Search Results (122)

Single-photon Light Detection and Ranging (LiDAR), which is capable of detecting single-photon signals, has developed rapidly in the field of long-range imaging. Due to the long detection range and limited laser power, the accumulated signal photons of single-photon LiDAR are extremely sparse. Meanwhile, the dark current counts, backscattering noise, and background noise of the single-photon detector are significant, resulting in an extremely low signal-background ratio of the detection data. However, existing algorithms struggle to accomplish the depth reconstruction on data with extremely low signal-to-background ratio (SBR). To address the challenges of complex spatiotemporal correlation and feature sparsity in long-range single-photon imaging depth reconstruction, we design a deep reconstruction algorithm based on a classification formulation, specifically tailored for single-echo detection scenarios. We propose a wavelet denoising preprocessing module and a four-dimensional attention module to learn the spatiotemporal correlations of the photon-counting cube data. Sawtooth-arranged dilated convolutions are utilized during the pixel-wise denoising process to extract sparse features, and non-local total variation regularization combined with cross-entropy is introduced as a joint loss function. For depth reconstruction of data with an SBR of 1:100, the root-mean-square error is less than 0.022 m, which is 66.72% lower than that of the best baseline algorithm. It also achieves promising depth reconstruction results on data with an SBR of 1:300. Full article

The spectral selectivity of underwater multiwavelength single-photon LiDAR offers a promising pathway to discriminate target materials beyond conventional geometric imaging. However, the complex interactions among wavelength-dependent water attenuation, target reflectance, and scattering-induced waveform distortion remain poorly quantified. This study establishes a comprehensive theoretical and experimental framework linking these factors, validated through controlled experiments across two water turbidity levels (attenuation coefficients of 0.1 m⁻¹ and 2.0 m⁻¹), six wavelengths (490–570 nm), and diverse target types. We demonstrate that target ranging bias exhibits a wavelength-dependent linear trend (8.3 ps/nm) in turbid waters. This phenomenon is fundamentally attributable to forward-scattering-induced centroid shifts rather than true spatial displacements, a mechanism we quantify through comparative peak-detection and Gaussian fitting analyses. Contrary to intuitive expectations, we reveal that spectral discrimination efficacy decouples from received photon counts. Principal component analysis confirms that a multidimensional spectral feature space enables accurate target clustering independent of absolute intensity, with specific bands (e.g., 510 nm and 550 nm) exhibiting heightened sensitivity to material signatures. These findings establish that underwater target recognition is primarily influenced by the spectral contrast between target reflectance and water transmission windows, rather than solely depending on received photon counts, providing a robust physical basis for next-generation underwater LiDAR optimization. Full article

To address the challenge of accurately reconstructing multi-depth targets using single-photon Light Detection and Ranging (LiDAR) under few-frame conditions in high-precision applications such as autonomous driving perception, remote sensing, and military reconnaissance, this paper proposes a computational imaging method named the Jensen–Shannon Divergence Weighted Pixel Fusion Constant False Alarm Rate (JSWPF-CFAR) approach. First, the proposed method utilizes the Jensen–Shannon (JS) divergence to characterize the statistical similarity between adjacent pixels, thereby constructing adaptive weights to achieve the effective fusion of echo signals. The key innovation lies in the formulation of a JS divergence-based weighting factor, which fully exploits the inherent spatial correlation within 3D target structures to optimize the pixel fusion process and enhance the signal statistics of target echoes. Subsequently, a CFAR detection model tailored for Geiger-mode Avalanche Photodiode (GM-APD) multi-depth echo signals is constructed to estimate the noise photon count within a local sliding window; this estimate is then used to calculate a photon counting threshold for identifying and extracting high-confidence target intervals. Finally, a peak-picking method is employed to perform the 3D reconstruction of multi-depth targets. Compared with existing techniques such as matched filtering and Reversible Jump Markov Chain Monte Carlo (RJMCMC), the proposed method exhibits superior reconstruction quality under few-frame and low Signal-to-Background Ratio (SBR) conditions. The experimental results demonstrate that the proposed method achieves an improvement in target restoration degree (RD) of at least 21.16% and a relative variance (Var) optimization of at least 62.90% over the matched filtering and RJMCMC baselines. These results indicate that the proposed approach effectively enhances the multi-depth estimation performance of single-photon LiDAR in complex scenes. Full article

