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Light detection and ranging (LiDAR) is a widely used technology for the acquisition of three-dimensional (3D) information about a wide variety of physical objects and environments. However, before conducting a campaign, a test is typically conducted to assess the potential of the utilized algorithm for information retrieval. It might not be a real campaign but rather a simulation to save time and costs. Here, a multi-platform LiDAR simulation model considering the location, direction, and wavelength of each emitted laser pulse was developed based on the large-scale remote sensing (RS) data and image simulation framework (LESS) model, which is a 3D radiative transfer model for simulating passive optical remote sensing signals using the ray tracing algorithm. The LESS LiDAR simulator took footprint size, returned energy, multiple scattering, and multispectrum LiDAR into account. The waveform and point similarity were assessed with the LiDAR module of the discrete anisotropic radiative transfer (DART) model. Abstract and realistic scenes were designed to assess the simulated LiDAR waveforms and point clouds. A waveform comparison in the abstract scene with the DART LiDAR module showed that the relative error was lower than 1%. In the realistic scene, airborne and terrestrial laser scanning were simulated by LESS and DART LiDAR modules. Their coefficients of determination ranged from 0.9108 to 0.9984 . Their mean was 0.9698 . The number of discrete returns fitted well and the coefficient of determination was 0.9986 . A terrestrial point cloud comparison in the realistic scene showed that the coefficient of determination between the two sets of data could reach 0.9849 . The performance of the LESS LiDAR simulator was also compared with the DART LiDAR module and HELIOS++. The results showed that the LESS LiDAR simulator is over three times faster than the DART LiDAR module and HELIOS++ when simulating terrestrial point clouds in a realistic scene. The proposed LiDAR simulator offers two modes for simulating point clouds: single-ray and multi-ray modes. The findings demonstrate that utilizing a single-ray simulation approach can significantly reduce the simulation time, by over 28 times, without substantially affecting the overall point number or ground pointswhen compared to employing multiple rays for simulations. This new LESS model integrating a LiDAR simulator has great potential in terms of simultaneously simulating LiDAR data and optical images based on the same 3D scene and parameters. As a proof of concept, the normalized difference vegetation index (NDVI) results from multispectral images and the vertical profiles from multispectral LiDAR waveforms were simulated and analyzed. The results showed that the proposed LESS LiDAR simulator can fulfill its design goals. [ABSTRACT FROM AUTHOR]

The challenges inherent in field validation data, and real-world light detection and ranging (lidar) collections make it difficult to assess the best algorithms for using lidar to characterize forest stand volume. Here, we demonstrate the use of synthetic forest stands and simulated terrestrial laser scanning (TLS) for the purpose of evaluating which machine learning algorithms, scanning configurations, and feature spaces can best characterize forest stand volume. The random forest (RF) and support vector machine (SVM) algorithms generally outperformed k-nearest neighbor (kNN) for estimating plot-level vegetation volume regardless of the input feature space or number of scans. Also, the measures designed to characterize occlusion using spherical voxels generally provided higher predictive performance than measures that characterized the vertical distribution of returns using summary statistics by height bins. Given the difficulty of collecting a large number of scans to train models, and of collecting accurate and consistent field validation data, we argue that synthetic data offer an important means to parameterize models and determine appropriate sampling strategies. [ABSTRACT FROM AUTHOR]

The accurate assessment of wound size is a critical step in advanced wound care management. This study aims to introduce and validate a Light Detection and Ranging (LiDAR) technique for measuring wound size. Twenty-eight wounds treated from December 2022 to April 2023 at the Chungnam National University Hospital were analyzed. All the wounds were measured using three techniques: conventional ruler methods, the LiDAR technique, and ImageJ analysis. Correlation analysis, linear regression, and Bland–Altman plot analysis were performed to validate the accuracy of the novel method. The measurement results (mean ± standard deviation) obtained using the ruler method, LiDAR technique, and ImageJ analysis were 112.99 ± 110.07 cm2, 73.59 ± 72.97 cm2, and 74.29 ± 72.15 cm2, respectively. The Pearson correlation coefficient was higher for the LiDAR application (0.995) than for the conventional ruler methods (mean difference, −5.0000 cm2), as was the degree of agreement (mean difference, 38.6933 cm2). Wound size measurement using LiDAR is a simple and reliable method that will enable practitioners to conveniently assess wounds with a flattened and irregular shape with higher accuracy. However, non-flattened wounds cannot be assessed owing to the technical limitations of LiDAR. [ABSTRACT FROM AUTHOR]

Currently, the demand for automobiles is increasing, and daily travel is increasingly reliant on cars. However, accompanying this trend are escalating traffic safety issues. Surveys indicate that most traffic accidents stem from driver errors, both intentional and unintentional. Consequently, within the framework of vehicular intelligence, intelligent driving uses computer software to assist drivers, thereby reducing the likelihood of road safety incidents and traffic accidents. Lidar, an essential facet of perception technology, plays an important role in vehicle intelligent driving. In real-world driving scenarios, the detection range of a single laser radar is limited. Multiple laser radars can improve the detection range and point density, effectively mitigating state estimation degradation in unstructured environments. This, in turn, enhances the precision and accuracy of synchronous positioning and mapping. Nonetheless, the relationship governing pose transformation between multiple lidars is intricate. Over extended periods, perturbations arising from vibrations, temperature fluctuations, or collisions can compromise the initially converged external parameters. In view of these concerns, this paper introduces a system capable of concurrent multi-lidar positioning and mapping, as well as real-time online external parameter calibration. The method first preprocesses the original measurement data, extracts linear and planar features, and rectifies motion distortion. Subsequently, leveraging degradation factors, the convergence of the multi-lidar external parameters is detected in real time. When deterioration in external parameters is identified, the local map of the main laser radar and the feature point cloud of the auxiliary laser radar are associated to realize online calibration. This is succeeded by frame-to-frame matching according to the converged external parameters, culminating in laser odometer computation. Introducing ground constraints and loop closure detection constraints in the back-end optimization effectuates global estimated pose rectification. Concurrently, the feature point cloud is aligned with the global map, and map update is completed. Finally, experimental validation is conducted on data acquired from Chang'an University to substantiate the system's online calibration and positioning mapping accuracy, robustness, and real-time performance. [ABSTRACT FROM AUTHOR]

To address the issue of low positioning accuracy of mobile robots in trellis kiwifruit orchards with weak signal environments, this study investigated an outdoor integrated positioning method based on ultra-wideband (UWB), light detection and ranging (LiDAR), and odometry (ODOM). Firstly, a dynamic error correction strategy using the Kalman filter (KF) was proposed to enhance the dynamic positioning accuracy of UWB. Secondly, the particle filter algorithm (PF) was employed to fuse UWB/ODOM/LiDAR measurements, resulting in an extended Kalman filter (EKF) measurement value. Meanwhile, the odometry value served as the predicted value in the EKF. Finally, the predicted and measured values were fused through the EKF to estimate the robot's pose. Simulation results demonstrated that the UWB/ODOM/LiDAR integrated positioning method achieved a mean lateral error of 0.076 m and a root mean square error (RMSE) of 0.098 m. Field tests revealed that compared to standalone UWB positioning, UWB-based KF positioning, and LiDAR/ODOM integrated positioning methods, the proposed approach improved the positioning accuracy by 64.8%, 13.8%, and 38.3%, respectively. Therefore, the proposed integrated positioning method exhibits promising positioning performance in trellis kiwifruit orchards with potential applicability to other orchard environments. [ABSTRACT FROM AUTHOR]

Light Detection and Ranging (LiDAR), a laser-based technology for environmental perception, finds extensive applications in intelligent transportation. Deployed on roadsides, it provides real-time global traffic data, supporting road safety and research. To overcome accuracy issues arising from sensor misalignment and to facilitate multi-sensor fusion, this paper proposes an adaptive calibration method. The method defines an ideal coordinate system with the road's forward direction as the X-axis and the intersection line between the vertical plane of the X-axis and the road surface plane as the Y-axis. This method utilizes the Kalman filter (KF) for trajectory smoothing and employs the random sample consensus (RANSAC) algorithm for ground fitting, obtaining the projection of the ideal coordinate system within the LiDAR system coordinate system. By comparing the two coordinate systems and calculating Euler angles, the point cloud is angle-calibrated using rotation matrices. Based on measured data from roadside LiDAR, this paper validates the calibration method. The experimental results demonstrate that the proposed method achieves high precision, with calculated Euler angle errors consistently below 1.7%. [ABSTRACT FROM AUTHOR]

