Search Results (53)

To address the issues of signal loss and insufficient accuracy of traditional GNSS (Global Navigation Satellite System) navigation in agricultural machinery sheds and farm access road environments, this paper proposes a high-precision mapping method for such complex environments and a real-time localization system for agricultural vehicles. First, an autonomous navigation system was developed by integrating multi-sensor data from LiDAR (Light Laser Detection and Ranging), GNSS, and IMU (Inertial Measurement Unit), with functional modules for mapping, localization, planning, and control implemented within the ROS (Robot Operating System) framework. Second, an improved LeGO-LOAM algorithm is introduced for constructing maps of machinery sheds and farm access roads. The mapping accuracy is enhanced through reflectivity filtering, ground constraint optimization, and ScanContext-based loop closure detection. Finally, a localization method combining NDT (Normal Distribution Transform), IMU, and a UKF (Unscented Kalman Filter) is proposed for tracked grain transport vehicles. The UKF and IMU measurements are used to predict the vehicle state, while the NDT algorithm provides pose estimates for state update, yielding a fused and more accurate pose estimate. Experimental results demonstrate that the proposed mapping method reduces APE (absolute pose error) by 79.99% and 49.04% in the machinery sheds and farm access roads environments, respectively, indicating a significant improvement over conventional methods. The real-time localization module achieves an average processing time of 26.49 ms with an average error of 3.97 cm, enhancing localization accuracy without compromising output frequency. This study provides technical support for fully autonomous operation of agricultural machinery. Full article

Prior studies on indoor LiDAR point-cloud semantic segmentation consistently report that sampling density strongly affects segmentation accuracy as well as runtime and memory, establishing an accuracy–efficiency trade-off. Nevertheless, in practice, the density is often chosen heuristically and reported under heterogeneous protocols, which limits quantitative guidance. We present a unified evaluation framework that treats density as the sole independent variable. To control architectural variability, three representative backbones—PointNet, PointNet++, and DGCNN—are each augmented with an identical Point Transformer module, yielding PointNet-Trans, PointNet++-Trans, and DGCNN-Trans trained and tested under one standardized protocol. The framework couples isotropic voxel-guided uniform down-sampling with a decision rule integrating three signals: (i) accuracy sufficiency, (ii) the onset of diminishing efficiency, and (iii) the knee of the accuracy–density curve. Experiments on scan-derived indoor point clouds (with BIM-derived counterparts for contrast) quantify the accuracy–runtime trade-off and identify an engineering-feasible operating band of 1600–2900 points/m², with a robust setting near 2400 points/m². Planar components saturate at moderate densities, whereas beams are more sensitive to down-sampling. By isolating density effects and enforcing one protocol, the study provides reproducible, model-agnostic guidance for scan planning and compute budgeting in indoor mapping and Scan-to-BIM workflows. Full article

We present a tunable diode-laser absorption spectroscopy (TDLAS) system operating at 1.5711 µm for CO₂ gas concentration measurements. The system can operate in either a traditional direct-mode (dTDLAS) sawtooth wavelength scan or a recently demonstrated wavelength-toggled single laser differential-absorption lidar (WTSL-DIAL) mode using precompensated current pulses. The use of such precompensated pulses offsets the slow thermal constants of the diode laser, leading to fast toggling between ON and OFF-resonance wavelengths. A short measurement time is indeed pivotal for atmospheric sensing, where ambient factors, such as turbulence or mechanical vibrations, would otherwise deteriorate sensitivity, precision and accuracy. Having a system able to operate in both modes allows us to benchmark the novel experimental procedure against the well-established dTDLAS method. The theory behind the new WTSL-DIAL method is also expanded to include the periodicity of the current modulation, fundamental for the calculation of the OFF-resonance wavelength. A two-detector scheme is chosen to suppress the influence of laser intensity fluctuations in time (1/f noise), and its performance is eventually benchmarked against a one-detector approach. The main difference between dTDLAS and WTSL-DIAL, in terms of signal processing, lies in the fact that while the former requires time-consuming data processing, which limits the maximum update rate of the instrument, the latter allows for computationally simpler and faster concentration readings. To compare other performance metrics, the update rate was kept at 2 kHz for both methods. To analyze the dTDLAS data, a four-parameter Lorentzian fit was performed, where the fitting function comprised the six main neighboring absorption lines centered around 1.5711 µm. Similarly, the spectral overlap between the same lines was considered when analyzing the WTSL-DIAL data in real time. Our investigation shows that, for the studied time intervals, the WTSL-DIAL approach is 3.65 ± 0.04 times more precise; however, the dTDLAS-derived CO₂ concentration measurements are less subject to systematic errors, in particular pressure-induced ones. The experimental results are accompanied by a thorough explanation and discussion of the models used, as well as their advantages and limitations. Full article