High-latitude coastal regions are highly sensitive to climate change, yet their geomorphology is obscured by sea ice, landfast ice and seasonal snow, restricting the applicability of optical remote sensing for fine coastal classification. To address this limitation, we develop an interpretable coastal classification framework integrating ICESat-2 photon-counting LiDAR and explainable machine learning. Multi-dimensional morphometric features describing cross-shore geometry, vertical relief and local slope variability are extracted from ICESat-2 ATL03 along-track profiles to train a CatBoost classifier, with five-fold cross-validation and sample weighting to mitigate class imbalance. Introducing SHAP-based interpretability into ICESat-2-driven coastal geomorphic classification enables the identification of morphometric controls on coastal-type differentiation. Validated in the Bering Sea with 447 profiles and a 75%/25% stratified split, the framework achieved an overall accuracy of 86.6%, a macro-average recall of 89.4% and a Kappa coefficient of 0.84. SHAP analysis identifies that coastal width is the most influential feature for model-based classification of coastal geomorphic types, while slope and local steepness variability serve as important predictive indicators for distinguishing rocky and sedimentary coasts. This framework links data-driven classification to geomorphic processes and provides a potentially generalisable approach for fine-scale coastal mapping in high-latitude environments. Full article

Underwater gated time-correlated single-photon-counting (TCSPC) LiDAR is advantageous when weak target echoes coexist with strong backscatter. However, under the first-photon-triggering and SPAD dead-time mechanism, the estimated time of flight becomes dependent on the return strength, thereby producing a range walk error (RWE). This paper develops a condition-calibrated correction framework for accumulated-histogram underwater ranging in the low-photon regime. A non-homogeneous Poisson first-arrival model that jointly includes gate-limited signal photons and in-gate background triggering yields a computable expression for the total trigger probability and the conditional first-arrival time. A first-order expansion around $N_{pe}\approx 0$ leads to an approximately linear RWE–$N_{pe}$ relation under the present system–water condition. A density-based signal-window localization method and a noise-occlusion-compensated estimator of $N_{pe}$ are combined with reference-plane differential calibration. Experiments in a 10 m clear-freshwater tank at 9.11 m show that the mean absolute error is reduced from 39.205 mm to 2.130 mm, corresponding to a 94.57% improvement. Compared with a quadratic model used under higher-photon conditions, the proposed linear model yields an order-of-magnitude smaller residual error in the low-photon region ($N_{pe}<1.6$). Full article

We present the performance of a middle atmosphere Rayleigh lidar system that employs three receiver channels. We characterize the biases in the density and temperature profiles retrieved from each of the receiver channels as well as the combined receiver signal. We associate these biases with pulse pile-up, gain switching, and variations in the detector gain due to signal amplitude. We use a top-down temperature convergence methodology to determine the upper altitude up to which the signals should be compensated for the variations in detector gain. We find that the channels have warm biases in their temperatures of 2–8 K at 40 km. These biases decrease to between 1 K and 3 K at 60 km. Uncertainty estimates derived from the photon-counting statistics indicate temperature uncertainties on the order of 2–5 K in the 40–70 km region, which are consistent with the observed level of inter-channel variability after correction. A comparison with MERRA-2 reanalysis indicates an overall agreement in temperatures and differences that are consistent with the comparisons between the Rayleigh lidars and MERRA-02 at other sites. These results demonstrate that the proposed approach proves reliable for processing the multi-channel Rayleigh lidar data, particularly for systems employing more than two detection channels, and improves the fidelity and accuracy of the temperature retrievals. Full article

