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The management of plantation forests using precision forestry requires advanced inventory methods. Unmanned aerial vehicle laser scanning (ULS) offers a cost-effective approach to accurately estimate forest structural attributes at both plot and individual tree levels. We examined the utility of ULS data collected from a radiata pine stand for tree detection and prediction of diameter at breast height (DBH) and stem volume, using data thinned to 13-point densities (ranging from 10–12,200 points/m2). These datasets were created using a DTM with the highest pulse density and DTMs that used the native decimated point clouds. Models of DBH were constructed using partial least squares (PLS) and random forest (RF) from seven classes of metrics that characterized the horizontal and vertical structure of the canopy. Individual tree segmentation was consistently accurate across the 13-point densities and was insensitive to DTM type (F1 scores > 0.96). Predictions of DBH using PLS models were consistently more accurate than RF models and accuracy was insensitive to the DTM type. Using data from the native DTMs, DBH estimation using PLS had the lowest RMSE of 1.624 cm (R2 of 0.756) at a point density of 12,200 points/m2. Stem volume predictions made using PLS predictions of DBH and height from the ULS had the lowest RMSE of 0.0418 m3 (R2 of 0.792) at 12,200 points/m2. The RMSE values for DBH and volume remained relatively stable from 12,200 to between 750 and 400 points/m2, with reductions in accuracy occurring as point density declined below this threshold. Overall, these findings have significant implications, particularly for the precise estimation of DBH and stem volume at the individual tree level. They demonstrate the potential of cost-effective ULS sensors for rapid and frequent plantation forest assessment, thereby enhancing the application of light detection and ranging (LiDAR) technology in plantation forest management. [ABSTRACT FROM AUTHOR]

Geolocation error in spaceborne sampling light detection and ranging (LiDAR) measurements of forest structure can compromise forest attribute estimates and degrade integration with georeferenced field measurements or other remotely sensed data. Data integration is especially problematic when geolocation error is not well quantified. We propose a general model that uses airborne laser scanning data to quantify and correct geolocation error in spaceborne sampling LiDAR. To illustrate the model, LiDAR data from NASA Goddard's LiDAR Hyperspectral and Thermal Imager (G‐LiHT) was used with a subset of LiDAR data from NASA's Global Ecosystem Dynamics Investigation (GEDI). The model accommodates multiple canopy height metrics derived from a simulated GEDI footprint kernel using spatially coincident G‐LiHT, and incorporates both additive and multiplicative mapping between the canopy height metrics generated from both datasets. A Bayesian implementation provides probabilistic uncertainty quantification in both parameter and geolocation error estimates. Results show a systematic geolocation error of 9.62 m in the southwest direction. In addition, estimated geolocation errors within GEDI footprints were highly variable, with results showing a ∼$$ \sim $$0.45 probability the true footprint center is within 20 m. Estimating and correcting geolocation error via the model outlined here can help inform subsequent efforts to integrate spaceborne LiDAR data, like GEDI, with other georeferenced data. [ABSTRACT FROM AUTHOR]

Sea level rise (SLR) is causing vegetation regime shifts on both the seaward and landward sides of many coastal ecosystems, with the eastern coast of North America experiencing accelerated impacts due to land subsidence and the weakening of the Gulf Stream. Tidal wetland ecosystems, known for their significant carbon storage capacity, are crucial but vulnerable blue carbon habitats. Recent observations suggest that SLR rates may exceed the threshold for elevation gain primarily through vertical accretion in many coastal regions. Therefore, research has focused on mapping the upslope migration of marshes into suitable adjacent lands, as this landward gain may be the most salient process for estimating future wetland resiliency to accelerated rates of SLR. However, our understanding of coastal vegetation characteristics and dynamics in response to SLR is limited due to a lack of in situ data and effective mapping strategies for delineating the boundaries, or ecotones, of these complex coastal ecosystems. In order to effectively study these transitioning ecosystems, it is necessary to employ reliable and scalable landscape metrics that can differentiate between marsh and coastal forests. As such, integrating vegetation structure metrics from light detection and ranging (lidar) could enhance traditional mapping strategies compared to using optical data alone. Here, we used terrestrial laser scanning (TLS) to measure changes in forest structure along elevation gradients that may be indicative of degradation associated with increased inundation in the Delaware Bay estuary. We analyzed a set of TLS‐derived forest structure metrics to investigate their relationships with elevation, specifically seeking those that showed consistent change from the forest edge to the interior. Our findings revealed a consistent pattern between elevation and the plant area index (PAI), a metric that holds potential for enhancing the delineation of complex coastal ecosystem boundaries, particularly in relation to landward marsh migration. This work provides support for utilizing lidar‐derived forest structural metrics to enable a more accurate assessment of future marsh landscapes and the overall coastal carbon sink under accelerated SLR conditions. [ABSTRACT FROM AUTHOR]

In this paper, an analysis of the precision of range sensors is presented. Light Detection and Ranging (LIDAR) data from three different sensors (HLS-LFCD-LDS, SICK TIM561, and Kinect V2), stereo data from the Realsense D435, and structured light data from both Kinect V1 for Xbox and the Xtion PRO Live were analyzed regarding the influence of range, incident angle to the surface, and surface material. In addition, a comparison with standard deviation models based on vendor-provided specifications was performed. We found that the vendor specifications are in general not specific enough to facilitate accurate sensor simulations. Therefore, we developed a data-driven model for range precision. Our model can be used to create realistic sensor simulations and to develop robot navigation algorithms weighing sensor range readings based on the precision. [ABSTRACT FROM AUTHOR]

Pavement markings are a key transportation asset and traffic control device that facilitate safe and predictable driving. The effectiveness of pavement markings is dependent on their condition, particularly during nighttime and adverse weather. The Federal Highway Administration (FHWA) has developed regulations to guide minimum pavement marking retroreflectivity levels, which poses a potential challenge to public agencies because the current practice of visual inspection is labor intensive and the results can be subjective. To address the identified challenges and needs of public agencies, the objective of this research is twofold: (1) to serve as a proof of concept for the use of mobile light detection and ranging (LiDAR) to locate and assess the pavement markings for selected testing sections by developing and evaluating new automated LiDAR processing algorithms, and (2) to investigate the feasibility of identifying the deterioration trend of the retroreflectivity condition. This study developed a complete pavement marking inventory with retroreflectivity conditions for the 14 selected testing sections and also compared historical and current data to inform the deterioration trends of three types of marking materials, including polyurea, epoxy, and thermoplastic. The findings of this study will guide future phases with a larger selection of testing sections, material types, and roadway characteristics. The outcomes of the series of studies will help better define the benefit-to-cost ratio for different marking materials and eventually lead to the development of public agencies' pavement marking standards. [ABSTRACT FROM AUTHOR]

Icebergs are big chunks of ice floating on the ocean surface, and melting of icebergs contributes for the major part of freshwater flux into ocean. Dynamic monitoring of the icebergs in Antarctica and accurate estimation of their volume are important for predicting the trend of freshwater budget of the Southern Ocean. The iceberg freeboard is a key parameter for measuring the thickness and volume of an iceberg and is defined as the difference between the elevation of iceberg surface and sea level. So far, freeboards of icebergs have been successfully extracted using InSAR DEM, and the laser and radar altimeter. However, uncertainties exist in these results mainly caused by missed detection of small icebergs due to the spatially sparse and temporally incomplete data coverage. In addition to the above techniques, optical images can also be used to extract the iceberg freeboard based on its geometric relationship with shadow length, which can effectively compensate for the above shortcomings. Although the feasibility has been preliminarily presented, the precision and extensive application of shadow-height method deserves further research, such as estimating the basal melting of icebergs. In this work, we tested an optical image-based freeboard extraction method over icebergs in Prydz Bay, Antarctica. A normalized shadow pixel index (NSPI) is designed to identify iceberg shadows with different shapes in HY-1C/D CZI and Sentinel-2 MSI optical images. The iceberg freeboard can be determined with an acceptable precision (2 m) in optical images compared with laser altimeter (i.e. ICESat-2) measurements. Moreover, basal melting of icebergs has been assessed according to the variation of freeboard using repeated optical observations. The results indicate that icebergs in the study area were with a mean freeboard of about 56 m in early December 2022, and experienced a decrease in freeboard of 1.9 m within two months, in correspondence with the Antarctic seasonal trend. The methodological framework, therefore, turns out to be a reliable complementary approach to studying the iceberg freeboard in polar regions. [ABSTRACT FROM AUTHOR]