Streak cameras, essential for ultrahigh temporal resolution diagnostics in laser-driven inertial confinement fusion, underpin the streak tube imaging LiDAR (STIL) system—a flash LiDAR technology offering high spatiotemporal resolution, precise ranging, enhanced sensitivity, and wide field of view. This study establishes a theoretical model of the STIL system, with numerical simulations predicting limits of temporal and spatial resolutions of ~6 ps and 22.8 lp/mm, respectively. Dynamic simulations of laser backscatter signals from targets at varying depths demonstrate an optimal distance reconstruction accuracy of 98%. An experimental STIL platform was developed, with the key parameters calibrated as follows: scanning speed (16.78 ps/pixel), temporal resolution (14.47 ps), and central cathode spatial resolution (20 lp/mm). The system achieved target imaging through streak camera detection of azimuth-resolved intensity profiles, generating raw streak images. Feature extraction and neural network-based three-dimensional (3D) reconstruction algorithms enabled target reconstruction from the time-of-flight data of short laser pulses, achieving a minimum distance reconstruction error of 3.57%. Experimental results validate the capability of the system to detect fast, low-intensity optical signals while acquiring target range information, ultimately achieving high-frame-rate, high-resolution 3D imaging. These advancements position STIL technology as a promising solution for applications that require micron-scale depth discrimination under dynamic conditions. Full article

Many real-world phenomena corrupt light detection and ranging (lidar) measurements, such as laser energy attenuation, variations in aerosol concentration and composition with height, and hard target returns. Accurate studies of lidar scans using virtual lidar methods should include some realistic model of these corrupting effects to generate more realistic simulations of lidar scans. We present a simple model that characterizes noise caused by energy attenuation and aerosol stratification. The model requires limited inputs and is developed for a Halo Photonics Streamline XR lidar but is readily generalizable for other lidar systems. A critical component of this model is a model of the standard deviation of measured wind speed as a function of the backscattered signal’s signal-to-noise ratio. We derive a general model for this behavior that can be adapted to different scan settings. Full article

The laser pulse detection probability of a scanning direct time-of-flight light detection and ranging (LiDAR) measurement is evaluated based on the optical signal distribution on a multipixel single photon avalanche diode (SPAD) array. These detectors intrinsically suffer from dead-times after the successful detection of a single photon and, thus, allow only for limited counting statistics when multiple returning laser photons are imaged on a single pixel. By blurring the imaged laser spot, the transition from single-pixel statistics with high signal intensity to multipixel statistics with less signal intensity is examined. Specifically, a comparison is made between the boundary cases in which (i) the returning LiDAR signal is focused through optics onto a single pixel and (ii) the detection is performed without lenses using all available pixels on the sensor matrix. The omission of imaging optics reduces the overall system size and minimizes optical transfer losses, which is crucial given the limited laser emission power due to safety standards. The investigation relies on a photon rate model for interfering (background) and signal light, applied to a simulated first-photon sensor architecture. For single-shot scenarios that reflect the optimal use of the time budget in scanning LiDAR systems, the lens-less and blurred approaches can achieve comparable or even superior results to the focusing system. This highlights the potential of fully solid-state scanning LiDAR systems utilizing optical phase arrays or multidirectional laser chips. Full article