Geiger-mode avalanche photodiode (GM-APD) array light detection and ranging (LiDAR) has significant advantages in low-light scenes due to its single-photon-level detection sensitivity. However, it is susceptible to noise, which leads to a decrease in target localization accuracy. Traditional methods rely on long-term accumulation to distinguish signal photons from noise photons, making it difficult to achieve efficient processing, especially in scenarios with sparse echo photons and low signal-to-noise ratio (SNR), where performance is limited. To quickly and accurately obtain three-dimensional (3D) information of the target under such extreme conditions, this paper proposes a method for target detection and temporal window depth estimation based on intensity information guidance. First, noise suppression is performed on the intensity image according to its statistical characteristics, and an outlier detection mechanism based on neighborhood sparsity is introduced to remove outliers, thereby completing the target detection. Next, by exploiting the spatial continuity and reflectivity similarity of the target, local fusion of photon data within the target neighborhood is performed to construct highly consistent “superpixels”. Finally, according to the distribution difference between signal photons and noise photons on the time axis, temporal window screening is applied to the superpixels to extract depth information, and empty pixels are filled using a convex segmentation method to achieve depth estimation of the target. The experimental results demonstrate that under conditions of low photon counts and strong noise, the proposed method significantly outperforms traditional and existing methods in target recovery and depth estimation by effectively integrating target intensity information. Furthermore, this method achieves faster reconstruction speed, enabling high-precision and high-efficiency 3D target reconstruction. Full article

The Ice, Cloud, and Land Elevation Satellite-2 (ICESat-2) employs a 532 nm laser with strong water-penetration capability, making it well suited for satellite-derived bathymetry in shallow waters; however, the effective denoising of photon-counting data remains essential due to strong solar background and intrinsic instrument noise. To address this challenge, this study proposes a novel photon denoising method, termed the Directional Nearest Neighbor Distance-based Algorithm (DNNDA), for robust extraction of signal photons from shallow-water ICESat-2 data. Unlike existing methods that rely heavily on density or terrain features and often degrade under high-noise conditions, DNNDA systematically exploits both scale-corrected spatial relationships and directional distribution characteristics of photons. By quantitatively characterizing the directional features of photon distributions and embedding this information into a density representation, DNNDA amplifies the density contrast between signal and noise photons, rendering the seafloor signal photons more distinct and easier to extract. An evaluation index was further designed to automate optimal parameter determination. Validation using multiple global ICESat-2 datasets demonstrates that DNNDA achieves superior seafloor photon extraction performance, with F1-scores exceeding 95%. Further regression analysis against high-precision CUDEM data in the Puerto Rico region yields root-mean-square errors below 0.57 m. By jointly correcting scale anisotropy and incorporating directional information, DNNDA enables reliable and adaptive signal photon extraction across local and global scales, providing a robust solution for shallow-water bathymetry in complex, high-noise environments. Full article

Equipped with an Advanced Topographic Laser Altimeter System (ATLAS), ICESat-2 (Ice, Cloud and land Elevation Satellite-2) is a photon-counting laser altimetry mission with strong potential for nearshore bathymetry. In this study, a novel filtering and bathymetric method termed a segmented adaptive filtering bathymetry has been proposed. Sea-surface photons are identified from peaks in the elevation-density histogram, enabling separation of surface and seafloor photons. The seafloor photons are then partitioned into along-track segments, where seafloor signal photons are extracted using an adaptive elliptical kernel whose parameters and orientation are determined from local density patterns and seafloor slope. The seafloor profile is obtained by polynomial fitting, and nearshore depth is estimated from the elevations of the surface and seafloor signal photons. To ensure and improve the accuracy and reliability of the proposed method, ICESat-2 data from Qilianyu Islands at the South China Sea and West Island at the Florida Keys of the United States were adopted to perform experiments. Furthermore, the bathymetric results obtained by ICESat-2 datasets at different experimental areas were compared with the reference bathymetry obtained by the airborne light detection and ranging (LiDAR) bathymetry (ALB) system. Finally, the bathymetric accuracy validation and assessment were performed. The highest accuracy of root mean square error (RMSE) and coefficient of determination (R²) has reached 0.37 m and 98%, respectively. The accuracy validation of bathymetric results at different study areas demonstrated that the method proposed in this study can automatically and effectively achieve high-precision nearshore bathymetry and topographic surveys. Full article