This study aims to enhance the safety and efficiency of port navigation by reducing ship collision accidents, minimizing environmental risks, and optimizing waterways to increase port throughput. Initially, a three-dimensional map of the port's waterway, including data on water depth, rocks, and obstacles, is generated through laser radar scanning. Visual perception technology is adopted to process and identify the data for environmental awareness. Single Shot MultiBox Detector (SSD) is utilized to position ships and obstacles, while point cloud data create a comprehensive three-dimensional map. In order to improve the optimal navigation approach of the Rapidly-Exploring Random Tree (RRT), an artificial potential field method is employed. Additionally, the collision prediction model utilizes K-Means clustering to enhance the Faster R-CNN algorithm for predicting the paths of other ships and obstacles. The results indicate that the RRT enhanced by the artificial potential field method reduces the average path length (from 500 to 430 m), average time consumption (from 30 to 22 s), and maximum collision risk (from 15 to 8%). Moreover, the accuracy, recall rate, and F1 score of the K-Means + Faster R-CNN collision prediction model reach 92%, 88%, and 90%, respectively, outperforming other models. Overall, these findings underscore the substantial advantages of the proposed enhanced algorithm in autonomous navigation and collision prediction in port waterways. [ABSTRACT FROM AUTHOR]

Forest canopy structural complexity (CSC) plays a crucial role in shaping forest ecosystem productivity and stability, but the precise nature of their relationships remains controversial. Here, we mapped the global distribution of forest CSC and revealed the factors influencing its distribution using worldwide light detection and ranging data. We find that forest CSC predominantly demonstrates significant positive relationships with forest ecosystem productivity and stability globally, although substantial variations exist among forest ecoregions. The effects of forest CSC on productivity and stability are the balanced results of biodiversity and resource availability, providing valuable insights for comprehending forest ecosystem functions. Managed forests are found to have lower CSC but more potent enhancing effects of forest CSC on ecosystem productivity and stability than intact forests, highlighting the urgent need to integrate forest CSC into the development of forest management plans for effective climate change mitigation.. [ABSTRACT FROM AUTHOR]

In the evolving landscape of autonomous driving technology, Light Detection and Ranging (LiDAR) sensors have emerged as a pivotal instrument for enhancing environmental perception. They can offer precise, high-resolution, real-time 3D representations around a vehicle, and the ability for long-range measurements under low-light conditions. However, these advantages come at the cost of the large volume of data generated by the sensor, leading to several challenges in transmission, processing, and storage operations, which can be currently mitigated by employing data compression techniques to the point cloud. This article presents a survey of existing methods used to compress point cloud data for automotive LiDAR sensors. It presents a comprehensive taxonomy that categorizes these approaches into four main groups, comparing and discussing them across several important metrics. [ABSTRACT FROM AUTHOR]

With the emergence of autonomous functions in road vehicles, there has been increased use of Advanced Driver Assistance Systems comprising various sensors to perform automated tasks. Light Detection and Ranging (LiDAR) is one of the most important types of optical sensor, detecting the positions of obstacles by representing them as clusters of points in three-dimensional space. LiDAR performance degrades significantly when a vehicle is driving in the rain as raindrops adhere to the outer surface of the sensor assembly. Performance degradation behaviors include missing points and reduced reflectivity of the points. It was found that the extent of degradation is highly dependent on the interface material properties. This subsequently affects the shapes of the adherent droplets, causing different perturbations to the optical rays. A fundamental investigation is performed on the protective polycarbonate cover of a LiDAR assembly coated with four classes of material—hydrophilic, almost-hydrophobic, hydrophobic, and superhydrophobic. Water droplets are controllably dispensed onto the cover to quantify the signal alteration due to the different droplets of various sizes and shapes. To further understand the effects of droplet motion on LiDAR signals, sliding droplet conditions are simulated using numerical analysis. The results are validated with physical optical tests, using a 905 nm laser source and receiver to mimic the LiDAR detection mechanism. Comprehensive explanations of LiDAR performance degradation in rain are presented from both material and optical perspectives. These can aid component selection and the development of signal-enhancing strategies for the integration of LiDARs into vehicle designs to minimize the impact of rain. [ABSTRACT FROM AUTHOR]

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

Landslides, resulting from disturbances in slope equilibrium, pose a significant threat to landscapes, infrastructure, and human life. Triggered by factors such as intense precipitation, seismic activities, or volcanic eruptions, these events can cause extensive damage and endanger nearby communities. A comprehensive understanding of landslide characteristics, including spatio-temporal patterns, dimensions, and morphology, is vital for effective landslide disaster management. Existing remote sensing approaches mostly use either optical or synthetic aperture radar sensors. Integrating information from both these types of sensors promises greater accuracy for identifying and locating landslides. This study proposes a novel approach, the ML-LaDeCORsat (Machine Learning-based coseismic Landslide Detection using Combined Optical and Radar Satellite Imagery), that integrates freely available Sentinel-1, Palsar-2, and Sentinel-2 imagery data in Google Earth Engine (GEE). The approach also integrates relevant spectral indices and suitable bands used in a machine learning-based classification of coseismic landslides. The approach includes a robust and reproducible training and validation strategy and allows one to choose between five classifiers (CART, Random Forest, GTB, SVM, and Naive Bayes). Using landslides from four different earthquake case studies, we demonstrate the superiority of our approach over existing solutions in coseismic landslide identification and localization, providing a GTB-based detection accuracy of 87–92%. ML-LaDeCORsat can be adapted to other landslide events (GEE script is provided). Transfer learning experiments proved that our model can be applied to other coseismic landslide events without the need for additional training data. Our novel approach therefore facilitates quick and reliable identification of coseismic landslides, highlighting its potential to contribute towards more effective disaster management. [ABSTRACT FROM AUTHOR]

The documentation of roadway factors (such as roadway geometry, lane marking retroreflectivity/classification, and lane width) through the inventory of lane markings can reduce accidents and facilitate road safety analyses. Typically, lane marking inventory is established using either imagery or Light Detection and Ranging (LiDAR) data collected by mobile mapping systems (MMS). However, it is important to consider the strengths and weaknesses of both camera and LiDAR units when establishing lane marking inventory. Images may be susceptible to weather and lighting conditions, and lane marking might be obstructed by neighboring traffic. They also lack 3D and intensity information, although color information is available. On the other hand, LiDAR data are not affected by adverse weather and lighting conditions, and they have minimal occlusions. Moreover, LiDAR data provide 3D and intensity information. Considering the complementary characteristics of camera and LiDAR units, an image-aided LiDAR framework would be highly advantageous for lane marking inventory. In this context, an image-aided LiDAR framework means that the lane markings generated from one modality (i.e., either an image or LiDAR) are enhanced by those derived from the other one (i.e., either imagery or LiDAR). In addition, a reporting mechanism that can handle multi-modal datasets from different MMS sensors is necessary for the visualization of inventory results. This study proposes an image-aided LiDAR lane marking inventory framework that can handle up to five lanes per driving direction, as well as multiple imaging and LiDAR sensors onboard an MMS. The framework utilizes lane markings extracted from images to improve LiDAR-based extraction. Thereafter, intensity profiles and lane width estimates can be derived using the image-aided LiDAR lane markings. Finally, imagery/LiDAR data, intensity profiles, and lane width estimates can be visualized through a web portal that has been developed in this study. For the performance evaluation of the proposed framework, lane markings obtained through LiDAR-based, image-based, and image-aided LiDAR approaches are compared against manually established ones. The evaluation demonstrates that the proposed framework effectively compensates for the omission errors in the LiDAR-based extraction, as evidenced by an increase in the recall from 87.6% to 91.6%. [ABSTRACT FROM AUTHOR]