The use of a Machine Learning (ML) classification algorithm to classify airborne urban Light Detection And Ranging (LiDAR) point clouds into main classes such as buildings, terrain, and vegetation has been widely accepted. This paper assesses two strategies to enhance the effectiveness of the Deep Learning (DL) classification algorithm. Two ML classification approaches are developed and compared in this context. These approaches utilize the DL Pipeline Network (DLPN), which is tailored to minimize classification errors and maximize accuracy. The geometric features calculated from a point and its neighborhood are analyzed to select the features that will be used in the input layer of the classification algorithm. To evaluate the contribution of the proposed approach, five point-clouds datasets with different urban typologies and ground topography are employed. These point clouds exhibit variations in point density, accuracy, and the type of aircraft used (drone and plane). This diversity in the tested point clouds enables the assessment of the algorithm's efficiency. The obtained high classification accuracy between 89% and 98% confirms the efficacy of the developed algorithm. Finally, the results of the adopted algorithm are compared with both rule-based and ML algorithms, providing insights into the positioning of DL classification algorithms among other strategies suggested in the literature. [ABSTRACT FROM AUTHOR]

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

We present a new fiber-amplifier-based differential absorption light detection and ranging (DIAL) system for range-resolved detection of carbon dioxide (CO2) and water vapor (H2O) over a range of a few kilometers. The fiber amplifier chain is seeded with a 7.14 kHz fast-switching high-spectral purity wavelength source near 1572 nm to cover ten different frequencies across the CO2/H2O line pair in ≈1.4 ms. We demonstrate the system in a study of CO2 emissions from a local power plant in Boulder, CO, USA. We use real-time wind information to predict the plume location for tracking and modeling of the CO2 emission rate to compare with the reported data from the power plant over a 13 h period. There is overall agreement with the reported burn rate, but we see periods of bias towards underestimation of the CO2 emission rate. We attribute the dropout periods to uncertainties between the measured and the plant's local wind speed data that impact both the tracking location and the plume model predictions. Upcoming studies that will make use of real-time Doppler wind data are expected to significantly decrease these uncertainties. [ABSTRACT FROM AUTHOR]

Climate change, uneven distribution of water resources and anthropogenic impact have led to salinization and land degradation in the southern regions of Kazakhstan. Identification of saline lands and their mapping is a laborious process associated with a complex of ground measurements. Data from remote sensing are widely used to solve this problem. In this paper, the problem of assessing the salinity of the lands of the South Kazakhstan region using remote sensing data is considered. The aim of the study is to analyze the applicability of machine learning methods to assess the salinity of agricultural lands in southern Kazakhstan based on remote sensing. The authors present a salinity dataset obtained from field studies and containing more than 200 laboratory measurements of soil salinity. Moreover, the authors describe the results of applying several regression reconstruction algorithms (XGBoost, LightGBM, random forest, Support vector machines, Elastic net, etc.), where synthetic aperture radar (SAR) data from the Sentinel-1 satellite and optical data in the form of spectral salinity indices are used as input data. The obtained results show that, in general, these input data can be used to estimate salinity of the wetted arable land. XGBoost regressor ( R 2 = 0.282) showed the best results. Supplementing the radar data with the values of salinity spectral index improves the result significantly ( R 2 = 0.356). For the local datasets, the best result shown by the model is R 2 = 0.473 (SAR) and R 2 = 0.654 (SAR with spectral indexes), respectively. The study also revealed a number of problems that justify the need for a broader range of ground surveys and consideration of multi-year factors affecting soil salinity. Key results of the article: (i) a set of salinity data for different geographical zones of southern Kazakhstan is presented for the first time; (ii) a method is proposed for determining soil salinity on the basis of synthetic aperture radar supplemented with optical data, and this resulted in the improved prediction of the results for the region under consideration; (iii) a comparison of several types of machine learning models was made and it was found that boosted models give, on average, the best prediction result; (iv) a method for optimizing the number of model input parameters using explainable machine learning is proposed; (v) it is shown that the results obtained in this work are in better agreement with ground-based measurements of electrical conductivity than the results of the previously proposed global model. [ABSTRACT FROM AUTHOR]

The fusion-based classification of hyperspectral (HS) and light detection and ranging (LiDAR) images has become a prominent research topic, as their complementary information can effectively improve classification performance. The current methods encompass pixel-, feature- and decision-level fusion. Among them, feature- and decision-level fusion have emerged as the mainstream approaches. Collaborative fusion of these two levels can enhance classification accuracy. Although various methods have been proposed, some shortcomings still exist. On one hand, current methods ignore the shared advanced features between HS and LiDAR images, impeding the integration of multimodal features and thereby limiting the classification performance. On the other hand, the existing methods face difficulties in achieving a balance between feature- and decision-level contributions, or they simply overlook the significance of one level and fail to utilize it effectively. In this paper, we propose a novel feature-decision level collaborative fusion network (FDCFNet) for hyperspectral and LiDAR classification to alleviate these problems. Specifically, a multilevel interactive fusion module is proposed to indirectly connect hyperspectral and LiDAR flows to refine the spectral-elevation information. Moreover, the fusion features of the intermediate branch can further enhance the shared-complementary information of hyperspectral and LiDAR to reduce the modality differences. In addition, a dynamic weight selection strategy is meticulously designed to adaptively assign weight to the output of three branches at the decision level. Experiments on three public benchmark datasets demonstrate the effectiveness of the proposed methods. [ABSTRACT FROM AUTHOR]

Progress toward habitat protection goals can effectively be performed using satellite imagery and machine-learning (ML) models at various spatial and temporal scales. In this regard, habitat types and landscape structures can be discriminated against using remote-sensing (RS) datasets. However, most existing research in three-dimensional (3D) habitat mapping primarily relies on same/cross-sensor features like features derived from multibeam Light Detection And Ranging (LiDAR), hydrographic LiDAR, and aerial images, often overlooking the potential benefits of considering multi-sensor data integration. To address this gap, this study introduced a novel approach to creating 3D habitat maps by using high-resolution multispectral images and a LiDAR-derived Digital Surface Model (DSM) coupled with an object-based Random Forest (RF) algorithm. LiDAR-derived products were also used to improve the accuracy of the habitat classification, especially for the habitat classes with similar spectral characteristics but different heights. Two study areas in the United Kingdom (UK) were chosen to explore the accuracy of the developed models. The overall accuracies for the two mentioned study areas were high (91% and 82%), which is indicative of the high potential of the developed RS method for 3D habitat mapping. Overall, it was observed that a combination of high-resolution multispectral imagery and LiDAR data could help the separation of different habitat types and provide reliable 3D information. [ABSTRACT FROM AUTHOR]

The identification and delineation, through aerial photography, of the archaeological structures that present temporal resolution, as well as their characterization based on high-resolution LiDAR (Light Detection and Ranging)-derived DEMs (Digital Elevation Models) are modern techniques widely used in the archaeological prospecting of various landscapes. In this study, we present an application of Airborne Laser Scanning (ALS) and aerial photography (AP) techniques, used in order to compute geomorphometric indices specific to the ashmound structures of Late Bronze Age (LBA) archaeological sites that are visible on the soil surface. The necessity of determining the ashmounds' geoarchaeological description stems from the fact that despite the majority of archaeologists weighing in on the subject, there is still no accepted explanation regarding their initial functionality. Thus, we believe that the GIS-based high-resolution characterization of 200 ashmound features identified in 21 Noua Culture (NC) archaeological sites will contribute to a better understanding of the ashmounds' functionality and evolution in the heterogeneous landscape of the study area (NE Romania). Therefore, various shape indices, such as the area (A), perimeter (P), length (L), form factor (RF), circularity ratio (RC), and elongation ratio (RE) were computed for microlevel characterizations of the visible ashmounds' structures. Additionally, LiDAR-derived DEMs with a 0.5 m resolution were used to generate more surface characteristics such as the slope (S) and hypsometric indices (HI). The outcomes indicate that the ashmounds have relatively diverse shapes (an RF range from 0.37 to 0.77; a RC range from 0.79 to 0.99; a RE range from 0.68 to 0.99), and the micro-relief slightly varies from positive to negative landforms (HI range from 0.34 to 0.61) depending on the erosion intensity (S range from 1.17° to 19.69°) and anthropogenic impact (e.g., current land use and agriculture type). Furthermore, each morphometric parameter is an indicator for surface processes, aiding in the identification of the geomorphologic and surface-erosion aspects that affect the archaeological remains, contributing to the assessment of the conservation status of the ashmound structures within the current landscape configuration. In this regard, this article presents and discusses the remote sensing (RS) techniques used, as well as the morphometric data obtained, exploring the implications of our findings for a better characterization of the NC in Romania. [ABSTRACT FROM AUTHOR]