Lidar has been used for many years to study the optical properties of aerosols, but estimating the boundary values requires solving the lidar elastic scattering equation, which remains a challenge. The boundary values are often determined by fitting to uniform regions of the atmosphere. This method typically excludes low signal-to-noise ratio (SNR) signals because it classifies them as non-uniform, reducing the effective detection range of the lidar. On the other hand, directly fitting low SNR signals to estimate the boundary values can introduce significant errors. The method is based on maximizing the lidar detection distance and determines the boundary value using a new estimation algorithm with the averaging of multiple fitted results in the low SNR region to reduce the impact of noise. Simulations demonstrate that the new method reduces the relative error in the boundary value estimation by approximately 5% and improves the accuracy of the extinction coefficient profile inversion compared with the method of directly fitting all-sample signals. Field comparison experiments with forward-scattering sensors further verify that the algorithm improves the retrieval accuracy by 17.3% under extremely low signal-to-noise ratio (SNR) conditions, while performing comparably to the traditional method in high SNR homogeneous atmospheres. Additionally, based on the scanned lidar signals, the algorithm can provide detailed information on the spatial distribution of sea fog and offer valuable insights for an in-depth understanding of the physical evolution of sea fog. Full article

Forest canopy height (FCH) is a vital indicator for assessing forest health and ecosystem service capacity. Over the past two decades, full-waveform (FW) LiDAR has been widely employed for estimating forest biophysical variables due to its high precision in measuring vertical forest structures. However, the impact of terrain undulations on forest parameter estimation remains challenging. To address this issue, this study proposes a bisection approximation decomposition (BAD) method for processing GEDI L1B data and FCH estimation. The BAD method analyzes the energy composition of simplified echo signals and determines the fitting parameters by integrating overall signal energy, the differences in unresolved signals, and the similarity of inter-forest signal characteristics. FCH is subsequently estimated based on waveform peak positions. By dynamically adjusting segmentation points and Gaussian fitting parameters, the BAD method achieved precise separation of mixed canopy and ground signals, substantially enhancing the physical realism and applicability of decomposition results. The effectiveness and robustness of the BAD method for FCH estimation were evaluated using 2049 footprints across varying slope conditions in the Harvard Forest region of Petersham, Massachusetts. The results demonstrated that digital terrain models (DTMs) extracted using the GEDI data and the BAD method exhibited high consistency with the DTMs derived using airborne laser scanning (ALS) data (coefficient of determination R² > 0.99). Compared with traditional Gaussian decomposition (GD), wavelet decomposition (WD), and deconvolution decomposition (DD) methods, the BAD method showed significant advantages in FCH estimation, achieved the smallest relative root mean square error (rRMSE) of 17.19% and greatest mean estimation accuracy of 84.57%, and reduced the rRMSE by 10.74%, 21.49%, and 28.93% compared to GD, WD, and DD methods, respectively. Moreover, the BAD method exhibited a significantly stronger correlation with ALS-derived canopy height mode data than the relative height metrics from GEDI L2A products (r = 0.84, p < 0.01). The robustness and adaptability of the BAD method to complex terrain conditions provide great potential for forest parameters using GEDI data. Full article

This paper accompanies the initial public release of the EDI multi-modal SLAM dataset, a collection of long tracks recorded with a portable sensor package. These include two global shutter RGB camera feeds, LiDAR scans, as well as inertial and GNSS data from an RTK-enabled IMU-GNSS positioning module—both as satellite fixes and internally fused interpolated pose estimates. The tracks are formatted as ROS1 and ROS2 bags, with separately available calibration and ground truth data. In addition to the filtered positioning module outputs, a second form of sparse ground truth pose annotation is provided using independently surveyed visual fiducial markers as a reference. This enables the meaningful evaluation of systems that directly utilize data from the positioning module into their localization estimates, and serves as an alternative when the GNSS reference is disrupted by intermittent signals or multipath scattering. In this paper, we describe the methods used to collect the dataset, its contents, and its intended use. Full article