The high-precision dynamic positioning of highway vehicles is the foundation and prerequisite for achieving intelligent connected transportation. To address the shortcomings of the GNSS/INS combination and GNSS/INS/OD combination in tunnel vehicle positioning, this paper proposes a tunnel vehicle positioning method for the GNSS/INS/OD combination based on lateral distance measurements and lane constraints. Firstly, a lateral distance measurement of vehicles inside the tunnel is conducted based on laser radar point cloud data. Secondly, map matching positioning is performed based on lateral distance measurements, odometer, and lane markings. Experimental results demonstrate that, for a 4.6 km tunnel, the average absolute error in the lateral positioning is 0.294 m, and the longitudinal positioning error is no more than 0.6 m, which can effectively meet practical operational requirements. [ABSTRACT FROM AUTHOR]

Global marine gravity anomaly models are predominantly recovered from along-track radar altimeter data. While remarkable advancements has been achieved in gravity anomaly modelling, the quality of gravity anomaly model remains constrained by the absence of across-track geoid gradients and the reduction of radar altimeter data, particularly in coastal and high-latitudes regions. ICESat-2 laser altimetry operates three-pair laser beams with a small footprint and near-polar orbit, enabling the determination of across-track geoid gradients and providing more valid observations in certain regions. The ICESat-2 altimeter data processing method is presented including the determination of across-track geoid gradients and the combination of along/across-track geoid gradients. A new global marine gravity model, SDUST2022GRA, is recovered from radar and laser altimeter data using different method for determining each altimeter data error. The accuracy and spatial resolution of SDUST2022GRA is assessed by published global gravity anomaly models (DTU17, V32.1, NSOAS22) and available shipborne gravity measurements. The accuracy of SDUST2022GRA is 4.43 mGal on a global scale, which is at least 0.22 mGal better than that of others models. Moreover, in local coastal and high-latitude regions, SDUST2022GRA achieves an accuracy improvement of 0.16–0.24 mGal compared to others models. The spatial resolution of SDUST2022GRA is approximately 20 km in a certain region, slightly better superior others models. These assessments suggests that SDUST2022GRA is a reliable global marine gravity anomaly model. By comparing SDUST2022GRA with incorporating ICESat-2 and SDUST2021GRA without ICESat-2, the percentage contribution of ICESat-2 to the improvement of gravity anomaly model accuracy is 13 % in the global ocean region, and it is increasing with an proportion of ICESat-2 altimeter data in high-latitude and coastal regions. The SDUST2022GRA are freely available at the site of https://doi.org/10.5281/zenodo.8337387 (Li et al., 2023). [ABSTRACT FROM AUTHOR]

Tunable and narrowband light detection provides a means of selectively detecting optical signals at a specific wavelength, enabling a precise tool for object identification, machine vision, spectroscopy, and so on. Simultaneous tunable and narrowband response in shortwave infrared (SWIR) detectors is critical yet still challenging. This work utilizes dual-Fano resonance enhanced sum-frequency generation in a two-layer structure comprising a silicon metasurface and a two-dimensional (2D) nonlinear GaSe layer to realize tunable and narrowband light detection in the SWIR range. The silicon metasurface affords a high-quality-factor dual-Fano resonance in the SWIR regime, which enhances the near-field optical density of the two resonant wavelengths (pump and signal) when passing through the 2D nonlinear layer, leading to drastically enhanced sum-frequency generation. The sum-frequency light at a visible wavelength that contains the information of the SWIR signal light, can then be detected by a low-noise visible detector. The tunability and selectivity in the response spectrum stem from the geometry-dependent dual-Fano resonance in the silicon metasurface, covering the 1200–1550 nm range. The upconversion detector exhibits a sub-nanometer narrowband detection with a full width at half maximum of down to ∼0.1 nm, owing to the high quality factor of the Fano resonances. This SWIR narrowband detection is one of the best performances reported so far, much narrower than commercial filter products. The peak value of the specific detectivity of 1.5 × 1012 Jones at 1256.3 nm is achieved, comparable to broadband commercial InGaAs detectors. The detector designs in this work open up the opportunity of upconversion sensors for delicate spectroscopic applications. [ABSTRACT FROM AUTHOR]

Near‐infrared organic light‐emitting diodes (NIR OLEDs) with emission peak above 900 nm are attractive for many emerging applications, spanning from bioimaging to light detection and ranging. However, the device performance of NIR OLEDs is generally limited by the low quantum efficiency of emitters because of the fast nonradiative transition process imposed by energy‐gap law and aggregation quenching. So far, only a few Pt(II) complexes delivering external quantum efficiency (EQE) over 1% are reported, while there is no comparable electroluminescence in heavy‐metal‐free fluorescent organic emitters. Here, NIR OLEDs centered at 934 nm by blending an acceptor–donor–acceptor type molecule Y11 into a polymer host poly[(9,9‐dioctylfluorenyl‐2,7‐diyl)‐alt‐(4,4′‐(N‐(4‐sec‐butylphenyl)diphenylamine) (TFB) are reported. The OLEDs show a remarkably high EQE of 1.72%. Moreover, owing to a low turn‐on voltage (≈0.9 V), the resultant NIR OLEDs have an electricity‐to‐light power efficiency surpassing 20 mW W−1. The improved device performance can be attributed to enhanced photoluminescence quantum yields (PLQYs) of the blends owing to suppressed aggregation quenching, and favorable light extraction from the emissive layer. Such values are the highest among fluorescent OLEDs with electroluminescence above 900 nm. [ABSTRACT FROM AUTHOR]

We derive the analytical expressions of the average intensity of a partially coherent twisted Laguerre– Gaussian vortex (PCTLGV) beam passing through oceanic turbulence with the help of the extended Huygens–Fresnel principle. The findings show that the normalized initial profile with a dark hollow distribution of PCTLGV beam gradually converts into a flat-topped one, and finally degenerates into a Gaussian-like distribution as the propagation distance increases. The outcomes also reveal that the effect of oceanic turbulence on the propagation properties of PCTLGV beam can be effectively mitigated by regulating the twist factor and topological charge. We also find that PCTLGV beam exhibits stronger anti-turbulence ability, when the topological charge and twist factor have opposite signs as well as larger absolute values of twist factor. In addition, the PCTLGV beam will degenerate fast in stronger turbulence over the poor turbulence, which can be counteracted by increasing the initial coherence lengths. Our researches can contribute to underwater communication transmission, oceanic laser radar detection, and optical imaging. [ABSTRACT FROM AUTHOR]

Knowledge about the vertical structure of forests, such as forest height, above-ground biomass (AGB), and the vertical biomass distribution is important for understanding carbon allocation, structural diversity, and succession and degradation dynamics in forest ecosystems. While the use of lidar (light detection and ranging) observations is well established to investigate the vertical structure of forests, the sensitivity of P-band synthetic aperture radar tomography (TomoSAR) observations to biomass and vertical forest structure is not yet well understood. Here we use lidar observations from NASA's Global Ecosystem Dynamics Investigation (GEDI) to analyse the sensitivity of airborne P-band SAR tomography backscatter to forest height and AGB at two tropical forests in Lopé and Mondah, Gabon, Africa. We use GEDI observations to parametrize an empirical model for estimating forest height and we use a random forest model for estimating AGB from TomoSAR profiles. The validation with Land, Vegetation, and Ice Sensor (LVIS) airborne lidar data shows moderate performance for estimating forest height (RMSE = 8.2 m in Lopé and 9.8 m in Mondah) and moderate to good performance for total AGB (RMSE = 115.3 Mg/ha in Lopé and 117.8 Mg/ha in Mondah). We also estimated the vertical distribution of AGB using the corrected TomoSAR backscatter and compared it with AGB profiles derived from field observations in Mondah, which indicates potential to use TomoSAR observations for estimating vertical AGB distribution over tropical forests. However, our results demonstrate the need for targeted field observations of vertical biomass profiles in order to make full use of P-band TomoSAR to map the vertical structure of tropical forests. [ABSTRACT FROM AUTHOR]