A Geiger-mode avalanche photodiode (GM-APD) laser radar range image has much noise when the signal-to-background ratios (SBRs) are low, making it difficult to recover the real target scene. In this paper, based on the GM-APD lidar denoising model of fractional-order total variation (FOTV), the spatial relationship and similarity relationship between pixels are obtained by using a spatial kernel function and range kernel function to optimize the fractional differential operator, and a new FOTV GM-APD lidar range-image denoising algorithm is designed. The lost information and range anomalous noise are suppressed while the target details and contour information are preserved. The Monte Carlo simulation and experimental results show that, under the same SBRs and statistical frame number, the proposed algorithm improves the target restoration degree by at least 5.11% and the peak signal-to-noise ratio (PSNR) by at least 24.6%. The proposed approach can accomplish the denoising of GM-APD lidar range images when SBRs are low. [ABSTRACT FROM AUTHOR]

During the past few decades, remote sensing has been established as an innovative, effective and cost-efficient option for the provision of high-quality information concerning infrastructure to governments or decision makers in order to update their plans and/or take actions towards the mitigation of the infrastructure risk. Meanwhile, climate change has emerged as a serious global challenge and hence there is an urgent need to develop reliable and cost-efficient infrastructure monitoring solutions. In this framework, the current study conducts a comprehensive review concerning the use of different remote-sensing sensors for the monitoring of multiple types of infrastructure including roads and railways, dams, bridges, archaeological sites and buildings. The aim of this contribution is to identify the best practices and processing methodologies for the comprehensive monitoring of critical national infrastructure falling under the research project named "PROION". In light of this, the review summarizes the wide variety of approaches that have been utilized for the monitoring of infrastructure and are based on the collection of remote-sensing data, acquired using the global navigation satellite system (GNSS), synthetic aperture radar (SAR), light detection and ranging (LiDAR) and unmanned aerial vehicles (UAV) sensors. Moreover, great emphasis is given to the contribution of the state-of-the-art soft computing methods throughout infrastructure monitoring aiming to increase the automation of the procedure. The statistical analysis of the reviewing publications revealed that SARs and LiDARs are the prevalent remote-sensing sensors used in infrastructure monitoring concepts, while regarding the type of infrastructure, research is orientated onto transportation networks (road and railway) and bridges. Added to this, deep learning-, fuzzy logic- and expert-based approaches have gained ground in the field of infrastructure monitoring over the past few years. [ABSTRACT FROM AUTHOR]

The frequency-swept laser (FSL) is applied widely in various sensing systems in the scientific and industrial fields, especially in the light detection and ranging (Lidar) area. However, the inherent nonlinearity limits its performance in application systems, especially in the broadband frequency-swept condition. In this work, from the perspective of data-driven control, we adopt the reinforcement learning-based broadband frequency-swept linearization method (RL-FSL) to optimize the control policy and generate the modulation signals. The nonlinearity measurement system and the system simulator are established. Since the powerful learning ability of the reinforcement learning algorithm, the linearization policy is optimized off-line and the generated modulation signals reduce the nonlinearity almost 20 times, compared to the case without control. In the long-term operation, the regular updated modulation signals perform better than the traditional iteration results, demonstrating the efficiency of the proposed data-driven control method in application systems. Therefore, the RL-FSL method has the potential to be the candidate of optical system control. [ABSTRACT FROM AUTHOR]

The propagation and scattering of vortex light beams in complex media have significant implications in the fields of laser imaging, optical manipulation, and communication. This paper investigates the scattering characteristics of vortex light beams from a random rough surface. Firstly, a two-dimensional Gaussian rough surface is generated using the Monte Carlo method combined with the linear filtering method. Subsequently, the vortex beams are decomposed into the superposition of infinite plane waves, and the scattering of each plane wave from the rough surface is calculated using the Kirchhoff Approximation method. Numerical results of the angle distribution and spatial distribution of OAM scattering Laser Radar Cross Section (LRCS) are presented, varying with different surface roughness parameters for a rough aluminum surface and the beam's parameters. The results demonstrate that the scattering of vortex beams is influenced by the beam's parameters, such as Orbital Angular Momentum (OAM) mode number and elevation angle, which may bring new insights into vortex wave-matter interactions and their applications in high resolution imaging. [ABSTRACT FROM AUTHOR]

As one of the three fastest-growing tree species in the world, eucalyptus grows rapidly, with a monthly growth rate of up to 1 m and a maximum annual growth rate of up to 10 m. Therefore, ways to accurately and quickly obtain the aboveground biomass (AGB) of eucalyptus in different growth stages at a low cost are the foundation of achieving eucalyptus growth-change monitoring and precise management. Although Light Detection and Ranging (LiDAR) can achieve high-accuracy estimations of individual eucalyptus tree biomasses, the cost of data acquisition is relatively high. While the AGB estimation accuracy of high-resolution images may be affected by a lack of forest vertical structural information, stereo images obtained using unmanned aerial vehicles (UAVs) can not only provide horizontal structural information but also vertical structural information through derived point data, demonstrating strong application potential in estimating the biomass of eucalyptus plantations. To explore the potential of UAV stereo images for estimating the AGB of individual eucalyptus trees and further investigate the impact of stereo-image-derived features on the construction of biomass models, in this study, UAVs equipped with consumer-grade cameras were used to obtain multitemporal stereo images. Different features, such as spectral features, texture, tree height, and crown area, were extracted to estimate the AGB of individual eucalyptus trees of five different ages with three algorithms. The different features extracted based on the UAV images had different effects on estimating AGB in individual eucalyptus trees. By estimating eucalyptus AGB using only spectrum features, we found that tree height had the greatest impact, with its R2 value increasing by 0.28, followed by forest age. Other features, such as spectrum, texture, and crown area, had relatively small effects. For the three algorithms, the estimation accuracy of the CatBoost algorithm was the highest, with an R2 ranging from 0.65 to 0.90, and the normalized root-mean-square error (NRMSE) ranged from 0.08 to 0.15. This was followed by the random forest algorithm. The ridge regression algorithm had the lowest accuracy, with an R2 ranging from 0.34 to 0.82 and an NRMSE value ranging from 0.11 to 0.21. The AGB model that we established with forest age, TH, crown area, and HOM-B feature variables using the CatBoost algorithm had the best estimation accuracy, with an R2 of 0.90 and an NRMSE of 0.08. The results indicated that accurately estimating the AGB of individual eucalyptus trees can be achieved based on stereo images obtained using UAVs equipped with affordable, consumer-grade cameras. This paper can provide methodological references and technical support for estimating forest biomass, carbon storage, and other structural parameters based on UAV images. [ABSTRACT FROM AUTHOR]

The accurate attitude estimation of target ships plays a vital role in ensuring the safety of marine transportation, especially for tugs. A Light Detection and Ranging (LiDAR) system can generate 3D point clouds to describe the target ship's geometric features that possess attitude information. In this work, the authors put forward a new attitude-estimation framework that first extracts the geometric features (i.e., the board-side plane of a ship) using point clouds from shipborne LiDAR and then computes the attitude that is of interest (i.e., yaw and roll in this paper). To extract the board-side plane accurately on a moving ship with sparse point clouds, an improved Random Sample Consensus (RANSAC) algorithm with a pre-processing normal vector-based filter was designed to exclude noise points. A real water-pool experiment and two numerical tests were carried out to demonstrate the accuracy and general applicability of the attitude estimation of target ships brought by the improved RANSAC and estimation framework. The experimental results show that the average mean absolute errors of the angle and angular-rate estimation are 0.4879 deg and 4.2197 deg/s, respectively, which are 92.93% and 75.36% more accurate than the estimation based on standard RANSAC. [ABSTRACT FROM AUTHOR]