Building height is a critical parameter for urban analysis, yet accurately estimating it from ICESat-2 photon-counting LiDAR data remains challenging due to pervasive noise photons and uneven noise distribution. To address the limitations of fixed-threshold denoising methods and improve adaptability across varying density conditions, this study proposes a dual-stage denoising framework for ICESat-2 ATL03 photon data. In the first stage, local photon densities are estimated within a reliable radius, log-transformed, and stratified into multiple levels. Adaptive thresholds are then applied at each level to suppress low-density noise while minimizing over-filtering in sparse regions. In the second stage, residual feedback-driven adaptive fitting strategy is applied along the ground track, where polynomial fitting was performed in sliding windows, with the window size dynamically adjusted based on residuals to refine local structures and eliminate outliers. The experiment was conducted in South Holland and Friesland, across 84 ICESat-2 tracks, where quantitative evaluations under varying day/night and beam conditions confirmed the effectiveness of the proposed framework. For denoising, the proposed method achieved high denoising accuracy, with F1-scores exceeding 0.97 in most cases, outperforming previous methods. Furthermore, building heights derived from footprint buffering and elevation differencing are validated against airborne LiDAR, yielding coefficient of determination (R²) values of 0.7235 and 0.9487 for the two regions, with root mean square error (RMSE) values of 1.5045 m and 1.8849 m, respectively. This study confirms the effectiveness and robustness of the proposed dual-stage framework, demonstrating its strong capability for both noise suppression in ICESat-2 ATL03 photon data and the subsequent accurate estimation of building heights. Full article

The Ice, Cloud, and Land Elevation Satellite-2 (ICESat-2), equipped with the Advanced Topographic Laser Altimeter System (ATLAS), is capable of acquiring large-scale terrain and forest structural information through photon-counting LiDAR. However, photon point clouds exhibit significant noise variability due to diurnal changes and variations in beam intensity, which undermines the accuracy and stability of terrain and canopy height retrievals in forested regions. To address the limited adaptability of existing methods under daytime/nighttime and strong/weak beam conditions, this study proposes a multi-stage processing framework integrating photon denoising, classification, and quasi-full-waveform reconstruction. First, local statistical features combined with adaptive parameter optimization were employed, applying Gaussian and exponential fitting to denoise daytime strong and weak beams and enhance the signal-to-noise ratio (SNR). Subsequently, an improved random sample consensus (RANSAC) algorithm was introduced to remove residual noise and classify photons under both diurnal and beam-intensity variations. Finally, a radial basis function (RBF) interpolation was used to reconstruct quasi-full-waveform curves for terrain and canopy heights. Compared with the ATL08 product (terrain root mean square error (RMSE): 2.65 m for daytime strong beams and 5.77 m for daytime weak beams), the proposed method reduced RMSE by 0.53 m and 1.30 m, respectively, demonstrating enhanced stability and robustness under low-SNR conditions. For canopy height estimation, all beam types showed high consistency with airborne LiDAR measurements, with the highest correlation achieved for nighttime strong beams (R = 0.90), accompanied by the lowest RMSE (4.82 m) and mean absolute error (MAE = 2.97 m). In comparison, ATL08 canopy height errors for nighttime strong beams were higher (RMSE = 5.67 m; MAE = 4.16 m). Notably, significant improvements were observed for weak beams relative to ATL08. These results indicate that the proposed framework effectively denoises and classifies photon point clouds under diverse daytime/nighttime and strong/weak beam conditions, providing a robust methodological reference for high-precision terrain and forest canopy height estimation in forested regions. Full article

Laser pulses experience significant temporal broadening in underwater environments due to strong turbulence and scattering effects. As water turbidity increases, the likelihood of multiple scattering events rises, further intensifying pulse broadening and thereby degrading the ranging accuracy of underwater single-photon LiDAR systems. Accurate characterization of the return pulse shape is crucial for precise distance extraction, typically achieved via cross-correlation with the system’s Instrument Response Function (IRF). Conventional models often fail to accurately characterize the distinctive asymmetric shape of underwater LiDAR returns, which feature a rapid rise and a slow decay. To address this limitation, this paper proposes a Modified Biexponential Distribution (MBD) model, specifically designed to capture both the sharp leading edge and the gradual trailing decay of the pulses. This model enables a more accurate representation of the broadened pulse, effectively mitigating the ranging error induced by scattering. Experimental validation demonstrates that, at an attenuation length of 6.9, the Depth Absolute Error (DAE) is reduced from 3.82 cm to 3.15 cm (a 17.54% improvement), while the probability of achieving a DAE below 3.82 cm increases from 49.70% to 74.83%. These results confirm the effectiveness and robustness of the proposed model in enhancing the ranging accuracy of underwater photon-counting LiDAR systems. Furthermore, this study provides a model-driven analytical basis for improving underwater photon detection and bathymetric performance in turbid conditions. Full article