In the field of robotics and autonomous driving, dynamic occupancy grid maps (DOGMs) are typically used to represent the position and velocity information of objects. Although three-dimensional light detection and ranging (LiDAR) sensor-based DOGMs have been actively researched, they have limitations, as they cannot classify types of objects. Therefore, in this study, a deep learning-based camera–LiDAR sensor fusion technique is employed as input to DOGMs. Consequently, not only the position and velocity information of objects but also their class information can be updated, expanding the application areas of DOGMs. Moreover, unclassified LiDAR point measurements contribute to the formation of a map of the surrounding environment, improving the reliability of perception by registering objects that were not classified by deep learning. To achieve this, we developed update rules on the basis of the Dempster–Shafer evidence theory, incorporating class information and the uncertainty of objects occupying grid cells. Furthermore, we analyzed the accuracy of the velocity estimation using two update models. One assigns the occupancy probability only to the edges of the oriented bounding box, whereas the other assigns the occupancy probability to the entire area of the box. The performance of the developed perception technique is evaluated using the public nuScenes dataset. The developed DOGM with object class information will help autonomous vehicles to navigate in complex urban driving environments by providing them with rich information, such as the class and velocity of nearby obstacles. [ABSTRACT FROM AUTHOR]

This article discusses recent advancements in Maya scholarship, including advancements in astronomy, linguistics, archaeology, and cultural history. These advancements have been made possible through technologies such as LiDAR, the decipherment of Maya glyphs, and ancient DNA research. The article emphasizes the interconnectivity among different cultures and the continuity of Maya culture from ancient times to the present. It highlights the groundbreaking work of Gerardo Aldana in his book "Calculating Brilliance," which explores the role of synodic planetary periods in Maya astronomy. The article also reviews the "Corpus of Maya Hieroglyphic Inscriptions," which provides detailed illustrations and information about Maya stelae. The book "The Maya: Lost Civilizations" by Megan E. O'Neil challenges traditional clichés and provides cutting-edge arguments and discoveries about Maya culture. It covers topics such as Maya writing, art, architecture, and the impact of the Spanish invasion. O'Neil also addresses contemporary racialized issues and the importance of including Maya perspectives in the study of their culture. The book "Lives of the Gods: Divinity in Maya Art" takes a multidisciplinary approach to understanding Maya divinity and the artistry of Maya sculptors, painters, ceramists, and scribes. It explores the interconnectedness of the divine, human, and natural realms in Maya culture and seeks to decipher the meaning behind Maya artworks. The text also highlights the importance of including Guatemalan scholars in the study of Maya history and [Extracted from the article]

This manuscript presents a novel scheme to achieve high-resolution laser-radar ranging with a small sample number under low signal-to-noise ratio (SNR) conditions. To reduce the sample number, the Restricted Isometry Property-based optimal multi-channel coprime-sampling (RIP-OMCS) strategy is established. In the RIP-OMCS strategy, the data collected across multiple channels with very low coprime-sampling rates can record accurate range information on each target. Further, the asynchronous problem caused by channel sampling-time errors is considered. The sampling-time errors are estimated using the cross-correlation function. After canceling the asynchronous problem, the data collected by multiple channels are then merged into non-uniform sampled signals. Using data combination, target-range estimation is converted into an optimization problem of sparse representation consisting of a non-uniform Fourier dictionary. This optimization problem is solved using adaptive hybrid re-weighted constraint (AHRC) l1 minimization. Two constraints are formed from statistical attributes of the targets and clutter. Moreover, as the detailed characteristics of the target, clutter, and noise are unknown before the solution, the two constraints can be adaptively modified, which guarantees that l1 minimization obtains the high-resolution range profile and accurate distance of all targets under a low SNR. Our experiments confirmed the effectiveness of the proposed method. [ABSTRACT FROM AUTHOR]

The remote detection of hydrothermally altered grounds in geothermal exploration demands datasets capable of reliably detecting key outcrops with fine spatial resolution. While optical thermal or radar-based datasets have resolution limitations, airborne LiDAR offers point-based detection through its LiDAR return intensity (LRI) values, serving as a proxy for surface reflectivity. Despite this potential, few studies have explored LRI value variations in the context of hydrothermal alteration and their utility in distinguishing altered from unaltered rocks. Although the link between alteration degree and LRI values has been established under laboratory conditions, this relationship has yet to be demonstrated in airborne data. This study investigates the applicability of laboratory results to airborne LRI data for alteration detection. Utilising LRI data from an airborne LiDAR point cloud (wavelength 1064 nm, density 12 points per square metre) acquired over a prospective geothermal area in Bajawa, Indonesia, where rock sampling for a related laboratory study took place, we compare the airborne LRI values within each ground sampling area of a 3 m radius (due to hand-held GPS uncertainty) with laboratory LRI values of corresponding rock samples. Our findings reveal distinguishable differences between strongly altered and unaltered samples, with LRI discrepancies of approximately ~28 for airborne data and ~12 for laboratory data. Furthermore, the relative trends of airborne and laboratory-based LRI data concerning alteration degree exhibit striking similarity. These consistent results for alteration degree in laboratory and airborne data mark a significant step towards LRI-based alteration mapping from airborne platforms. [ABSTRACT FROM AUTHOR]

Accurately estimating vegetation biomass in urban forested areas is of great interest to researchers as it is a key indicator of the carbon sequestration capacity necessary for cities to achieve carbon neutrality. The emerging vegetation biomass estimation methods that use AI technologies with remote sensing images often suffer from arge estimating errors due to the diversity of vegetation and the complex three-dimensional terrain environment in urban ares. However, the high resolution of Light Detection and Ranging (i.e., LiDAR) data provides an opportunity to accurately describe the complex 3D scenes of urban forests, thereby improving estimation accuracy. Additionally, deep earning foundation models have widely succeeded in the industry, and show great potential promise to estimate vegetation biomass through processing complex and arge amounts of urban LiDAR data efficiently and accurately. In this study, we propose an efficient and accurate method called 3D-CiLBE (3DCity Long-term Biomass Estimation) to estimate urban vegetation biomass by utilizing advanced deep earning foundation models. In the 3D-CiLBE method, the Segment Anything Model (i.e., SAM) was used to segment single wood information from a arge amount of complex urban LiDAR data. Then, we modified the Contrastive Language–Image Pre-training (i.e., CLIP) model to identify the species of the wood so that the classic anisotropic growth equation can be used to estimate biomass. Finally, we utilized the Informer model to predict the biomass in the ong term. We evaluate it in eight urban areas across the United States. In the task of identifying urban greening areas, the 3D-CiLBE achieves optimal performance with a mean Intersection over Union (i.e., mIoU) of 0.94. Additionally, for vegetation classification, 3D-CiLBE achieves an optimal recognition accuracy of 92.72%. The estimation of urban vegetation biomass using 3D-CiLBE achieves a Mean Square Error of 0.045 kg/m2, reducing the error by up to 8.2% compared to 2D methods. The MSE for biomass prediction by 3D-CiLBE was 0.06kg/m2 smaller on average than the inear regression model. Therefore, the experimental results indicate that the 3D-CiLBE method can accurately estimate urban vegetation biomass and has potential for practical application. [ABSTRACT FROM AUTHOR]