In recent years, a steady increase in maritime business and annual container throughput has been recorded. To meet this growing demand, terminal operators worldwide are turning to automated container handling. For the automated operation of a crane, a reliable capture of the environment is required. In current state-of-the-art applications this is mostly achieved with light detection and ranging (LiDAR) sensors. These sensors enable precise three-dimensional sampling of the surroundings, even at great distances. However, the use of LiDAR sensors has a number of disadvantages, such as high acquisition costs and limited mounting positions. This raises the question of whether the LiDAR systems of automated container terminals (ACT) can be replaced with cameras. However, this transformation is not easy to accomplish and is explored in more depth in this paper. The field of camera-based container automation presented in this publication is largely unexplored. To the best of our knowledge, there is currently no automated container terminal in real-world operation that exclusively uses cameras. This publication aims to create a basis for further scientific research towards the goal of a fully camera-based container automation. Therefore, the authors present a narrative review providing a broad overview of the mentioned transformation, identifying research gaps, and suggesting areas for future research. In order to achieve this, this publication examines the fundamentals of an automated container terminal, the existing automation solutions and sensor technologies, as well as the opportunities and challenges of a transformation from LiDAR to camera. [ABSTRACT FROM AUTHOR]

Light Detection and Ranging (LiDAR) technology is positioning itself as one of the most effective non-destructive methods to collect accurate information on ground crop fields, as the analysis of the three-dimensional models that can be generated with it allows for quickly measuring several key parameters (such as yield estimations, aboveground biomass, vegetation indexes estimation, perform plant phenotyping, and automatic control of agriculture robots or machinery, among others). In this survey, we systematically analyze 53 research papers published between 2005 and 2022 that involve significant use of the LiDAR technology applied to the three-dimensional analysis of ground crops. Different dimensions are identified for classifying the surveyed papers (including application areas, crop species under study, LiDAR scanner technologies, mounting platform technologies, and the use of additional instrumentation and software tools). From our survey, we draw relevant conclusions about the use of LiDAR technologies, such as identifying a hierarchy of different scanning platforms and their frequency of use as well as establishing the trade-off between the economic costs of deploying LiDAR and the agronomically relevant information that effectively can be acquired. We also conclude that none of the approaches under analysis tackles the problem associated with working with multiple species with the same setup and configuration, which shows the need for instrument calibration and algorithmic fine tuning for an effective application of this technology. [ABSTRACT FROM AUTHOR]

Potato holds significant importance as a staple food crop worldwide, particularly in addressing the needs of a growing population. Accurate estimation of the potato Leaf Area Index (LAI) plays a crucial role in predicting crop yield and facilitating precise management practices. Leveraging the capabilities of UAV platforms, we harnessed their efficiency in capturing multi-source, high-resolution remote sensing data. Our study focused on estimating potato LAI utilizing UAV-based digital red–green–blue (RGB) images, Light Detection and Ranging (LiDAR) points, and hyperspectral images (HSI). From these data sources, we computed four sets of indices and employed them as inputs for four different machine-learning regression models: Support Vector Regression (SVR), Random Forest Regression (RFR), Histogram-based Gradient Boosting Regression Tree (HGBR), and Partial Least-Squares Regression (PLSR). We assessed the accuracy of individual features as well as various combinations of feature levels. Among the three sensors, HSI exhibited the most promising results due to its rich spectral information, surpassing the performance of LiDAR and RGB. Notably, the fusion of multiple features outperformed any single component, with the combination of all features of all sensors achieving the highest R2 value of 0.782. HSI, especially when utilized in calculating vegetation indices, emerged as the most critical feature in the combination experiments. LiDAR played a relatively smaller role in potato LAI estimation compared to HSI and RGB. Additionally, we discovered that the RFR excelled at effectively integrating features. [ABSTRACT FROM AUTHOR]

Optimizing the spatial structure of forests is important for improving the quality of forest ecosystems. Light detection and ranging (LiDAR) could accurately extract forest spatial structural parameters, which has significant advantages in spatial optimization and resource monitoring. In this study, we used unmanned aerial vehicle LiDAR (UAV-LiDAR) and backpack-LiDAR to acquire point cloud data of Metasequoia plantation forests from different perspectives. Then the parameters, such as diameter at breast height and tree height, were extracted based on the point cloud data, while the accuracy was verified using ground-truth data. Finally, a single-tree-level thinning tool was developed to optimize the spatial structure of the stand based on multi-objective planning and the Monte Carlo algorithm. The results of the study showed that the accuracy of LiDAR-based extraction was (R2 = 0.96, RMSE = 3.09 cm) for diameter at breast height, and the accuracy of R2 and RMSE for tree height extraction were 0.85 and 0.92 m, respectively. Thinning improved stand objective function value Q by 25.40%, with the most significant improvement in competition index CI and openness K of 17.65% and 22.22%, respectively, compared to the pre-optimization period. The direct effects of each spatial structure parameter on the objective function values were ranked as follows: openness K (1.18) > aggregation index R (0.67) > competition index CI (0.42) > diameter at breast height size ratio U (0.06). Additionally, the indirect effects were ranked as follows: aggregation index R (0.86) > diameter at breast height size ratio U (0.48) > competition index CI (0.33). The study realized the optimization of stand spatial structure based on double LiDAR data, providing a new reference for forest management and structure optimization. [ABSTRACT FROM AUTHOR]

Femtosecond laser-induced fluorescence (FLIF) and femtosecond laser-induced optical breakdown spectroscopy (FIBS) are important tools for remote diagnostics of atmospheric aerosols using LiDAR (Light Identification Detection and Ranging) technology. They are based on light emission excitation in disperse media via multiphoton nonlinear processes in aerosol particles induced by high-power optical pulses. To date, the main challenge restraining the large-scale application of FLIF and FIBS in atmospheric studies is the lack of a valued theory of the stimulated light emission in liquid microparticles with a sufficiently broad range of sizes. In this paper, we fill this gap and present a theoretical model of dye water droplet emission under high intensity laser exposure that adequately simulates the processes of multiphoton excited fluorescence and optical breakdown plasma emission in microparticles and gives quantitative estimates of the angular and power characteristics of nonlinear emission. The model is based on the numerical solution to the inhomogeneous Helmholtz equations for stimulating (primary) and nonlinear (secondary) waves provided by the random nature of molecule emission in particles. We show that droplet fluorescence stimulated by multiphoton absorption generally becomes more intense with increasing particle size. Moreover, far-field plasma emission from liquid particles demonstrates a larger angular diversity when changing the droplet radius in comparison with multiphoton excited fluorescence, which is mainly due to the excitation of the internal optical field resonances in spherical particles. [ABSTRACT FROM AUTHOR]

The increasing interest in digital twin technology, the digitalization of worn-out social overhead capital (SOC), and disaster management services has augmented the usage of 3D spatial models and information to manage infrastructure. In this study, a digital twin of a subterranean utility tunnel was created, and spatial objects were identified using inbuilt image sensors. The novelty lies in the development of a unique algorithm that breaks down the structure of the utility tunnel into points, lines, and planes, identifying objects using a multimodal image sensor that incorporates light detection and ranging (LiDAR) technology. The three main conclusions of this study are the following: First, a digital twin of the utility tunnel was constructed using building information modeling integrated with a geographic information system (BIM-GIS). Second, a method for extracting spatial objects was defined. Third, image-sensor-based segmentation and a random sample consensus (RANSAC) were applied. In this process, the supplementary algorithm for extracting and updating 3D spatial objects was analyzed and improved. The developed algorithm was tested using point cloud data, showing easier object classification with more precise LiDAR data. [ABSTRACT FROM AUTHOR]

