Search Results (368)

The structural stability of lava tubes is a critical factor for their potential use in lunar base construction. Previous studies could not reflect the details of lava tube boundaries and perform accurate mechanical analysis. To this end, this study proposes a robust method to construct a high-precision, real-scene 3D model based on ground lava tube point cloud data. By employing finite element analysis, this study investigated the impact of real-world cross-sectional geometry, particularly the aspect ratio, on structural stability under surface pressure simulating meteorite impacts. A high-precision 3D reconstruction was achieved using UAV-mounted LiDAR and SLAM-based positioning systems, enabling accurate geometric capture of lava tube profiles. The original point cloud data were processed to extract cross-sections, which were then classified by their aspect ratios for analysis. Experimental results confirmed that the aspect ratio is a significant factor in determining stability. Crucially, unlike the monotonic trends often suggested by idealized models, analysis of real-world geometries revealed that the greatest deformation and structural vulnerability occur in sections with an aspect ratio between 0.5 and 0.6. For small lava tubes buried 3 m deep, the ground pressure they can withstand does not exceed 6 GPa. This process helps identify areas with weaker load-bearing capacity. The analysis demonstrated that a realistic 3D modeling approach provides a more accurate and reliable assessment of lava tube stability. This framework is vital for future evaluations of lunar lava tubes as safe habitats and highlights that complex, real-world geometry can lead to non-intuitive structural weaknesses not predicted by simplified models. Full article

This article aims to utilize a microelectromechanical system (MEMS) to modulate coupling behavior of silicon nitride (Si₃N₄) waveguides to perform an optical switch based on a directional coupling (DC) mechanism. There are two states of the switch. First state, a Si₃N₄ wire is initially positioned up suspended in the air. In the second state, this wire will be moved down to be placed between two arms of the DC waveguides, changing the coupling behavior to achieve bar and cross states of the optical switch function. In the future, the MEMS will be used to move this wire down. In this work, we present simulations of the two static states to optimize the DC structure parameters. Based on the simulated results, the device size is 8.8 μm × 55 μm. The insertion loss is calculated to be approximately 0.24 dB and 0.33 dB, the extinction ratio is approximately 24.70 dB and 25.46 dB, and the crosstalk is approximately −24.60 dB and −25.56 dB, respectively. In the C band of optical communication, the insertion loss ranges from 0.18 dB to 0.47 dB. As such, this device will exhibit excellent optical switch performance and provide advantages in many integrated optics-related optical systems applications. Furthermore, it can be used in optical communications, data centers, LiDAR, and so on, enhancing important reference value for such applications. Full article

Existing Simultaneous Localization and Mapping (SLAM) algorithms provide precise local pose estimation and real-time scene reconstruction, widely applied in autonomous navigation for land vehicles. However, the odometry of SLAM algorithms exhibits localization drift and error divergence over long-distance operations due to the lack of inherent global constraints. In this paper, we propose a real-time geo-localization method for land vehicles, which only relies on a LiDAR-inertial-visual SLAM (LIV-SLAM) and a referenced image. The proposed method enables long-distance navigation without requiring GPS or loop closure, while eliminating accumulated localization errors. To achieve this, the local map constructed by SLAM is real-timely projected onto a downward-view image, and a highly efficient cross modal matching algorithm is proposed to estimate the global position by aligning the projected local image to a geo-referenced satellite image. The cross-modal algorithm leverages dense texture orientation features, ensuring robustness against cross-modal distortion and local scene changes, and supports efficient correlation in the frequency domain for real-time performance. We also propose a novel adaptive Kalman filter (AKF) to integrate the global position provided by the cross-modal matching and the pose estimated by LIV-SLAM. The proposed AKF is designed to effectively handle observation delays and asynchronous updates while simultaneously rejecting the impact of erroneous matches through an Observation-Aware Gain Scaling (OAGS) mechanism. We verify the proposed algorithm through R³LIVE and NCLT datasets, demonstrating superior computational efficiency, reliability, and accuracy compared to existing methods. Full article