Hurricanes Ian and Nicole caused devastating destruction across Florida in September and November 2022, leaving widespread damage in their wakes. This study focuses on the assessment of barrier islands' shorelines, encompassing natural sand dunes and dune vegetation as well as armored dunes with man-made infrastructure such as seawalls. High-resolution satellite imagery from Planet was used to assess the impacts of these hurricanes on the beach shorelines of Volusia, Flagler, and St. Johns Counties on the Florida Central East Coast. Shorefront vegetation was classified into two classes. Normalized Difference Vegetation Index (NDVI) values were calculated before the hurricanes, one month after Hurricane Ian, one month after Hurricane Nicole, and one-year post landfall. LiDAR (Light Detection and Ranging) was incorporated to calculate vertical changes in the shorelines before and after the hurricanes. The results suggest that natural sand dunes were more resilient as they experienced less impact to vegetation and elevation and more substantial recovery than armored dunes. Moreover, the close timeframe of the storm events suggests a compound effect on the weakened dune systems. This study highlights the importance of understanding natural dune resilience to facilitate future adaptive management efforts because armored dunes may have long-term detrimental effects on hurricane-prone barrier islands. [ABSTRACT FROM AUTHOR]

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

The Brazilian Atlantic Rainforest presents great diversity of flora and stand structures, making it difficult for traditional forest inventories to collect reliable and recurrent information to classify forest succession stages. In recent years, remote sensing data have been explored to save time and effort in classifying successional forest stages. However, there is a need to understand if any of these sensors stand out for this purpose. Here, we evaluate the use of multispectral satellite data from four different platforms (CBERS-4A, Landsat-8/OLI, PlanetScope, and Sentinel-2) and airborne light detection and ranging (LiDAR) to classify three forest succession stages in a subtropical ombrophilous mixed forest located in southern Brazil. Different features extracted from multispectral and LiDAR data, such as spectral bands, vegetation indices, texture features, and the canopy height model (CHM) and LiDAR intensity, were explored using two conventional machine learning methods such as random trees (RT) and support vector machine (SVM). The statistically based maximum likelihood (MLC) algorithm was also compared. The classification accuracy was evaluated by generating a confusion matrix and calculating the kappa index and standard deviation based on field measurements and unmanned aerial vehicle (UAV) data. Our results show that the kappa index ranged from 0.48 to 0.95, depending on the chosen dataset and method. The best result was obtained using the SVM algorithm associated with spectral bands, CHM, LiDAR intensity, and vegetation indices, regardless of the sensor. Datasets with Landsat-8 or Sentinel-2 information performed better results than other optical sensors, which may be due to the higher intraclass variability and less spectral bands in CBERS-4A and PlanetScope data. We found that the height information derived from airborne LiDAR and its intensity combined with the multispectral data increased the classification accuracy. However, the results were also satisfactory when using only multispectral data. These results highlight the potential of using freely available satellite information and open-source software to optimize forest inventories and monitoring, enabling a better understanding of forest structure and potentially supporting forest management initiatives and environmental licensing programs. [ABSTRACT FROM AUTHOR]

With the increasing number of vehicles, the growing complexity of traffic environments has led to a rise in traffic pressure. As a critical hub connecting roads between cities, expressway traffic safety cannot be ignored.Merging areas, due to their complex road configuration, have become major accident-prone spots on expressways. Improving driving safety in expressway merging areas is of the utmost importance. Predicting the future trajectory of a vehicle can then be used to avoid traffic conflicts or even crashes by using methods such as future trajectories and active control. Therefore, the emergence of trajectory prediction techniques provides new approaches for intelligent traffic management in these areas. First, this paper takes a global perspective fromroadside light detection and ranging (LiDAR) sensors to construct a vehicle trajectory database in the merging area, relying on object detection and trajectory tracking technologies. Then, a vehicle trajectory prediction model based on a self-supervised mechanism is developed, specifically designed for the complex interactive environment of expressway merging areas. Finally, four models, long short-term memory (LSTM), social LSTM (SL), convolutional social LSTM (CSL), and maneuver-aware pooling (MAP), are compared with the proposed model. The evaluation is based on the root mean square error (RMSE) metric for overall, left-turn, rightturn, straight, and merging trajectory accuracies and the Acc metric for horizontal and vertical intention accuracies. Experimental results demonstrate that the proposed model achieves lower errors and higher prediction accuracy in both trajectory prediction and lateral and longitudinal intention prediction. [ABSTRACT FROM AUTHOR]

Ultrasonic anemometers mounted on rotary-wing drones have the potential to provide a cost-efficient alternative to the classical meteorological mast-mounted counterpart for atmospheric boundary layer research. However, the propeller-induced flow may degrade the accuracy of free-stream wind velocity measurements by wind sensors mounted on drones – a fact that needs to be investigated for optimal sensor placement. Computational fluid dynamics (CFD) simulations are an alternative to experiments for studying characteristics of the propeller-induced flow but require validation. Therefore, we performed an experiment using three short-range continuous-wave Doppler lidars (light detection and ranging; DTU WindScanners) to measure the complex and turbulent three-dimensional wind field around a hovering drone at low ambient wind speeds. Good agreement is found between experimental results and those obtained using CFD simulations under similar conditions. Both methods conclude that the disturbance zone (defined as a relative deviation from the mean free-stream velocity by more than 1 %) on a horizontal plane located at 1 D (rotor diameter D of 0.71 m) below the drone extends about 2.8 D upstream from the drone center for the horizontal wind velocity and more than 7 D for the vertical wind velocity. By comparing wind velocities along horizontal lines in the upstream direction, we find that the velocity difference between the two methods is ≤ 0.1 ms-1 (less than a 4 % difference relative to the free-stream velocity) in most cases. Both the plane and line scan results validate the reliability of the simulations. Furthermore, simulations of flow patterns in a vertical plane at the ambient speed of 1.3 ms-1 indicate that it is difficult to accurately measure the vertical wind component with less than a 1 % distortion using drone-mounted sonic anemometers. [ABSTRACT FROM AUTHOR]

The firn layer on the Greenland Ice Sheet (GrIS) plays a crucial role in buffering surface meltwater runoff, which is constrained by the available firn pore space and impermeable ice layers that limit deeper meltwater percolation. Understanding these firn properties is essential for predicting current and future meltwater runoff and its contribution to global sea-level rise. While very-high-frequency (VHF) radars have been extensively used for surveying the GrIS, their lower bandwidth restricts direct firn stratigraphy extraction. In this study, we use concurrent VHF airborne radar and laser altimetry data collected as part of Operation IceBridge over the 2011–2019 period to investigate our hypothesis that vertical heterogeneities in firn (i.e. ice layers) cause vertical offsets in the radar surface reflection (dz). Our results, corroborated by modelling and firn core analyses, show that a dz larger than 1 m is strongly related to the vertical heterogeneity of a firn profile and effectively delineates between vertically homogeneous and vertically heterogeneous firn profiles over a depth range of ∼ 4 m. Temporal variations in dz align with climatic events and reveal an expansion of heterogeneous firn between 2011–2013 covering an area of ∼ 350 815 km 2 , followed by firn replenishment over the years 2014–2019 spanning an area of ∼ 667 725 km 2. Our approach reveals the firn evolution of key regions on the Greenland Ice Sheet, providing valuable insights for detecting potential alterations in meltwater runoff patterns. [ABSTRACT FROM AUTHOR]

The achievements of high driving performance and error minimization of autonomous vehicles (AVs) in harsh weather are the biggest challenges for the society of autonomous research area. AVs are mainly driven by the sensor fusion technology of light detection and ranging (LiDAR), radio detection and ranging (RADAR), and camera sensors. In harsh weather such as rain, storm, law lighting, snowfall, and vapor, the detection performances of all the sensors are obstructed. The camera imaging for object detection systems is highly affected by different types of noise in adverse weather conditions and its performance is very anxious for error-free AV driving. This article proposes the prediction-based adaptive fusion alignment (AFA) algorithm of the robust path and object tracking systems with the deep convolutional neural networking (D-CNN) model for detection accuracy improvement, calculative error reduction, and overall driving error minimization of AVs in harsh weather conditions. RADAR and LiDAR are not deep learning (DL) based yet. The D-CNN model of DL algorithms for camera image processing and the segmentation process of object classification is used for actual object detection and localization. The AV-simulated driving accuracy in harsh weather is significantly increased with the proposed AFA and D-CNN algorithms. [ABSTRACT FROM AUTHOR]