Light detection and ranging (LiDAR) technology, a cutting-edge advancement in mobile applications, presents a myriad of compelling use cases, including enhancing low-light photography, capturing and sharing 3D images of fascinating objects, and elevating the overall augmented reality (AR) experience. However, its widespread adoption has been hindered by the prohibitive costs and substantial power consumption associated with its implementation in mobile devices. To surmount these obstacles, this paper proposes a low-power, low-cost, single-photon avalanche detector (SPAD)-based system-on-chip (SoC) which packages the microlens arrays (MLAs) and a lightweight RGB-guided sparse depth imaging completion neural network for 3D LiDAR imaging. The proposed SoC integrates an 8 × 8 SPAD macropixel array with time-to-digital converters (TDCs) and a charge pump, fabricated using a 180 nm bipolar-CMOS-DMOS (BCD) process. Initially, the primary function of this SoC was limited to serving as a ranging sensor. A random MLA-based homogenizing diffuser efficiently transforms Gaussian beams into flat-topped beams with a 45° field of view (FOV), enabling flash projection at the transmitter. To further enhance resolution and broaden application possibilities, a lightweight neural network employing RGB-guided sparse depth complementation is proposed, enabling a substantial expansion of image resolution from 8 × 8 to quarter video graphics array level (QVGA; 256 × 256). Experimental results demonstrate the effectiveness and stability of the hardware encompassing the SoC and optical system, as well as the lightweight features and accuracy of the algorithmic neural network. The state-of-the-art SoC-neural network solution offers a promising and inspiring foundation for developing consumer-level 3D imaging applications on mobile devices. [ABSTRACT FROM AUTHOR]

In this work, we introduce a novel approach to model the rain and fog effect on the light detection and ranging (LiDAR) sensor performance for the simulation-based testing of LiDAR systems. The proposed methodology allows for the simulation of the rain and fog effect using the rigorous applications of the Mie scattering theory on the time domain for transient and point cloud levels for spatial analyses. The time domain analysis permits us to benchmark the virtual LiDAR signal attenuation and signal-to-noise ratio (SNR) caused by rain and fog droplets. In addition, the detection rate (DR), false detection rate (FDR), and distance error  d e r r o r  of the virtual LiDAR sensor due to rain and fog droplets are evaluated on the point cloud level. The mean absolute percentage error (MAPE) is used to quantify the simulation and real measurement results on the time domain and point cloud levels for the rain and fog droplets. The results of the simulation and real measurements match well on the time domain and point cloud levels if the simulated and real rain distributions are the same. The real and virtual LiDAR sensor performance degrades more under the influence of fog droplets than in rain. [ABSTRACT FROM AUTHOR]

The mining rope shovel (MRS) is one of the core pieces of equipment for open-pit mining, and is currently moving towards intelligent and unmanned transformation, replacing traditional manual operations with intelligent mining. Aiming at the demand for online planning of an intelligent shovel excavation trajectory, an MRS excavating trajectory planning method based on material surface perception is proposed here. First, point cloud data of the material stacking surface are obtained through laser radar to perceive the excavation environment and these point cloud data are horizontally calibrated and filtered to reconstruct the surface morphology of the material surface to provide a material surface model for calculation of the mining volume in the subsequent trajectory planning. Second, kinematics and dynamics analysis of the MRS excavation device are carried out using the Product of Exponentials (PoE) and Lagrange equation, providing a theoretical basis for calculating the excavation energy consumption in trajectory planning. Then, the trajectory model of the bucket tooth tip is established by the method of sixth-order polynomial interpolation. The unit mass excavation energy consumption and unit mass excavation time are taken as the objective function, and the motor performance and the geometric size of the MRS are taken as constraints. The grey wolf optimizer is used for iterative optimization to realize efficient and energy-saving excavation trajectory planning of the MRS. Finally, trajectory planning is carried out for material surfaces with four different shapes (typical, convex, concave, and convex–concave). The results of experimental validation show that the actual hoist and crowd forces are essentially consistent with the planned hoist and crowd forces in terms of the peak value and trend variations, verifying the accuracy of the calculation model and confirming that the full bucket rate and various parameters meet the constraints. Therefore, the trajectory planning method based on material surface perception are feasible for application to different excavation conditions. [ABSTRACT FROM AUTHOR]

Photon-counting light detection and ranging (LiDAR) emits and receives weak photon signals, which are easily mixed with background noise caused by the sun, the atmosphere, etc., and is thus difficult to distinguish. Therefore, point-cloud denoising is a key step in point-cloud data processing of photon-counting LiDAR. To explore the adaptability of different denoising algorithms for photon-counting LiDAR data in different times and spaces, in this paper, NASA's official differential, regressive and Gaussian adaptive nearest neighbor (DRAGANN) algorithm; Herzfeld's radial basis function (RBF) denoising algorithm; and the density-based spatial clustering of applications with noise (DBSCAN) algorithm based on density clustering are used to denoise the ICESat-2 ATL03 photon point-cloud data. Airborne LiDAR data are used to verify the denoising accuracy, and then the adaptability of the three algorithms is discussed. The results show that the DRAGANN algorithm is suitable for data with moderate Fraction Vegetation Coverage (FVC) (45–75%) at night and is less affected by slope; therefore, it is not limited to terrain slope. The denoising accuracy of the RBF algorithm decreases with increasing FVC and decreases with increasing slope. It is suitable for data with low terrain slope (0~55°) and low FVC (0~220°), which is less affected by observation time; therefore, it is suitable for all-day data. The DBSCAN algorithm is suitable for data with moderate FVC (45~75%) at night, regardless of terrain slope. Unlike the DRAGANN algorithm, the DBSCAN algorithm is greatly affected by solar noise photons, but at night, its denoising accuracy is higher than that of the DRAGANN algorithm. The research results have certain reference significance for the subsequent processing and application of ICESat-2 data. [ABSTRACT FROM AUTHOR]

Moving on paths or trails present in natural environments makes autonomous navigation of unmanned ground vehicles (UGV) simpler and safer. In this sense, aerial photographs provide a lot of information of wide areas that can be employed to detect paths for UGV usage. This paper proposes the extraction of paths from a geo-referenced satellite image centered at the current UGV position. Its pixels are individually classified as being part of a path or not using a convolutional neural network (CNN) which has been trained using synthetic data. Then, successive distant waypoints inside the detected paths are generated to achieve a given goal. This processing has been successfully tested on the Andabata mobile robot, which follows the list of waypoints in a reactive way based on a three-dimensional (3D) light detection and ranging (LiDAR) sensor. [ABSTRACT FROM AUTHOR]

The Micro-Electro-Mechanical-System (MEMS) micromirror has shown great advantages in Light Detection and Ranging (LiDAR) for autonomous vehicles. The equipment on vehicles is usually exposed to environmental vibration that may degrade or even destroy the flexure of the micromirror for its delicate structure. In this work, a mechanical low-pass filter (LPF) acting as a vibration isolator for a micromirror is proposed. The research starts with the evaluation of vibration influences on the micromirror by theoretical calculation and simulation. The results illustrate that mechanical load concentrates at the slow flexure of the micromirror as it is excited to resonate in second-order mode (named piston mode) in Z-direction vibration. A specific LPF for the micromirror is designed to attenuate the response to high-frequency vibration, especially around piston mode. The material of the LPF is a beryllium-copper alloy, chosen for its outstanding properties of elasticity, ductility, and fatigue resistance. To measure the mechanical load on the micromirror in practical, the on-chip piezoresistive sensor is utilized and a relevant test setup is built to validate the effect of the LPF. Micromirrors with or without the LPF are both tested under 10 g vibration in the Z-direction. The sensor output of the device with the LPF is 35.9 mV in piston mode, while the device without the LPF is 70.42 mV. The attenuation ratio is 0.51. This result demonstrates that the LPF structure can effectively reduce the stress caused by piston mode vibration. [ABSTRACT FROM AUTHOR]