This study describes a quite special and interesting atmospheric event characterized by the simultaneous presence of fresh and aged smoke layers. These peculiar conditions occurred on 16 July 2024 at the CNR-IMAA atmospheric observatory (CIAO) in Potenza (Italy), and represent an ideal case for the evaluation of the impact of aging and transport mechanisms on both the optical and microphysical properties of biomass burning aerosol. The fresh smoke was originated by a local wildfire about 2 km from the measurement site and observed about one hour after its ignition. The other smoke layer was due to a wide wildfire occurring in Canada that, according to backward trajectory analysis, traveled for about 5–6 days before reaching the observatory. Synergetic use of lidar, ceilometer, radar, and microwave radiometer measurements revealed that particles from the local wildfire, located at about 3 km a.s.l., acted as condensation nuclei for cloud formation as a result of high humidity concentrations at this altitude range. Optical characterization of the fresh smoke layer based on Raman lidar measurements provided lidar ratio (LR) values of 46 ± 4 sr and 34 ± 3 sr, at 355 and 532 nm, respectively. The particle linear depolarization ratio (PLDR) at 532 nm was 0.067 ± 0.002, while backscatter-related Ångström exponent (AEβ) values were 1.21 ± 0.03, 1.23 ± 0.03, and 1.22 ± 0.04 in the spectral ranges of 355–532 nm, 355–1064 nm and 532–1064 nm, respectively. Microphysical inversion caused by these intensive optical parameters indicates a low contribution of black carbon (BC) and, despite their small size, particles remained outside the ultrafine range. Moreover, a combined use of CIAO remote sensing and in situ instrumentation shows that the particle properties are affected by humidity variations, thus suggesting a marked particle hygroscopic behavior. In contrast, the smoke plume from the Canadian wildfire traveled at altitudes between 6 and 8 km a.s.l., remaining unaffected by local humidity. Absorption in this case was higher, and, as observed in other aged wildfires, the LR at 532 nm was larger than that at 355 nm. Specifically, the LR at 355 nm was 55 ± 2 sr, while at 532 nm it was 82 ± 3 sr. The AEβ values were 1.77 ± 0.13 and 1.41 ± 0.07 at 355–532 nm and 532–1064 nm, respectively and the PLDR at 532 nm was 0.040 ± 0.003. Microphysical analysis suggests the presence of larger, yet much more absorbent particles. This analysis indicates that both optical and microphysical properties of smoke can vary significantly depending on its origin, persistence, and transport in the atmosphere. These factors that must be carefully incorporated into future climate models, especially considering the frequent occurrences of fire events worldwide. Full article

The segmentation of individual trees holds considerable significance in the investigation and management of forest resources. Utilizing smartphone-captured imagery combined with image-based 3D reconstruction techniques to generate corresponding point cloud data can serve as a more accessible and potentially cost-efficient alternative for data acquisition compared to conventional LiDAR methods. In this study, we present a Sparse 3D U-Net framework for single-tree segmentation which is predicated on a multi-head attention mechanism. The mechanism functions by projecting the input data into multiple subspaces—referred to as “heads”—followed by independent attention computation within each subspace. Subsequently, the outputs are aggregated to form a comprehensive representation. As a result, multi-head attention facilitates the model’s ability to capture diverse contextual information, thereby enhancing performance across a wide range of applications. This framework enables efficient, intelligent, and end-to-end instance segmentation of forest point cloud data through the integration of multi-scale features and global contextual information. The introduction of an iterative mechanism at the attention layer allows the model to learn more compact feature representations, thereby significantly enhancing its convergence speed. In this study, Dongsheng Bajia Country Park and Jiufeng National Forest Park, situated in Haidian District, Beijing, China, were selected as the designated test sites. Eight representative sample plots within these areas were systematically sampled. Forest stand sequential photographs were captured using an iPhone, and these images were processed to generate corresponding point cloud data for the respective sample plots. This methodology was employed to comprehensively assess the model’s capability for single-tree segmentation. Furthermore, the generalization performance of the proposed model was validated using the publicly available dataset TreeLearn. The model’s advantages were demonstrated across multiple aspects, including data processing efficiency, training robustness, and single-tree segmentation speed. The proposed method achieved an F1 score of 91.58% on the customized dataset. On the TreeLearn dataset, the method attained an F1 score of 97.12%. Full article