This study aimed to develop a remote sensing method for estimating the aboveground fresh weight (AGFW) of sugarcane using multispectral images and light detection and ranging (LiDAR). Remotely sensed data were acquired from an unmanned aerial vehicle (drone). Sample plots were harvested and the AGFW of each plot was measured. Sugarcane crown heights and volumes were obtained by isolating individual tree crowns using a LiDAR-derived digital surface model of the area. Multiple linear regression (MLR) and partial least-squares regression (PLSR) models were tested for the field-sampled AGFWs (dependent variable) and individual canopy heights and volumes, and spectral indices were used as independent variables or predictors. The PLSR model showed more promising results than the MLR model when predicting the AGFW over the study area. Although PLSR is well-suited to a large number of collinear predictor variables and a limited number of field samples, this study showed moderate results (R2 = 0.5). The visual appearance of the spatial distribution of the AGFW map is satisfactory. The limited no. of field samples overfitted the MLR prediction results. Overall, this research highlights the potential of integrating remote sensing technologies in the sugarcane industry, thereby improving yield estimation and effective crop management. [ABSTRACT FROM AUTHOR]

Ecologists, foresters and conservation practitioners need 'biodiversity scanners' to effectively inventory biodiversity, audit conservation progress and track changes in ecosystem function. Quantifying biological diversity using remote sensing methods remains challenging, especially for small invertebrates. However, insect aggregations can drastically alter landscapes and vegetation, and these 'extended phenotypes' could serve as environmental landmarks of insect presence in remotely sensed data.To test the feasibility of this approach, we studied symbiotic ants that alter the canopy shape of whistling thorn acacias (Acacia [syn. Vachellia] drepanolobium), a keystone tree species of the black cotton soils of east African savannas. We demonstrate a protocol for using light detection and ranging (LiDAR) data to collect, prepare (including a customizable tree‐segmentation algorithm) and apply a convolutional neural network‐based classification for the detection of ant‐inhabited acacia tree phenotypic variations. Applying this protocol enabled us to effectively detect intra‐specific tree phenotypic variation induced by insects.Surveying ant occupancy across 16 ha and 9680 acacia trees took 1000 work hours, whereas surveyed patterns of ant distribution were replicated by our trained classifier using only an hour‐long airborne LiDAR collection time.We suggest that large‐scale surveys of insect occupancy (including insect‐vectored disease) can be automated through a combination of airborne LiDAR and machine learning. [ABSTRACT FROM AUTHOR]

Autonomous surface vehicles face the challenge of accurately detecting nearby ships in the complex and ever‐changing maritime environment, which is vastly different from land areas. To address this issue, we propose an image‐based multisensor fusion object detection method that combines Light Detection and Rangings and cameras. Since point clouds have poor semantics, our method primarily relies on images, with point clouds used to support image detection. Our image detection scheme employs a tracking‐assisted detection method that leverages historical information to compensate for possible detection failures. Additionally, we designed a confidence‐association‐based fusion strategy to determine the final targets among the candidates. We conducted field experiments in an open‐sea area to demonstrate the accuracy and robustness of our method. The results of these experiments showed that our method is highly accurate and robust in challenging maritime scenarios. Our code and data set will be released on https://github.com/flakeice/mssd. [ABSTRACT FROM AUTHOR]

Multisensor fusion‐based localization technology has achieved high accuracy in autonomous systems. How to improve the robustness is the main challenge at present. The most commonly used LiDAR and camera are weather‐sensitive, while the frequency‐modulated continuous wave Radar has strong adaptability but suffers from noise and ghost effects. In this paper, we propose a heterogeneous localization method called Radar on LiDAR Map, which aims to enhance localization accuracy without relying on loop closures by mitigating the accumulated error in Radar odometry in real time. To accomplish this, we utilize LiDAR scans and ground truth paths as Teach paths and Radar scans as the trajectories to be estimated, referred to as Repeat paths. By establishing a correlation between the Radar and LiDAR scan data, we can enhance the accuracy of Radar odometry estimation. Our approach involves embedding the data from both Radar and LiDAR sensors into a density map. We calculate the spatial vector similarity with an offset to determine the corresponding place index within the candidate map and estimate the rotation and translation. To refine the alignment, we utilize the Iterative Closest Point algorithm to achieve optimal matching on the LiDAR submap. The estimated bias is subsequently incorporated into the Radar SLAM for optimizing the position map. We conducted extensive experiments on the Mulran Radar Data set, Oxford Radar RobotCar Dataset, and our data set to demonstrate the feasibility and effectiveness of our proposed approach. Our proposed scan projection descriptors achieves homogeneous and heterogeneous place recognition and works much better than existing methods. Its application to the Radar SLAM system also substantially improves the positioning accuracy. All sequences' root mean square error is 2.53 m for positioning and 1.83° for angle. [ABSTRACT FROM AUTHOR]

Unmanned aerial vehicles (UAVs) offer many advantages over ground vehicles, including quadruped robots, based on high maneuverability when performing exploration in complex and unknown environments. However, due to their limited computational capability, UAVs require lightweight but accurate state estimation algorithms for reliable exploration. In this paper, we propose a segmented map‐based exploration system based on light detection and ranging (LiDAR)‐based state estimation for UAVs. The proposed system includes capabilities such as exploration, obstacle avoidance, and object detection with localization using three‐dimensional (3D) dense maps generated by tightly coupled LiDAR Inertial Odometry (LIO). Our proposed system is a hybrid system that can switch between guided and exploration modes, making it practical for search and rescue missions in disaster scenarios. The proposed LIO algorithm adapts to its surroundings, allowing for fast and accurate state estimation in complex environments. The proposed exploration algorithm is designed to cover specific regions in the 3D dense map generated by the proposed LIO, with the UAV determining if map points are included within the coverage area. We tested the proposed system in both simulation and real‐world environments and validated that the proposed system outperforms state‐of‐the‐art algorithms in various aspects such as localization accuracy and exploration efficiency in complex environments. [ABSTRACT FROM AUTHOR]

This work reports the development of an efficient and precise indoor positioning system utilizing two-dimensional (2D) light detection and ranging (LiDAR) technology, aiming to address the challenging sensing and positioning requirements of the beyond fifth-generation (B5G) mobile networks. The core of this work is the implementation of a 2D-LiDAR system enhanced by an artificial neural network (ANN), chosen due to its robustness against electromagnetic interference and higher accuracy over traditional radiofrequency signal-based methods. The proposed system uses 2D-LiDAR sensors for data acquisition and digital filters for signal improvement. Moreover, a camera and an image-processing algorithm are used to automate the labeling of samples that will be used to train the ANN by means of indicating the regions where the pedestrians are positioned. This accurate positioning information is essential for the optimization of B5G network operation, including the control of antenna arrays and reconfigurable intelligent surfaces (RIS). The experimental validation demonstrates the efficiency of mapping pedestrian locations with a precision of up to 98.787%, accuracy of 95.25%, recall of 98.537%, and an F1 score of 98.571%. These results show that the proposed system has the potential to solve the problem of sensing and positioning in indoor environments with high reliability and accuracy. [ABSTRACT FROM AUTHOR]