Rice-fallow areas have significant potential to sustainably increase agricultural intensification to address growing global food demands while simultaneously increasing farmers' income by harnessing the residual soil moisture in rainfed ecologies. Assam is the largest rice-growing belt in northeast India during kharif; however, for the next rabi season, an average of 58% of the rice areas remain uncultivated and are described as rice-fallow (Kharif, rabi and zaid are the crop seasons in the study area. The kharif season refers to the monsoon/rainy season and corresponds to the major crop season in the region extending from June to October. The rabi season refers to the winter season extending from November to April, and the zaid season is the summer crop season from April to June). Unutilized rice-fallow areas with optimum soil moisture for a second crop were identified over three consecutive years using multiple satellite data (optical and radar) for the state of Assam and an average accuracy of 92.6%. The reasons governing the existence of rice-fallow areas were analyzed, and an average of 0.88 million ha of suitable rice-fallow areas, based on soil moisture availability, were identified. Targeted interventions were carried out in selected locations to demonstrate the potential of sustainable cropping intensification. Maize, with best management practices, and a yield between 5.5 and 6 t/ha, was demonstrated as a successful second crop during the rabi season in selected areas with optimum residual soil moisture after the kharif paddy harvest. This study highlights the significance of geospatial technology to effectively identify and target suitable rice-fallow areas for cropping intensification and to enhance productivity and profitability. [ABSTRACT FROM AUTHOR]

Accurately predicting soil respiration (Rs) has received considerable attention recently due to its importance as a significant carbon flux back to the atmosphere. Even small changes in Rs can have a significant impact on the net ecosystem productivity of forests. Variations in Rs have been related to both spatial and temporal variation due to changes in both abiotic and biotic factors. This study focused on soil temperature and moisture and changes in the species composition of the overstory and understory and how these variables impact Rs. Sample plots consisted of four vegetation types: eastern hemlock (Tsuga canadensis L. Carriere)-dominated overstory, mountain laurel (Kalmia latifolia L.)-dominated understory, hardwood-dominated overstory, and cinnamon fern (Osmundastrum cinnamomeum (L.) C. Presl)-dominated understory, with four replications of each. Remotely sensed data collected for each plot, light detection and ranging, and hyperspectral data, were compiled from the National Ecological Observatory Network (NEON) to determine if they could improve predictions of Rs. Soil temperature and soil moisture explained 82% of the variation in Rs. There were no statistically significant differences between the average annual Rs rates among the vegetation types. However, when looking at monthly Rs, cinnamon fern plots had statistically higher rates in the summer when it was abundant and hemlock had significantly higher rates in the dormant months. At the same soil temperature, the vegetation types' Rs rates were not statistically different. However, the cinnamon fern plots showed the most sensitivity to soil moisture changes and were the wettest sites. Normalized Difference Lignin Index (NDLI) was the only vegetation index (VI) to vary between the vegetation types. It also correlated with Rs for the months of August and September. Photochemical reflectance index (PRI), normalized difference vegetation index (NDVI), and normalized difference nitrogen index (NDNI) also correlated with September's Rs. In the future, further research into the accuracy and the spatial scale of VIs could provide us with more information on the capability of VIs to estimate Rs at these fine scales. The differences we found in monthly Rs rates among the vegetation types might have been driven by varying litter quality and quantity, litter decomposition rates, and root respiration rates. Future efforts to understand carbon dynamics on a broader scale should consider the temporal and finer-scale differences we observed. [ABSTRACT FROM AUTHOR]

This paper presents a comprehensive forest mapping system using a customized drone payload equipped with Light Detection and Ranging (LiDAR), cameras, a Global Navigation Satellite System (GNSS), and Inertial Measurement Unit (IMU) sensors. The goal is to develop an efficient solution for collecting accurate forest data in dynamic environments and to highlight potential wildfire regions of interest to support precise forest management and conservation on the ground. Our paper provides a detailed description of the hardware and software components of the system, covering sensor synchronization, data acquisition, and processing. The overall system implements simultaneous localization and mapping (SLAM) techniques, particularly Fast LiDAR Inertial Odometry with Scan Context (FASTLIO-SC), and LiDAR Inertial Odometry Smoothing and Mapping (LIOSAM), for accurate odometry estimation and map generation. We also integrate a fuel mapping representation based on one of the models, used by the United States Secretary of Agriculture (USDA) to classify fire behavior, into the system using semantic segmentation, LiDAR camera registration, and odometry as inputs. Real-time representation of fuel properties is achieved through a lightweight map data structure at 4 Hz. The research results demonstrate the effectiveness and reliability of the proposed system and show that it can provide accurate forest data collection, accurate pose estimation, and comprehensive fuel mapping with precision values for the main segmented classes above 85%. Qualitative evaluations suggest the system's capabilities and highlight its potential to improve forest management and conservation efforts. In summary, this study presents a versatile forest mapping system that provides accurate forest data for effective management. [ABSTRACT FROM AUTHOR]

Accurately estimating aboveground biomass (AGB) is crucial for assessing carbon storage in forest ecosystems. However, traditional field survey methods are time-consuming, and vegetation indices based on optical remote sensing are prone to saturation effects, potentially underestimating AGB in subtropical forests. To overcome these limitations, we propose an improved approach that combines three-dimensional (3D) forest structure data collected using unmanned aerial vehicle light detection and ranging (UAV LiDAR) technology with ground measurements to apply a binary allometric growth equation for estimating and mapping the spatial distribution of AGB in subtropical forests of China. Additionally, we analyze the influence of terrain factors such as elevation and slope on the distribution of forest biomass. Our results demonstrate a high accuracy in estimating tree height and diameter at breast height (DBH) using LiDAR data, with an R2 of 0.89 for tree height and 0.92 for DBH. In the study area, AGB ranges from 0.22 to 755.19 t/ha, with an average of 121.28 t/ha. High AGB values are mainly distributed in the western and central-southern parts of the study area, while low AGB values are concentrated in the northern and northeastern regions. Furthermore, we observe that AGB in the study area exhibits an increasing trend with altitude, reaching its peak at approximately 1650 m, followed by a gradual decline with further increase in altitude. Forest AGB gradually increases with slope, reaching its peak near 30°. However, AGB decreases within the 30–80° range as the slope increases. This study confirms the effectiveness of using UAV LiDAR for estimating and mapping the spatial distribution of AGB in complex terrains. This method can be widely applied in productivity, carbon sequestration, and biodiversity studies of subtropical forests. [ABSTRACT FROM AUTHOR]

Ground filtering is an essential step in airborne light detection and ranging (LiDAR) data processing in various applications. The cloth simulation filtering (CSF) algorithm has gained popularity because of its ease of use advantage. However, CSF has limitations in topographically and environmentally complex areas. Therefore, an improved CSF (ICSF) algorithm was developed in this study. ICSF uses morphological closing operations to initialize the cloth, and estimates the cloth rigidness for providing a more accurate reference terrain in various terrain characteristics. Moreover, terrain-adaptive height difference thresholds are developed for better filtering of airborne LiDAR point clouds. The performance of ICSF was assessed using International Society for Photogrammetry and Remote Sensing urban and rural samples and Open Topography forested samples. Results showed that ICSF can improve the filtering accuracy of CSF in the samples with various terrain and non-ground object characteristics, while maintaining the ease of use advantage of CSF. In urban and rural samples, ICSF obtained an average total error of 4.03% and outperformed another eight reference algorithms in terms of accuracy and robustness. In forested samples, ICSF produced more accuracy than the well-known filtering algorithms (including the maximum slope, progressive morphology, and cloth simulation filtering algorithms), and performed better with respect to the preservation of steep slopes and discontinuities and vegetation removal. Thus, the proposed algorithm can be used as an efficient tool for LiDAR data processing. [ABSTRACT FROM AUTHOR]

A low-cost light detection and ranging (LiDAR) device has several advantages including being able to perform a wide range of angle measurements, less privacy concerns, and robustness to illumination variance owing to its use of infrared (IR) light. In this study, to enhance the visitor experience at a science museum, three case studies using low-cost LiDAR sensors are presented: (1) an interactive floor projection to learn about the phases of the Moon; (2) an information kiosk with touchless interaction and visitor tracking; and (3) a visitor tracking box with horizontal and vertical scanning. The proposed kiosk system uses a mirror to reflect a portion of the scanning plane of the LiDAR sensor, to allow the capture of touchless interactions, track visitor positions, and count the number of nearby visitors. The visitor tracking box also uses two detection planes reflected by a mirror: the vertical plane is for counting visitors crossing the scanning plane and the horizontal plane is for tracking visitor positions to generate the corresponding heat maps for the visualization of museum hotspots. A series of evaluation experiments were conducted at a science museum, whereby an accuracy of 85% was obtained to estimate the number of visitors, with an accuracy increasing in counting people taller than 140 cm. The interactive floor received a visitor rating of 4.3–4.4 on a scale of 1–5. [ABSTRACT FROM AUTHOR]