High-quality multispectral LiDAR (MSL) data are crucial for land cover (LC) classification. However, the Titan MSL system encounters challenges of inconsistent spatial–spectral information due to its unique scanning and data saving method, restricting subsequent classification accuracy. Existing spectral reconstruction methods often require empirical parameter settings and involve high computational costs, limiting automation and complicating application. To address this problem, we introduce the dual attention spectral optimization reconstruction network (DossaNet), leveraging an attention mechanism and spatial–spectral information. DossaNet can adaptively adjust weight parameters, streamline the multispectral point cloud acquisition process, and integrate it into classification models end-to-end. The experimental results show the following: (1) DossaNet exhibits excellent generalizability, effectively recovering accurate LC spectra and improving classification accuracy. Metrics across the six classification models show some improvements. (2) Compared with the method lacking spectral reconstruction, DossaNet can improve the overall accuracy (OA) and average accuracy (AA) of PointNet++ and RandLA-Net by a maximum of 4.8%, 4.47%, 5.93%, and 2.32%. Compared with the inverse distance weighted (IDW) and k-nearest neighbor (KNN) approach, DossaNet can improve the OA and AA of PointNet++ and DGCNN by a maximum of 1.33%, 2.32%, 0.86%, and 2.08% (IDW) and 1.73%, 3.58%, 0.28%, and 2.93% (KNN). The findings further validate the effectiveness of our proposed method. This method provides a more efficient and simplified approach to enhancing the quality of multispectral point cloud data. Full article

Low-altitude unmanned aerial vehicle (UAV) vision is critically hindered by the Sim-to-Real Gap, where models trained exclusively on simulation data degrade under real-world variations in lighting, texture, and weather. To address this problem, we propose RA3T (Region-Aligned 3D Transformer), a novel self-supervised framework that enables robust Sim-to-Real adaptation. Specifically, we first develop a dual-branch strategy for self-supervised feature learning, integrating Masked Autoencoders and contrastive learning. This approach extracts domain-invariant representations from unlabeled simulated imagery to enhance robustness against occlusion while reducing annotation dependency. Leveraging these learned features, we then introduce a 3D Transformer fusion module that unifies multi-view RGB and LiDAR point clouds through cross-modal attention. By explicitly modeling spatial layouts and height differentials, this component significantly improves recognition of small and occluded targets in complex low-altitude environments. To address persistent fine-grained domain shifts, we finally design region-level adversarial calibration that deploys local discriminators on partitioned feature maps. This mechanism directly aligns texture, shadow, and illumination discrepancies which challenge conventional global alignment methods. Extensive experiments on UAV benchmarks VisDrone and DOTA demonstrate the effectiveness of RA3T. The framework achieves +5.1% mAP on VisDrone and +7.4% mAP on DOTA over the 2D adversarial baseline, particularly on small objects and sparse occlusions, while maintaining real-time performance of 17 FPS at 1024 × 1024 resolution on an RTX 4080 GPU. Visual analysis confirms that the synergistic integration of 3D geometric encoding and local adversarial alignment effectively mitigates domain gaps caused by uneven illumination and perspective variations, establishing an efficient pathway for simulation-to-reality UAV perception. Full article