The technological developments behind autonomous vehicles cover several areas and engineers training in this field represents a challenge. The main layers include perception, decision making, and acting. In the first one, different technologies can be used. The processing of the information provided by the sensors must allow successive modules to understand the environment and Laser imaging Detection and Ranging (LiDAR) technology is one of the most promising ones nowadays for this task. It offers great robustness in detection, but the extraction of information from the point cloud involves the development of complex algorithms that could be very time‐consuming if an experimental teaching is intended. This article presents two educational solutions for deepening in perception algorithms using LiDAR for autonomous driving: a closed ad‐hoc computer application for two‐dimensional (2D) LiDAR point cloud processing and an oriented set of commands for three‐dimensional (3D) LiDARs in Matlab. Their use allows main concept exploration in practical sessions with little time consumption and provides students a general overview of the tasks that must be performed by the perception layer in the autonomous vehicles. Furthermore, these tools provide the possibility of organizing different activities in the classroom related to theoretical and experimental issues, and understanding of results because the most tedious tasks are eased. [ABSTRACT FROM AUTHOR]

Light Detection and Ranging (LiDAR)-visual-inertial odometry can provide accurate poses for the localization of unmanned vehicles working in unknown environments in the absence of Global Positioning System (GPS). Since the quality of poses estimated by different sensors in environments with different structures fluctuates greatly, existing pose fusion models cannot guarantee stable performance of pose estimations in these environments, which brings great challenges to the pose fusion of LiDAR-visual-inertial odometry. This article proposes a novel environmental structure perceptionbased adaptive pose fusion method, which achieves the online optimization of the parameters in the pose fusion model of LiDAR-visual-inertial odometry by analyzing the complexity of environmental structure. Firstly, a novel quantitative perception method of environmental structure is proposed, and the visual bag-of-words vector and point cloud feature histogram are constructed to calculate the quantitative indicators describing the structural complexity of visual image and LiDAR point cloud of the surroundings, which can be used to predict and evaluate the pose quality from LiDAR/visual measurement models of poses. Then, based on the complexity of the environmental structure, two pose fusion strategies for two mainstream pose fusion models (Kalman filter and factor graph optimization) are proposed, which can adaptively fuse the poses estimated by LiDAR and vision online. Two state-of-the-art LiDAR-visual-inertial odometry systems are selected to deploy the proposed environmental structure perception-based adaptive pose fusion method, and extensive experiments are carried out on both open-source data sets and self-gathered data sets. The experimental results show that environmental structure perception-based adaptive pose fusion method can effectively perceive the changes in environmental structure and execute adaptive pose fusion, improving the accuracy of pose estimation of LiDAR-visual-inertial odometry in environments with changing structures. [ABSTRACT FROM AUTHOR]

An extensive network of pipelines is extensively employed worldwide to carry oil and gas fluids over millions of kilometers. The pipeline channel was constructed to resist environmental dynamic loading conditions to provide safe and reliable oil and gas fluids transportation from the production well sites to depot stations installed at sea coastlines. However, pipeline infrastructure damages such as fractures, cracks, leakages, etc., are significant sources of economic losses in pipeline operations. Moreover, pipeline failures can cause considerable ecological catastrophes, human deaths, and financial loss. Important research initiatives have been committed to establishing pipeline breach detection and localization using various techniques to avoid these threats and maintain a secure and dependable pipeline network. This paper reviews different state-of-the-art damage detection methods and their recent advancement with a case study explaining the application of light detection and ranging for pipeline damage detection. The pros and cons of diverse damage detection methods in pipeline networks are also discussed. Research gaps for pipeline damage detection systems are also provided for better understanding and future research. [ABSTRACT FROM AUTHOR]

Due to cyclic wetting and drying, the hydro-mechanical behavior of unsaturated soil is impacted significantly. In order to assess the soil strength parameters, knowing the unsaturated behavior is important. Soil moisture content is an important parameter that can define the shear strength of the soil. Most of the highway slopes of Mississippi are built on highly expansive clay. During summer, the evaporation of moisture in the soil leads to shrinkage and the formation of desiccation cracks, while during rainfall, the soil swells due to the infiltration of water. In addition to this, the rainwater gets trapped in these cracks and creates perched conditions, leading to the increased moisture content and reduced shear strength of slope soil. The increased precipitation due to climate change is causing failure conditions on many highway slopes of Mississippi. Vetiver, a perennial grass, can be a transformative solution to reduce the highway slope failure challenges of highly plastic clay. The grass has deep and fibrous roots, which provide additional shear strength to the soil. The root can uptake a significant amount of water from the soil, keeping the moisture balance of the slope. The objective of the current study is to assess the changes in moisture contents of a highway slope in Mississippi after the Vetiver plantation. Monitoring equipment, such as rain gauges and moisture sensors, were installed to monitor the rainfall of the area and the moisture content of the soil. The data showed that the moisture content conditions were improved with the aging of the grass. The light detection and ranging (LiDAR) analysis was performed to validate the field data obtained from different sensors, and it was found that there was no significant slope movement after the Vetiver plantation. The study proves the performance of the Vetiver grass in improving the unsaturated soil behavior and stability of highway slopes built on highly expansive clay. [ABSTRACT FROM AUTHOR]

Accurate surveying of vegetated areas presents significant challenges due to obstructions that obscure visibility and compromise the precision of measurements. This paper introduces a methodology employing the DJI Zenmuse L2 Light Detection and Ranging (LiDAR) sensor, which is mounted on a Matrice 350 RTK drone. The DJI Zenmuse L2 sensor excels at capturing detailed terrain data under heavy foliage, capable of collecting 1.2 million points per second and offering five returns, thus enhancing the sensor's ability to detect multiple surface responses from a single laser pulse. In a case study conducted near a creek heavily obscured by tree coverage, traditional aerial imaging techniques are found insufficient for capturing critical topographic features, such as the creek banks. Employing LiDAR, the study aims to map these obscured features effectively. The collected data is processed using DJI Terra software, which supports the accurate projection and analysis of the LiDAR data. To validate the accuracy of the data collected from the LiDAR sensor, traditional survey methods are deployed to ground truth the data and provide an accuracy assessment. Ground control points (GCPs) are established using a GNSS receiver to provide geodetic coordinates, which then assist in setting up a total station. This total station measures vertical and horizontal angles, as well as the slope distance from the instrument to positions underneath the tree coverage on the ground. These measurements serve as checkpoints to validate the accuracy of the LiDAR data, thus ensuring the reliability of the survey. This paper discusses the potential of integrating LiDAR data with traditional surveying data, which is expected to enhance the ability of surveyors to map environmental features efficiently and accurately in complex and vegetated terrains. Through detailed procedural descriptions and expected outcomes, the study aims to provide valuable insights into the strategic application of geospatial technologies to overcome common surveying challenges. [ABSTRACT FROM AUTHOR]

A precise tree structure that represents the distribution of tree stem, branches, and leaves is crucial for accurately capturing the full representation of a tree. Light Detection and Ranging (LiDAR)-based three-dimensional (3D) point clouds (PCs) capture the geometry of scanned objects including forests stands and individual trees. PCs are irregular, unstructured, often noisy, and contaminated by outliers. Researchers have struggled to develop methods to separate leaves and wood without losing the tree geometry. This paper proposes a solution that employs only the spatial coordinates (x, y, z) of the PC. The new algorithm works as a filtering approach, utilizing multi-scale neighborhood-based geometric features (GFs) e.g., linearity, planarity, and verticality to classify linear (wood) and non-linear (leaf) points. This involves finding potential wood points and coupling them with an octree-based segmentation to develop a tree architecture. The main contributions of this paper are (i) investigating the potential of different GFs to split linear and non-linear points, (ii) introducing a novel method that pointwise classifies leaf and wood points, and (iii) developing a precise 3D tree structure. The performance of the new algorithm has been demonstrated through terrestrial laser scanning PCs. For a Scots pine tree, the new method classifies leaf and wood points with an overall accuracy of 97.9%. [ABSTRACT FROM AUTHOR]