Research on the inversion of forest aboveground biomass based on airborne light detection and ranging (LiDAR) data focuses on finding the relationship between the two, such as established linear or nonlinear models. However, these models may have poorer estimation accuracy for tree-components biomass and cannot guarantee the additivity of each component. Therefore, we aimed to develop an error-in-variable biomass model system that ensures both the compatibility of the individual tree component biomass with the diameter at breast height and the additivity of component biomass. The system we developed used the airborne LiDAR data and field-measured data of principis-rupprechtii (Larix gmelinii var.) trees, collected from north China. Our model system not only ensured the additivity of nonlinear biomass models, it also accounted for the impact of measurement errors. We first selected the airborne LiDAR-derived variable with the highest contribution to the biomass of each component and then developed an inversion model system with that variable as an independent variable and with the biomass of each component as the dependent variable using allometric functions. Moreover, two model estimation methods, two-stage error (TSEM) and nonlinear seemingly unrelated regression (NSUR) with one-step, two-step, and summation methods, were also applied, and their performances were compared. The results showed that both NSUR-one-step and TSEM-one-step led to similar parameter estimates and performance for a system, and the fitting accuracy of a model system was not very attractive. The variance function included in a model system reduced the heteroscedasticity effectively and improved the model accuracy. Overall, this study successfully combined the error-in-variable modeling with the airborne LiDAR data, proposed methods that can be used for the extension of component biomass from an individual tree to a stand and that might improve the estimation accuracy of carbon storage. A compatible model system can be further improved if various sources of error in the variables are identified, and their impacts on the system are effectively accounted for. [ABSTRACT FROM AUTHOR]

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

The prediction of crop yield plays a crucial role in national economic development, encompassing grain storage, processing, and grain price trends. Employing multiple sensors to acquire remote sensing data and utilizing machine learning algorithms can enable accurate, fast, and nondestructive yield prediction for maize crops. However, current research heavily relies on single-type remote sensing data and traditional machine learning methods, resulting in the limited robustness of yield prediction models. To address these limitations, this study introduces a field-scale maize yield prediction model named the convolutional neural network–attention–long short-term memory network (CNN-attention-LSTM) model, which utilizes multimodal remote sensing data collected by multispectral and light detection and ranging (LIDAR) sensors mounted on unmanned aerial vehicles (UAVs). The model incorporates meteorological data throughout the crop reproductive stages and employs the normalized difference vegetation index (NDVI), normalized difference red edge (NDRE), soil-adjusted vegetation index (SAVI), and enhanced vegetation index (EVI) for the initial part of the vegetative stage (initial part of the V period), the later part of the vegetative stage (later part of the V period), the reproductive stage (R period), and the maturity stage (M period), along with LIDAR data for Point75–100 in the later part of the V period, Point80–100 in the R period, and Point50–100 in the M period, complemented by corresponding meteorological data as inputs. The resulting yield estimation demonstrates exceptional performance, with an R2 value of 0.78 and an rRMSE of 8.27%. These results surpass previous research and validate the effectiveness of multimodal data in enhancing yield prediction models. Furthermore, to assess the superiority of the proposed model, four machine learning algorithms—multiple linear regression (MLR), random forest regression (RF), support vector machine (SVM), and backpropagation (BP)—are compared to the CNN-attention-LSTM model through experimental analysis. The outcomes indicate that all alternative models exhibit inferior prediction accuracy compared to the CNN-attention-LSTM model. Across the test dataset within the study area, the R2 values for various nitrogen fertilizer levels consistently exceed 0.75, illustrating the robustness of the proposed model. This study introduces a novel approach for assessing maize crop yield and provides valuable insights for estimating the yield of other crops. [ABSTRACT FROM AUTHOR]

Drone surveys are gaining popularity for many construction applications, including in the fields of civil engineering, such as road construction, earthwork, structure monitoring, and coastal topography analysis. Drone surveying has a high potential for periodical long-term ground settlement measurement in the field of geotechnical engineering. Traditionally, manual measurement has been performed for limited points with controlled surface measurement points, but drone surveying may enable automated and periodical measurement for a wide and remote site. However, the accuracy of the elevation measurement and the surface settlement prediction has not been investigated, and the use of drone surveying has thus been limited. Therefore, an experiment was carried out to apply drone LiDAR (Light Detection and Ranging) surveying for soft ground settlement measurement at a large land reclamation site showing a very large settlement up to 10 m. Periodic drone LiDAR surveying was conducted, and the data were processed with direct georeferencing and with outlier removals (such as trees and construction vehicles) in order to generate a clean surface point cloud. We then compared the processed elevation data with ground control data to check the vertical accuracy and to predict the settlement as well as for consolidation. The drone LiDAR survey showed 13 cm, 42.9 cm, and 6.23% differences in RMSE (Root Mean Square Error) in terms of vertical accuracy, predicted long-term settlement, and consolidation, respectively. The drone LiDAR accuracy seems very useful for monitoring settlement over a large and remote land reclamation site of soft ground, showing settlement up to several meters where, without a surface measurement, installment is limited. [ABSTRACT FROM AUTHOR]

Pavement roughness serves as a crucial indicator for evaluating road performance. However, traditional measurement methods, such as laser detection vehicles, are limited to providing roughness values for a single profile, failing to capture the overall pavement condition comprehensively. To address this limitation, this study utilized high-precision light detection and ranging technology (LiDAR) to acquire three-dimensional point cloud data for a 25 km road section in Shanghai. Road elevations were extracted from different lateral survey lines. Subsequently, variance analysis and the Kruskal–Wallis non-parametric test were conducted to evaluate the differences in the lateral distribution and longitudinal variability of the pavement roughness. The findings revealed significant differences in the international roughness index (IRI) among the survey lines within the road section. Moreover, the observed variations in the lateral distribution of pavement roughness were influenced by the characteristics of the road section itself. Roads exhibiting discrete roughness patterns displayed a higher likelihood of significant detection disparities. Additionally, it was discovered that the discrepancy between the detection length and the actual road length introduced volatility in repeated detection results, necessitating a limitation of this discrepancy to 30 m. Consequently, it has been recommended to consider the lateral distribution of pavement roughness and to regulate the detection length in road performance evaluations to enhance reliability and facilitate more accurate maintenance decision making. The study highlights the importance of incorporating comprehensive assessment approaches for pavement roughness in road management practices. [ABSTRACT FROM AUTHOR]

Flooding in urban streams can occur suddenly and cause major environmental and infrastructure destruction. Due to the high amounts of impervious surfaces in urban watersheds, runoff from precipitation events can cause a rapid increase in stream water levels, leading to flooding. With increasing urbanization, it is critical to understand how urban stream channels will respond to precipitation events to prevent catastrophic flooding. This study uses the Prophet time series machine learning algorithm to forecast hourly changes in water level in an urban stream, Hunnicutt Creek, Clemson, South Carolina (SC), USA. Machine learning was highly accurate in predicting changes in water level for five locations along the stream with R2 values greater than 0.9. Yet, it can be challenging to understand how these water level prediction values will translate to water volume in the stream channel. Therefore, this study collected terrestrial Light Detection and Ranging (LiDAR) data for Hunnicutt Creek to model these areas in 3D to illustrate how the predicted changes in water levels correspond to changes in water levels in the stream channel. The predicted water levels were also used to calculate upstream flood volumes to provide further context for how small changes in the water level correspond to changes in the stream channel. Overall, the methodology determined that the areas of Hunnicutt Creek with more urban impacts experience larger rises in stream levels and greater volumes of upstream water during storm events. Together, this innovative methodology combining machine learning, terrestrial LiDAR, 3D modeling, and volume calculations provides new techniques to understand flood-prone areas in urban stream environments. [ABSTRACT FROM AUTHOR]

