregated areas (hot spots and cold spots) of particulates in the urban area of Jinjiang city, China. A geographical detector model was used to analyze the individual and interactive influences of anthropogenic and ecological factors on PM2.5 concentrations. We found that particulate concentration hot spots are mainly distributed in urban centers and suburbs, while cold spots are mainly distributed in the suburbs and exurban region. Elevation was the dominant individual factor affecting PM2.5 concentrations, followed by dominant tree species and meteorological factors. A combination of human activities (e.g., population density, impervious surface percentage) and multiple ecological factors caused the dominant interactive effects, resulting in increased PM2.5 concentrations. Our study suggests that human activities and multiple ecological factors effect PM2.5 concentrations both individually and interactively. We conclude that in order to reveal the direct and indirect effects of human activities and multiple factors on PM2.5 concentrations in urban forests, quantification of fusion satellite data and spatial statistical methods should be conducted in urban areas. [ABSTRACT FROM AUTHOR]