Accurate alignment of 3D point clouds, achieved by ubiquitous sensors such as LiDAR and depth cameras, is critical for enhancing perception capabilities in robotics, autonomous navigation, and environmental reconstruction. However, low-overlap scenarios—common due to limited sensor field-of-view or occlusions—severely degrade registration robustness and sensing reliability. To address this challenge, this paper proposes a novel geometric consistency optimization and rectification deep learning network named GeoCORNet. By synergistically designing a geometric consistency enhancement module, a bidirectional cross-attention mechanism, a predictive displacement rectification strategy, and joint optimization of overlap loss with displacement loss, GeoCORNet significantly improves registration accuracy and robustness in complex scenarios. The Attentive Cross-Consistency module of GeoCORNet integrates distance and angular consistency constraints with bidirectional cross-attention to significantly suppress noise from non-overlapping regions while reinforcing geometric coherence in overlapping areas. The predictive displacement rectification strategy dynamically rectifies erroneous correspondences through predicted 3D displacements instead of discarding them, maximizing the utility of sparse sensor data. Furthermore, a novel displacement loss function was developed to effectively constrain the geometric distribution of corrected point-pairs. Experimental results demonstrate that our method outperformed existing approaches in the aspects of registration recall, rotation error, and algorithm robustness under low-overlap conditions. These advances establish a new paradigm for robust 3D sensing in real-world applications where partial sensor data is prevalent. Full article

Reliable and accurate docking remains a fundamental challenge for autonomous mobile robots (AMRs) operating in complex industrial environments with dynamic lighting, motion blur, and occlusion. This study proposes a novel multi-sensor fusion-based docking framework that significantly enhances robustness and precision by integrating YOLOv8-based AprilTag detection, depth-aided 3D localization, and LiDAR-based orientation correction. A key contribution of this work is the construction of a custom AprilTag dataset featuring real-world visual disturbances, enabling the YOLOv8 model to achieve high-accuracy detection and ID classification under challenging conditions. To ensure precise spatial localization, 2D visual tag coordinates are fused with depth data to compute 3D positions in the robot’s frame. A LiDAR group-symmetry mechanism estimates heading deviation, which is combined with visual feedback in a hybrid PID controller to correct angular errors. A finite-state machine governs the docking sequence, including detection, approach, yaw alignment, and final engagement. Simulation and experimental results demonstrate that the proposed system achieves higher docking success rates and improved pose accuracy under various challenging conditions compared to traditional vision- or LiDAR-only approaches. Full article

Laser ranging technology holds a key position in the military, aerospace, and industrial fields due to its high precision and non-contact measurement characteristics. As a core component, the performance of the photon detector directly determines the ranging accuracy and range. This paper systematically reviews the technological development of photonic detectors for laser ranging, with a focus on analyzing the working principles and performance differences of traditional photodiodes [PN (P-N junction photodiode), PIN (P-intrinsic-N photodiode), and APD (avalanche photodiode)] (such as the high-frequency response characteristics of PIN and the internal gain mechanism of APD), as well as their applications in short- and medium-range scenarios. Additionally, this paper discusses the unique advantages of special structures such as transmitting junction-type and Schottky-type detectors in applications like ultraviolet light detection. This article focuses on photon counting technology, reviewing the technological evolution of photomultiplier tubes (PMTs), single-photon avalanche diodes (SPADs), and superconducting nanowire single-photon detectors (SNSPDs). PMT achieves single-photon detection based on the external photoelectric effect but is limited by volume and anti-interference capability. SPAD achieves sub-decimeter accuracy in 100 km lidars through Geiger mode avalanche doubling, but it faces challenges in dark counting and temperature control. SNSPD, relying on the characteristics of superconducting materials, achieves a detection efficiency of 95% and a dark count rate of less than 1 cps in the 1550 nm band. It has been successfully applied in cutting-edge fields such as 3000 km satellite ranging (with an accuracy of 8 mm) and has broken through the near-infrared bottleneck. This study compares the differences among various detectors in core indicators such as ranging error and spectral response, and looks forward to the future technical paths aimed at improving the resolution of photon numbers and expanding the full-spectrum detection capabilities. It points out that the new generation of detectors represented by SNSPD, through material and process innovations, is promoting laser ranging to leap towards longer distances, higher precision, and wider spectral bands. It has significant application potential in fields such as space debris monitoring. Full article

