Search Results (194)

Rock bolts are crucial components in the subterranean support systems in underground mines that provide adequate structural reinforcement to the rock mass to prevent unforeseen hazards like rockfalls. This makes frequent assessments of such bolts critical for maintaining rock mass stability and minimising risks in underground mining operations. Where manual surveying of rock bolts is challenging due to the low-light conditions in the underground mines and the time-intensive nature of the process, automated detection of rock bolts serves as a plausible solution. To that end, this study focuses on the automatic identification of rock bolts within medium- to large-scale 3D point clouds obtained from underground mines using mobile laser scanners. Existing techniques for automated rock bolt identification primarily rely on feature engineering and traditional machine learning approaches. However, such techniques lack robustness as these point clouds present several challenges due to data noise, varying environments, and complex surrounding structures. Moreover, the target rock bolts are extremely small objects within large-scale point clouds and are often partially obscured due to the application of reinforcement shotcrete. Addressing these challenges, this paper proposes an approach termed DeepBolt, which employs a novel two-stage deep learning architecture specifically designed for handling severe class imbalance for the automatic and efficient identification of rock bolts in complex 3D point clouds. The proposed method surpasses state-of-the-art semantic segmentation models by up to 42.5% in Intersection over Union (IoU) for rock bolt points. Additionally, it outperforms existing rock bolt identification techniques, achieving a 96.41% precision and 96.96% recall in classifying rock bolts, demonstrating its robustness and effectiveness in complex underground environments. Full article

Point clouds acquired by mobile laser scanners (MLS) are widely used for generating as-built building information models (BIM), particularly in indoor construction environments and existing buildings. While MLS offers fast and efficient scanning through SLAM technology, its accuracy and precision remains lower than that of terrestrial laser scanners (TLS). This study investigates the potential to improve MLS-based as-built BIM accuracy by analyzing and utilizing error distribution patterns inherent in MLS point clouds. Based on the assumption that each MLS device exhibits consistent and unique error distribution patterns, an experiment was conducted using three MLS devices and TLS-derived reference data. The analysis employed iterative closest point (ICP) registration and cloud-to-mesh (C2M) distance measurements on mock-ups with closed shapes. The results revealed that error patterns were stable across scans and could be leveraged as correction factors. In other words, the results indicate that when using MLS for as-built BIM generation, robust fitting methods have limitations in obtaining realistic object dimensions, as they do not account for the unique error patterns present in MLS point clouds. The proposed method provides a simple and repeatable approach for enhancing MLS accuracy, contributing to improved dimensional reliability in MLS-driven BIM applications. Full article

Detecting leakage using a point cloud acquired by mobile laser scanning (MLS) presents significant challenges, particularly from within three-dimensional space. These challenges primarily arise from the prevalence of noise in tunnel point clouds and the difficulty in accurately capturing the three-dimensional morphological characteristics of leakage patterns. To address these limitations, this study proposes a classification method based on XGBoost classifier, integrating both intensity and geometric features. The proposed methodology comprises the following steps: First, a RANSAC algorithm is employed to filter out noise from tunnel objects, such as facilities, tracks, and bolt holes, which exhibit intensity values similar to leakage. Next, intensity features are extracted to facilitate the initial separation of leakage regions from the tunnel lining. Subsequently, geometric features derived from the k neighborhood are incorporated to complement the intensity features, enabling more effective segmentation of leakage from the lining structures. The optimal neighborhood scale is determined by selecting the scale that yields the highest F_1-score for leakage across various multiple evaluated scales. Finally, the XGBoost classifier is applied to the binary classification to distinguish leakage from tunnel lining. Experimental results demonstrate that the integration of geometric features significantly enhances leakage detection accuracy, achieving an F_1-score of 91.18% and 97.84% on two evaluated datasets, respectively. The consistent performance across four heterogeneous datasets indicates the robust generalization capability of the proposed methodology. Comparative analysis further shows that XGBoost outperforms other classifiers, such as Random Forest, AdaBoost, LightGBM, and CatBoost, in terms of balance of accuracy and computational efficiency. Moreover, compared to deep learning models, including PointNet, PointNet++, and DGCNN, the proposed method demonstrates superior performance in both detection accuracy and computational efficiency. Full article

The increasing pace of climate-driven changes in forest ecosystems calls for reliable remote sensing techniques for quantifying above-ground carbon storage. In this article, we compare the methodology and results of traditional field surveys, mobile laser scanning, optical drone imaging and photogrammetry, and both drone-based and light aircraft-based aerial laser scanning to determine forest stand parameters, which are suitable to estimate carbon stock. Measurements were conducted at four designated sampling points established during a large-scale project in deciduous and coniferous tree stands of the Dudles Forest, Hungary. The results of the surveys were first compared spatially and quantitatively, followed by a summary of the advantages and disadvantages of each method. The mobile laser scanner proved to be the most accurate, while optical surveying—enhanced with a new diameter measurement methodology based on detecting stem positions from the photogrammetric point cloud and measuring the diameter directly on the orthorectified images—also delivered promising results. Aerial laser scanning was the least accurate but provided coverage over large areas. Based on the results, we recommend adapting our carbon stock estimation methodology primarily to mobile laser scanning surveys combined with aerial laser scanned data. Full article