In response to the current low work efficiency of soil ridge-working machinery, as well as its poor stability, passability, and adaptability, this paper designs an independent leg-type working platform that can autonomously adjust its vehicle attitude through LiDAR scanning in a soil ridge-working environment. The platform, in terms of its mechanism and structural design, adopts dual parallelogram mechanisms, dual lead screw mechanisms, and independent column leg mechanisms, with a maximum adjustable ground clearance of 107 mm and a maximum wheelbase adjustment of 150 mm. A gyroscope is mounted at the center of the platform for attitude adjustment, ensuring the accurate data collection of the ultrasonic ranging module. Moreover, the platform adopts an adaptive adjustment method based on vehicle attitude and soil ridge shape parameters, obtaining soil ridge parameters through LiDAR and combining ultrasonic ranging module data with stepper motor pulse signals to obtain the absolute vehicle attitude parameters, using first and second linear regression methods to adjust the vehicle attitude and other working parameters. A prototype was also created, and the test data from the soil obtained through experiments show that, after leveling with the gyroscope leveling algorithm, the average value of the pitch angle is up to 0.6154°, and the average value of the roll angle is up to 0.9989°, with the maximum variance of the pitch angle being 0.0474° and the maximum variance of the tilt angle being 0.1320°. After the ultrasonic ranging module data are filtered by the Kalman filter, the maximum variance is 0.0304, and after applying the final fusion algorithm, the maximum variance is only 0.0085. The LiDAR measurement width value deviates from the actual width value by no more than 1.0 cm, and the LiDAR measurement height value deviates from the actual height value by no more than 1.0 cm. The platform’s actual adjusted width deviates from the actual soil ridge width by no more than 2.0 cm, and the platform’s actual adjusted height deviates from the actual soil ridge height by no more than 1.2 cm. This platform can improve the passability, adaptability, and stability of agricultural machinery in soil ridge work and provide technical references for subsequent related research. Full article

The leaf area index (LAI) is a critical variable for forest ecosystem processes. Passive optical and active LiDAR remote sensing have been used to retrieve LAI. LiDAR data have good penetration to provide vertical structure distribution and deliver the ability to estimate forest LAI, such as the Ice, Cloud, and Land Elevation Satellite-2 (ICESat-2). Segment size and beam type are important for ICESat-2 LAI estimation, as they affect the amount of signal photons returned. However, the current ICESat-2 LAI estimation only covered a limited number of sites, and the performance of LAI estimation with different segment sizes has not been clearly compared. Moreover, ICESat-2 LAIs derived from strong and weak beams lack a comparative analysis. This study derived and evaluated LAI from ICESat-2 data over the National Ecological Observatory Network (NEON) sites in North America. The LAI estimated from ICESat-2 for different segment sizes (20, 100, and 200 m) and beam types (strong beam and weak beam) were compared with those from the airborne laser scanning (ALS) and the Copernicus Global Land Service (CGLS). The results show that the LAI derived from strong beams performs better than that of weak beams because more photon signals are received. The LAI estimated from the strong beam at the 200 m segment size shows the highest consistency with those from the ALS data (R = 0.67). Weak beams also present the potential to estimate LAI and have moderate agreement with ALS (R = 0.52). The ICESat-2 LAI shows moderate consistency with ALS for most forest types, except for the evergreen forest. The ICESat-2 LAI shows satisfactory agreement with the CGLS 300 m LAI product (R = 0.67, RMSE = 1.94) and presents a higher upper boundary. Overall, the ICESat-2 can characterize canopy structural parameters and provides the ability to estimate LAI, which may promote the LAI product generated from the photon-counting LiDAR. Full article

High-repetitive features in unstructured environments and frequent signal loss of the Global Navigation Satellite System (GNSS) severely limits the development of autonomous robot localization in orchard settings. To address this issue, we propose a LiDAR-based odometry pipeline GLIO, inspired by KISS-ICP and DLIO. GLIO is based on a nonlinear observer with strong global convergence, effectively fusing sensor data from GNSS, IMU, and LiDAR. This approach allows for many potentially interfering and inaccessible relative and absolute measurements, ensuring accurate and robust 6-degree-of-freedom motion estimation in orchard environments. In this framework, GNSS measurements are treated as absolute observation constraints. These measurements are tightly coupled in the prior optimization and scan-to-map stage. During the scan-to-map stage, a novel point-to-point ICP registration with no parameter adjustment is introduced to enhance the point cloud alignment accuracy and improve the robustness of the nonlinear observer. Furthermore, a GNSS health check mechanism, based on the robot’s moving distance, is employed to filter reliable GNSS measurements to prevent odometry crashed by sensor failure. Extensive experiments using multiple public benchmarks and self-collected datasets demonstrate that our approach is comparable to state-of-the-art algorithms and exhibits superior localization capabilities in unstructured environments, achieving an absolute translation error of 0.068 m and an absolute rotation error of 0.856°. Full article