LiDAR point clouds, as direct carriers of 3D spatial information, comprehensively record the geometric features and spatial topological relationships of object surfaces, providing intelligent systems with rich 3D scene representation capability. However, current point cloud semantic segmentation methods primarily extract features through operations such as convolution and pooling, yet fail to adequately consider sparse features that significantly influence the final results of point cloud-based scene perception, resulting in insufficient feature representation capability. To address these problems, a sparse feature dynamic graph convolutional neural network, abbreviated as SFDGNet, is constructed in this paper for LiDAR point clouds of complex scenes. In the context of this paper, sparse features refer to feature representations in which only a small number of activation units or channels exhibit significant responses during the forward pass of the model. First, a sparse feature regularization method was used to motivate the network model to learn the sparsified feature weight matrix. Next, a split edge convolution module, abbreviated as SEConv, was designed to extract the local features of the point cloud from multiple neighborhoods by dividing the input feature channels, and to effectively learn sparse features to avoid feature redundancy. Finally, a multi-neighborhood feature fusion strategy was developed that combines the attention mechanism to fuse the local features of different neighborhoods and obtain global features with fine-grained information. Taking S3DIS and ScanNet v2 datasets, we evaluated the feasibility and effectiveness of SFDGNet by comparing it with six typical semantic segmentation models. Compared with the benchmark model DGCNN, SFDGNet improved overall accuracy $\left(OA\right)$, mean accuracy $\left(mAcc\right)$, mean intersection over union $\left(mIoU\right)$, and $sparsity$ by $1.8\%$, $3.7\%, 3.5\%$, and $85.5\%$ on the S3DIS dataset, respectively. The $mIoU$ on the ScanNet v2 validation set, $mIoU$ on the test set, and $sparsity$ were improved by $3.2\%, 7.0\%$, and $54.5\%$, respectively. Full article

Quadruped robots have shown significant potential in disaster relief applications, where they have to navigate complex terrains for search and rescue or reconnaissance operations. However, their deployment is hindered by limited adaptability in highly uncertain environments, especially when relying solely on vision-based sensors like cameras or LiDAR, which are susceptible to occlusions, poor lighting, and environmental interference. To address these limitations, this paper proposes a novel sensor-enhanced hierarchical switching model predictive control (MPC) framework that integrates proprioceptive sensing with a bi-level hybrid dynamic model. Unlike existing methods that either rely on handcrafted controllers or deep learning-based control pipelines, our approach introduces three core innovations: (1) a situation-aware, bi-level hybrid dynamic modeling strategy that hierarchically combines single-body rigid dynamics with distributed multi-body dynamics for modeling agility and scalability; (2) a three-layer hybrid control framework, including a terrain-aware switching MPC layer, a distributed torque controller, and a fast PD control loop for enhanced robustness during contact transitions; and (3) a multi-IMU-based proprioceptive feedback mechanism for terrain classification and adaptive gait control under sensor-occluded or GPS-denied environments. Together, these components form a unified and computationally efficient control scheme that addresses practical challenges such as limited onboard processing, unstructured terrain, and environmental uncertainty. A series of experimental results demonstrate that the proposed method outperforms existing vision- and learning-based controllers in terms of stability, adaptability, and control efficiency during high-speed locomotion over irregular terrain. Full article