Over the past two decades, Light Detection and Ranging (LiDAR) technology has evolved from early National Aeronautics and Space Administration (NASA)-led airborne laser altimetry into commercially mature systems that now underpin vegetation remote sensing across scales. Continuous advancements in laser engineering, signal processing, and complementary technologies—such as Inertial Measurement Units (IMU) and Global Navigation Satellite Systems (GNSS)—have yielded compact, cost-effective, and highly sophisticated LiDAR sensors. Concurrently, innovations in carrier platforms, including uncrewed aerial systems (UAS), mobile laser scanning (MLS), Simultaneous Localization and Mapping (SLAM) frameworks, have expanded LiDAR’s observational capacity from plot- to global-scale applications in forestry, precision agriculture, ecological monitoring, Above Ground Biomass (AGB) modeling, and wildfire science. This review synthesizes LiDAR’s cross-domain capabilities for the following: (a) quantifying vegetation structure, function, and compositional dynamics; (b) recent sensor developments encompassing ALS discrete-return ${(ALS}_D)$, and ALS full-waveform $\left({ALS}_{FW}\right)$, photon-counting LiDAR (PCL), emerging multispectral LiDAR (MSL), and hyperspectral LiDAR (HSL) systems; and (c) state-of-the-art data processing and fusion workflows integrating optical and radar datasets. The synthesis demonstrates that many LiDAR-derived vegetation metrics are inherently transferable across domains when interpreted within a unified structural framework. The review further highlights the growing role of artificial-intelligence (AI)-driven approaches for segmentation, classification, and multitemporal analysis, enabling scalable assessments of vegetation dynamics at unprecedented spatial and temporal extents. By consolidating historical developments, current methodological advances, and emerging research directions, this review establishes a comprehensive state-of-the-art perspective on LiDAR’s transformative role and future potential in monitoring and modeling Earth’s vegetated ecosystems. Full article

Light detection and ranging (LiDAR) has been widely used in navigation and environmental perception owing to its excellent beam directivity and high spatial resolution. Among its modalities, single-photon (photon-counting) LiDAR offers higher detection sensitivity at long ranges and under weak-return conditions and has therefore attracted considerable attention. However, this high sensitivity also introduces substantial background counts into the raw measurements; without effective filtering, downstream tasks such as image reconstruction and target recognition are hindered. In this work, a 128-line single-photon LiDAR system for port-environment perception was designed, and a histogram-based statistical filtering engineering solution was proposed. The algorithm incorporates distance-based piecewise adaptive parameterization and adjacent-channel fusion while maintaining a small memory footprint and facilitating deployment. Field experiments using datasets collected in Qingdao and Shanghai demonstrated good denoising performance at ranges up to 2.4 km. In simulation experiments using synthetic data with ground truth, an F1 score of 0.9091 was achieved by RA-ACF HSF, outperforming the baseline methods DBSCAN (0.6979) and ROR (0.7500). The proposed system and method provide a practical engineering solution for maritime navigation and port-environment perception. Full article

The ICESat-2 satellite collects LiDAR data along linear orbital tracks using a photon-counting green wavelength (532.27 nm) instrument. The utility of combining ICESat-2 data with satellite imagery for training and subsequently applying satellite-derived bathymetry models to provide estimates of shallow water depth is well-established. However, automating and improving the accuracy of the identification of ICESat-2 photon events (PEs) representing bathymetry remains a challenge. This article presents an algorithm for automated extraction of PEs reflected from the ocean floor (rather than the ocean surface or noise in the water column). The algorithm is unique in examining both the density of PEs surrounding a subject PE and their position relative to the subject PE. This is accomplished by establishing three concentric ellipses around the subject PE, dividing them into radial “sectors” in 2D space (along-track vs. PE depth/height), recording the number of neighboring PEs in each sector and using this information to fit a LightGBM model. Agreement with PEs identified by an image interpreter is approximately 98%. Testing suggests that the accuracy of the algorithm is relatively insensitive to the size and shape of the ellipses used to define a PE’s neighborhood and to the number of radial sectors used. The model produced also appears to be robust across different geographic areas and data densities. Full article