Following the enormous technological developments of LiDAR (Light Detection And Ranging) sensors, it is currently easier to find them commercially in the UA (Uncrewed Aerial Systems) sector. In particular, with the Zenmuse L1 by DJI (Dà-Jiāng Innovations) the market has grown globally, mainly due to the compactness of the product that is easily compatible with UAS. The L1 sensor can record up to three returns of the emanating signal, so it can acquire a larger amount of points, such as those below the vegetation. Therefore, in addition to the geometric information of the points, the Zenmuse L1 point clouds also provide other information, such as the number of echo returns from 1 to 3. This data could be exploited to improve the automatic extraction of the digital terrain model (DTM) from the point clouds, hopefully leading to the avoidance of manual correction. This research aims to focus on evaluating whether the addition of the return number feature can affect the identification of the ground points through different computational methods and can improve the time efficiency of state-of-the-art algorithms. [ABSTRACT FROM AUTHOR]

The trend of using conventional devices like mobile phones, tablets, and the other devices is gaining traction in improving customer service practices. This coincides with the growing popularity of building information modeling (BIM), which has led to increased exploration of various 3D object capture methods. Additionally, the technological boom has resulted in a surge of applications working with different 3D model formats including mesh models, point cloud, and TIN models. Among these, the usage of mesh models is experiencing particularly rapid growth. The main objective advantages of mesh models are their efficiency, scalability, flexibility, sense of detail, user-friendliness, and compatibility. The idea of this paper is to use a conventional device, specifically an iPad Pro equipped with light detection and ranging (LiDAR) technology, for creating mesh models. The different data capture methods employed by various applications will be compared to evaluate the final models´ precision. The accuracy of the 3D models generated by each application will be assessed by comparing the spatial coordinates of identical points distributed irregularly across the entire surface of the chosen object. Various available currently most-used applications were utilized in the process of data collection. In general, 3D representations of the object/area, etc., may be visualized, analyzed, and further processed in more formats such as TIN models, point cloud, or mesh models. Mesh models provide a visualization of the object mirroring the solid design of the real object, thus approximating reality in the closest way. This fact, along with automatized postprocessing after data acquisition, the ability to capture and visualize both convex and concave objects, and the possibility to use this type of 3D visualization for 3D printing, contribute to the decision to test and analyze mesh models. Consequently, the mesh models were created via the automatic post-processing, i.e., without external intervention. This fact leads to the problems of random coordinate systems being automatically pre-defined by every application. This research must deal with the resulting obstacles in order to provide a valid and credible comparative analysis. Various criteria may be applied to the mesh models' comparisons, including objective qualitative and quantitative parameters and also the subjective ones. The idea of this research is not to analyze the data acquisition process in detail, but instead to assess the possibilities of the applications for the basic users. [ABSTRACT FROM AUTHOR]

SLAM (Simultaneous Localization and Mapping), primarily relying on camera or LiDAR (Light Detection and Ranging) sensors, plays a crucial role in robotics for localization and environmental reconstruction. This paper assesses the performance of two leading methods, namely ORB-SLAM3 and SC-LeGO-LOAM, focusing on localization and mapping in both indoor and outdoor environments. The evaluation employs artificial and cost-effective datasets incorporating data from a 3D LiDAR and an RGB-D (color and depth) camera. A practical approach is introduced for calculating ground-truth trajectories and during benchmarking, reconstruction maps based on ground truth are established. To assess the performance, ATE and RPE are utilized to evaluate the accuracy of localization; standard deviation is employed to compare the stability during the localization process for different methods. While both algorithms exhibit satisfactory positioning accuracy, their performance is suboptimal in scenarios with inadequate textures. Furthermore, 3D reconstruction maps established by the two approaches are also provided for direct observation of their differences and the limitations encountered during map construction. Moreover, the research includes a comprehensive comparison of computational performance metrics, encompassing Central Processing Unit (CPU) utilization, memory usage, and an in-depth analysis. This evaluation revealed that Visual SLAM requires more CPU resources than LiDAR SLAM, primarily due to additional data storage requirements, emphasizing the impact of environmental factors on resource requirements. In conclusion, LiDAR SLAM is more suitable for the outdoors due to its comprehensive nature, while Visual SLAM excels indoors, compensating for sparse aspects in LiDAR SLAM. To facilitate further research, a technical guide was also provided for the researchers in related fields. [ABSTRACT FROM AUTHOR]

Recognizing 3D objects from point clouds is a crucial technology for autonomous vehicles. Nevertheless, LiDAR (Light Detection and Ranging) point clouds are generally sparse, and they provide limited contextual information, resulting in unsatisfactory recognition performance for distant or small objects. Consequently, this article proposes an object recognition algorithm named Adaptive Scale and Correlative Attention PointPillars (ASCA-PointPillars) to address this problem. Firstly, an innovative adaptive scale pillars (ASP) encoding method is proposed, which encodes point clouds using pillars of varying sizes. Secondly, ASCA-PointPillars introduces a feature enhancement mechanism called correlative point attention (CPA) to enhance the feature associations within each pillar. Additionally, a data augmentation algorithm called random sampling data augmentation (RS-Aug) is proposed to solve the class imbalance problem. The experimental results on the KITTI 3D object dataset demonstrate that the proposed ASCA-PointPillars algorithm significantly boosts the recognition performance and RS-Aug effectively enhances the training effects on an imbalanced dataset. [ABSTRACT FROM AUTHOR]

Autonomous robots have gained significant attention in research due to their ability to facilitate human work. Navigation systems, particularly localization, present a challenge in autonomous robots. The inertial navigation system is a localization system that uses inertial sensors and a wheel odometer to estimate the robot's relative position to the initial position. However, the system is susceptible to continuous error accumulation over time due to factors like sensor noise and wheel slip. To address these issues, external sensors are required to measure the robot's position in the environment. The extended Kalman filter (EKF) method is utilized to estimate the robot's position based on wheel odometer and light detection and ranging (LIDAR) sensor measurements. In the prediction stage, the input to the EKF is the position measurement from the wheel odometer, while the LIDAR sensor's position measurement is used in the update stage to improve the prediction stage results. The test results reveal that the EKF's estimated position has a lower average error compared to the position measurement using the wheel odometer. Therefore, it can be concluded that the EKF technique is effectively applied to the robot and can correct the wheel odometer's cumulative error with the assistance of the LIDAR sensor. [ABSTRACT FROM AUTHOR]

Quality assurance and maintenance play a crucial role in engineering construction, as they have a significant impact on project safety. One common issue in concrete structures is the presence of defects. To enhance the automation level of concrete defect repairs, this study proposes a computer vision-based robotic system, which is based on three-dimensional (3D) printing technology to repair defects. This system integrates multiple sensors such as light detection and ranging (LiDAR) and camera. LiDAR is utilized to model concrete pipelines and obtain geometric parameters regarding their appearance. Additionally, a convolutional neural network (CNN) is employed with a depth camera to locate defects in concrete structures. Furthermore, a method for coordinate transformation is presented to convert the obtained coordinates into executable ones for a robotic arm. Finally, the feasibility of this concrete defect repair method is validated through simulation and experiments. [ABSTRACT FROM AUTHOR]

In coal-fired power plants, coal piles serve as the fundamental management units. Acquiring point clouds of coal piles facilitates the convenient measurement of daily coal consumption and combustion efficiency. When using servo motors to drive Light Detection and Ranging (LiDAR) scanning of large-scale coal piles, the motors are subject to rotational errors due to gravitational effects. As a result, the acquired point clouds often contain significant noise. To address this issue, we proposes a Rapid Point Cloud Stitching–Constrained Particle Filter (RPCS-CPF) method. By introducing random noise to simulate servo motor rotational errors, both local and global point clouds are sequentially subjected to RPCS-CPF operations, resulting in smooth and continuous coal pile point clouds. Moreover, this paper presents a coal pile boundary detection method based on gradient region growing clustering. Experimental results demonstrate that our proposed RPCS-CPF method can generate smooth and continuous coal pile point clouds, even in the presence of servo motor rotational errors. [ABSTRACT FROM AUTHOR]