This study utilized Cloud–Aerosol Lidar and Infrared Pathfinder Satellite Observations (CALIPSO) satellite level-2 data with high-confidence cloud–aerosol discrimination (|CAD| > 70) to investigate the optical properties, vertical distributions, seasonal variations, and aerosol interactions of near-surface cloud layers (cloud base height < 2.5 km) over Australia from 2006 to 2021. This definition encompasses both traditional low clouds and part of mid-level clouds that extend into the lower troposphere, enabling a comprehensive view of cloud systems that interact most directly with boundary-layer aerosols. The results showed that the optical depth of low clouds (CODL) exhibited significant spatial heterogeneity, with higher values in central and eastern regions (often exceeding 6.0) and lower values in western plateau regions (typically 4.0–5.0). CODL values demonstrated clear seasonal patterns with spring peaks across all regions, contrasting with traditional summer-maximum expectations. Pronounced diurnal variations were observed, with nighttime CODL showing systematic enhancement effects (up to 19.29 maximum values compared to daytime 11.43), primarily attributed to surface radiative cooling processes. Cloud base heights (CBL) exhibited counterintuitive nighttime increases (41% on average), reflecting fundamental differences in cloud formation mechanisms between day and night. The geometric thickness of low clouds (CTL) showed significant diurnal contrasts, decreasing by nearly 50% at night due to enhanced atmospheric stability. Cloud layer number (CN) displayed systematic nighttime reductions (18% decrease), indicating dominance of single stratiform cloud systems during nighttime. Regional analysis revealed that the central plains consistently exhibited higher CODL values, while eastern mountains showed elevated cloud heights due to orographic effects. Correlation analysis between cloud and aerosol layer properties revealed moderate but statistically significant relationships (|R| = 0.4–0.6), with the strongest correlations appearing between cloud layer heights and aerosol layer heights. However, these correlations represent only partial influences among multiple factors controlling cloud development, suggesting measurable but modest aerosol effects on cloud properties. This study provides comprehensive observational evidence for cloud optical property variations and aerosol–cloud interactions over Australia, contributing to an improved understanding of Southern Hemisphere cloud systems and their climatic implications. Full article

This paper presents a novel multi-view 3D object detection framework, Long-Term Spatial–Temporal Bird’s-Eye View (LST-BEV), designed to improve performance in autonomous driving. Traditional 3D detection relies on sensors like LiDAR, but visual perception using multi-camera systems is emerging as a more cost-effective solution. Existing methods struggle with capturing long-range dependencies and cross-task information due to limitations in attention mechanisms. To address this, we propose a Long-Range Cross-Task Detection Head (LRCH) to capture these dependencies and integrate cross-task information for accurate predictions. Additionally, we introduce the Long-Term Temporal Perception Module (LTPM), which efficiently extracts temporal features by combining Mamba and linear attention, overcoming challenges in temporal frame extraction. Experimental results in the nuScenes dataset demonstrate that our proposed LST-BEV outperforms its baseline (SA-BEVPool) by 2.1% mAP and 2.7% NDS, indicating a significant performance improvement. Full article

Small object detection in traffic scenes presents unique challenges for mobile robots operating under constrained computational resources and highly dynamic environments. Unlike general object detection, small targets often suffer from low resolution, weak semantic cues, and frequent occlusion, especially in complex outdoor scenarios. This study systematically analyses the challenges, technical advances, and deployment strategies for small object detection tailored to mobile robotic platforms. We categorise existing approaches into three main strategies: feature enhancement (e.g., multi-scale fusion, attention mechanisms), network architecture optimisation (e.g., lightweight backbones, anchor-free heads), and data-driven techniques (e.g., augmentation, simulation, transfer learning). Furthermore, we examine deployment techniques on embedded devices such as Jetson Nano and Raspberry Pi, and we highlight multi-modal sensor fusion using Light Detection and Ranging (LiDAR), cameras, and Inertial Measurement Units (IMUs) for enhanced environmental perception. A comparative study of public datasets and evaluation metrics is provided to identify current limitations in real-world benchmarking. Finally, we discuss future directions, including robust detection under extreme conditions and human-in-the-loop incremental learning frameworks. This research aims to offer a comprehensive technical reference for researchers and practitioners developing small object detection systems for real-world robotic applications. Full article