LiDAR has emerged as one of the most pivotal sensors in the field of navigation, owing to its expansive measurement range, high resolution, and adeptness in capturing intricate scene details. This significance is particularly pronounced in challenging navigation scenarios where GNSS signals encounter interference, such as within urban canyons and indoor environments. However, the copious volume of point cloud data poses a challenge, rendering traditional iterative closest point (ICP) methods inadequate in meeting real-time odometry requirements. Consequently, many algorithms have turned to feature extraction approaches. Nonetheless, with the advent of diverse scanning mode LiDARs, there arises a necessity to devise unique methods tailored to these sensors to facilitate algorithm migration. To address this challenge, we propose a weighted point-to-plane matching strategy that focuses on local details without relying on feature extraction. This improved approach mitigates the impact of imperfect plane fitting on localization accuracy. Moreover, we present a classification optimization method based on the normal vectors of planes to further refine algorithmic efficiency. Finally, we devise a tightly coupled LiDAR-inertial odometry system founded upon optimization schemes. Notably, we pioneer the derivation of an online gravity estimation method from the perspective of ${\mathcal{S}}^2$ manifold optimization, effectively minimizing the influence of gravity estimation errors introduced during the initialization phase on localization accuracy. The efficacy of the proposed method was validated through experimentation employing various LiDAR sensors. The outcomes of indoor and outdoor experiments substantiate its capability to furnish real-time and precise localization and mapping results. Full article

Electromagnetic micro mirrors are in great demand for light detection and ranging (LiDAR) applications due to their light weight and low power consumption. The driven frequency of electromagnetic micro mirrors is very important to their performance and consumption. An electromagnetic micro mirror system is proposed in this paper. The model of the system was composed of a micro mirror, an integrated piezoresistive (PR) sensor, and a driving circuit was developed. The twisting angle of the mirror edge was monitored by an integrated PR sensor, which provides frequency feedback signals, and the PR sensor has good sensitivity and linearity in testing, with a maximum of 24.45 mV/deg. Stable sinusoidal voltage excitation and frequency tracking was realized via a phase-locked loop (PLL) in the driving circuit, with a frequency error within 10 Hz. Compared with other high-cost solutions using PLL circuits, it has greater advantages in power consumption, cost, and occupied area. The mechanical and piezoresistive properties of micro mirrors were performed in ANSYS 19.2 software. The behavior-level models of devices, circuits, and systems were validated by MATLAB R2023a Simulink, which contributes to the research on the large-angle deflection and low-power-consumption drive of the electromagnetic micro mirror. The maximum optical scan angle reached 37.6° at 4 kHz in the behavior-level model of the micro mirror. Full article

Challenges have been observed in the traditional circumferential-scanning LiDAR underwater to balance between the detection range and the sealing performance. To tackle these challenges, a new scanning unit is presented in this paper, employing a pyramidal-shaped reflector for enhanced performance. Furthermore, an innovative magneto–electric detection module comprising Hall switches and magnetic rings is introduced. It can facilitate the accurate identification of the reflector’s edge, thereby enhancing the precision of the target-orientation detection. A rapid target orientation coding method based on split-frequency clocks is proposed on FPGAs. It can output the target’s initial and termination orientation codes immediately after capturing it, exhibiting a significantly low output delay of 20 ns and a high detection resolution of 15°. Finally, a prototype is fabricated to validate the design in this paper. The experimental results demonstrate that the scanning unit enables reliable scanning and orientation recognition of the target. In addition, it is trustworthy in receiving echo signals when the laser passes through glass and then an aqueous medium. Full article