Autonomous vehicles (AVs) rely on advanced sensory systems, such as Light Detection and Ranging (LiDAR), to function seamlessly in intricate and dynamic environments. LiDAR produces highly accurate 3D point clouds, which are vital for the detection, classification, and tracking of multiple targets. A systematic review and classification of various clustering and Multi-Target Tracking (MTT) techniques are necessary due to the inherent challenges posed by LiDAR data, such as density, noise, and varying sampling rates. As part of this study, the Preferred Reporting Items for Systematic Reviews and Meta-Analyses (PRISMA) methodology was employed to examine the challenges and advancements in MTT techniques and clustering for LiDAR point clouds within the context of autonomous driving. Searches were conducted in major databases such as IEEE Xplore, ScienceDirect, SpringerLink, ACM Digital Library, and Google Scholar, utilizing customized search strategies. We identified and critically reviewed 76 relevant studies based on rigorous screening and evaluation processes, assessing their methodological quality, data handling adequacy, and reporting compliance. As a result of this comprehensive review and classification, we were able to provide a detailed overview of current challenges, research gaps, and advancements in clustering and MTT techniques for LiDAR point clouds, thus contributing to the field of autonomous driving. Researchers and practitioners working in the field of autonomous driving will benefit from this study, which was characterized by transparency and reproducibility on a systematic basis. [ABSTRACT FROM AUTHOR]

This study proposes a novel hybrid simulation technique for analyzing structural deformation and stress using light detection and ranging (LiDAR)-scanned point cloud data (PCD) and polynomial regression processing. The method estimates the edge and corner points of the deformed structure from the PCD. It transforms into a Dirichlet boundary condition for the numerical simulation using the particle difference method (PDM), which utilizes nodes only based on the strong formulation, and it is advantageous for handling essential boundaries and nodal rearrangement, including node generation and deletion between analysis steps. Unlike previous studies, which relied on digital images with attached targets, this research uses PCD acquired through LiDAR scanning during the loading process without any target. Essential boundary condition implementation naturally builds a boundary value problem for the PDM simulation. The developed hybrid simulation technique was validated through an elastic beam problem and a three-point bending test on a rubber beam. The results were compared with those of ANSYS analysis, showing that the technique accurately approximates the deformed edge shape leading to accurate stress calculations. The accuracy improved when using a linear strain model and increasing the number of PDM model nodes. Additionally, the error that occurred during PCD processing and edge point extraction was affected by the order of polynomial regression equation. The simulation technique offers advantages in cases where linking numerical analysis with digital images is challenging and when direct mechanical gauge measurement is difficult. In addition, it has potential applications in structural health monitoring and smart construction involving machine leading techniques. [ABSTRACT FROM AUTHOR]

Recent advancements in vehicle automation and driver-assistance systems that detect pavement markings has increased the importance of the detectability of pavement markings through various sensor modalities across weather and road conditions. Among the sensing techniques, light detection and ranging (LiDAR) sensors have become popular for vehicle-automation applications. This study used low-cost mobile multi-beam LiDAR to assess the performance of several types of pavement marking materials installed on a limited-access highway in various conditions, and quantified the degradation in detection performance over three years. Four marking materials, HPS-8, polyurea, cold plastic, and sprayable thermoplastic, were analyzed in the current study. LiDAR reflectivity data extracted from a total of 210 passes through the test sections were analyzed. A new detectability score based on LiDAR intensity data was proposed to quantify the marking detectability. The results showed that the pavement marking detectability varied across the material types over the years. The results provide guidance for selecting materials and developing maintenance schedules when marking detectability by LiDAR is a concern. [ABSTRACT FROM AUTHOR]

The Mobile Mapping System (MMS) plays a crucial role in generating accurate 3D maps for a wide range of applications. However, traditional MMS that utilizes tilted LiDAR (light detection and ranging) faces limitations in capturing comprehensive environmental data. We propose the "PVL-Cartographer" SLAM (Simultaneous Localization And Mapping) approach for MMS to address these limitations. This proposed system incorporates multiple sensors to yield dependable and precise mapping and localization. It consists of two subsystems: early fusion and intermediate fusion. In early fusion, range maps are created from LiDAR points within a panoramic image space, simplifying the integration of visual features. The SLAM system accommodates both visual features with and without augmented ranges. In intermediate fusion, camera and LiDAR nodes are merged using a pose graph, with constraints between nodes derived from IMU (Inertial Measurement Unit) data. Comprehensive testing in challenging outdoor settings demonstrates that the proposed SLAM system can generate trustworthy outcomes even in feature-scarce environments. Ultimately, our suggested PVL-Cartographer system effectively and accurately addresses the MMS localization and mapping challenge. [ABSTRACT FROM AUTHOR]

The development of autonomous navigation systems requires digital building models at the LoD3 level. Buildings with atypically shaped features, such as turrets, domes, and chimneys, should be selected as landmark objects in these systems. The aim of this study was to develop a method that automatically transforms segmented LiDAR (Light Detection And Ranging) point cloud to create such landmark building models. A detailed solution was developed for selected buildings that are solids of revolution. The algorithm relies on new methods for determining building axes and cross-sections. To handle the gaps in vertical cross-sections due to the absence of continuous measurement data, a new strategy for filling these gaps was proposed based on their automatic interpretation. In addition, potential points associated with building ornaments were used to improve the model. The results were presented in different stages of the modeling process in graphic models and in a matrix recording. Our work demonstrates that complicated buildings can be represented with a light and regular data structure. Further investigations are needed to estimate the constructed building model with vectorial models. [ABSTRACT FROM AUTHOR]

Monitoring vessel activity is an important part of managing marine protected areas (MPAs), but small-scale fishing and recreational vessels that do not participate in cooperative vessel traffic systems require additional monitoring strategies. Marine Monitor (M2) is a shore-based, multi-sensor platform that integrates commercially available hardware, primarily X-band marine radar and optical cameras, with custom software to autonomously track and report on vessel activity regardless of participation in other tracking systems. By utilizing established commercial hardware, the radar system is appropriate for supporting the management of coastal, small-scale MPAs. Data collected in the field are transferred to the cloud to provide a continuous record of activity and identify prohibited activities in real-time using behavior characteristics. To support the needs of MPA managers, both hardware and software improvements have been made over time, including ruggedizing equipment for the marine environment and powering systems in remote locations. Case studies are presented comparing data collection by both radar and the Automatic Identification System (AIS) in urban and remote locations. At the South La Jolla State Marine Reserve near San Diego, CA, USA, 93% of vessel activity (defined as the cumulative time vessels spent in the MPA) was identified exclusively by radar from November 2022 through January 2023. At the Caye Bokel Conservation Area, within the Turneffe Atoll Marine Reserve offshore of Belize, 98% was identified exclusively by radar from April through October 2022. Spatial and temporal patterns of radar-detected and AIS activity also differed at both sites. These case study site results together demonstrate the common and persistent presence of small-scale vessel activity near coastal MPAs that is not documented by cooperative systems. Therefore, an integrated radar system can be a useful tool for independent monitoring, supporting a comprehensive understanding of vessel activity in a variety of areas. [ABSTRACT FROM AUTHOR]

Mercury is a serious neurotoxic agent, and the control and monitoring of emissions are important. Optical spectroscopy is a powerful technique for measurement of mercury, which in the atmosphere predominantly appears in atomic form. The mercury resonance line close to 254 nm can be utilized in long-path absorption measurements of average concentrations or in light detection and ranging (lidar) studies, where range-resolved concentration values can be obtained. In addition, point monitors often use optical detection, frequently after pre-concentration, as well as for mercury compounds in conjunction with denuders, which transfer the compounds into atomic mercury. The present review discusses mercury measurement methods with respect to merits and sensitivity to interference. The main focus is on remote-sensing techniques, and many examples from industrial and mining monitoring are given. Further, mercury emissions related to the extraction of geothermal energy are discussed. Finally, an example from archaeology—the Qin tomb in Xi'an—is presented. Advanced measurement techniques can help in shaping an environment largely free from mercury contamination. Further, the aspect of mercury being an important geophysical tracer gas can also be exploited. [ABSTRACT FROM AUTHOR]