This paper presents a standardized apparatus and method for testing the accuracy of mobile phone apps designed to measure concrete crack widths. The apparatus comprises a standardized crack-width calibration plate (CWCP) and a simulated wall (SW), along with a pose adjusting and fixing device (PAFD) and a spatial distance measuring assemblage (SDMA). The test method employs an innovative two-stage procedure associated with the SDMA to calculate the distances (K_i) from the phone’s four corners to the SW. The phone’s position is adjusted using the PAFD until the four monitored K_i values match the target K_i. An app installed on the phone then measures crack widths on the CWCP. A standard experimental procedure was established to assess the accuracy of a preliminary Android app in measuring concrete crack widths, with results presented and discussed. This apparatus and method, grounded in their underlying physical meaning, can realistically simulate actual engineering conditions precisely and cost-effectively. Full article

A thorough understanding of forest resources and development trends is based on quick and accurate forest inventories. Because of its flexibility and localized independence, mobile laser scanning (MLS) based on simultaneous localization and mapping (SLAM) is the best option for forest inventories. The gap in the review studies in this field is filled by this study, which offers the first comprehensive review of SLAM-based MLS in forest inventory. This synthesis includes methods, research progress, challenges, and future perspectives of SLAM-based MLS in forest inventory. The precision and efficiency of SLAM-based MLS in forest inventories have benefited from improvements in data collection techniques and the ongoing development of algorithms, especially the application of deep learning. Based on evaluating the research progress of SLAM-based MLS in forest inventory, this paper provides new insights into the development of automation in this field. The main challenges of the current research are complex forest environments, localized bias, and limitations of the algorithms. To achieve accurate, real-time, and applicable forest inventories, researchers should develop SLAM technology dedicated to forest environments in the future so as to perform path planning, localization, autonomous navigation, obstacle avoidance, and point cloud recognition. In addition, researchers should develop algorithms specialized for different forest environments and improve the information processing capability of the algorithms to generate forest maps capable of extracting tree attributes automatically and in real time. Full article

In the past two decades, there has been a tremendous increase in demand for services requiring a high bandwidth, a low latency, and high data rates, such as broadband internet services, video streaming, cloud computing, IoT devices, and mobile data services (5G and beyond). Optical wireless communication (OWC) technology, which is also envisioned for next-generation satellite networks using laser links, offers a promising solution to meet these demands. Establishing a line-of-sight (LOS) link and initiating communication in laser links is a challenging task. This process is managed by the acquisition, pointing, and tracking (APT) system, which must deal with the narrow beam divergence and the presence of satellite platform vibrations. These factors increase acquisition time and decrease acquisition probability. This study presents a framework for evaluating the acquisition time of four different scanning methods: spiral, raster, square spiral, and hexagonal, using a probabilistic approach. A satellite platform vibration model is used, and an algorithm for estimating its power spectral density is applied. Maximum likelihood estimation is employed to estimate key parameters from satellite vibrations to optimize scan parameters, such as the overlap factor and beam divergence. The simulation results show that selecting the scan path, overlap factor, and beam divergence based on an accurate estimation of satellite vibrations can prevent multiple scans of the uncertainty region, improve target satellite detection, and increase acquisition probability, given that the satellite vibration amplitudes are within the constraints imposed by the scan parameters. This study contributes to improving the acquisition process, which can, in turn, enhance the pointing and tracking phases of the APT system in laser links. Full article

Forests are invaluable natural resources that provide essential ecosystem services, and their carbon storage capacity is critical for climate mitigation efforts. Quantifying this capacity would require accurate estimation of forest structural attributes for deriving their aboveground biomass (AGB). Traditional field measurements, while precise, are labor-intensive and often spatially limited. Handheld Mobile Laser Scanning (HMLS) offers a rapid alternative for building forest inventories; however, its effectiveness and accuracy in diverse subtropical forests with complex canopy structure remain under-investigated. In this study, we employed both HMLS and traditional surveys within structurally complex subtropical forest plots, including old-growth forests (Fung Shui Woods) and secondary forests. These forests are characterized by dense understories with abundant shrubs and lianas, as well as high stem density, which pose challenges in Light Detection and Ranging (LiDAR) point cloud data processing. We assessed tree detection rates and extracted tree attributes, including diameter at breast height (DBH) and canopy height. Additionally, we compared tree-level and plot-level AGB estimates using allometric equations. Our findings indicate that HMLS successfully detected over 90% of trees in both forest types and precisely measured DBH (R² > 0.96), although tree height detection exhibited relatively higher uncertainty (R² > 0.35). The AGB estimates derived from HMLS were comparable to those obtained from traditional field measurements. By producing highly accurate estimates of tree attributes, HMLS demonstrates its potential as an effective and non-destructive method for rapid forest inventory and AGB estimation in subtropical forests, making it a competitive option for aiding carbon storage estimations in complex forest environments. Full article

Precise forest inventory is the key to sustainable forest management. LiDAR technology is widely applied to tree attribute extraction. Therefore, this study compared DBH and tree height derived from Handheld Mobile Laser Scanning (HMLS), Airborne Laser Scanning (ALS), and Integrated ALS and HMLS and determined the applicability of integrating HMLS and ALS scanning methods to estimate individual tree attributes such as diameter at breast height (DBH) and tree height in pine forests of South Korea. There were strong correlations for DBH at the individual tree level (r > 0.95; p < 0.001). HMLS and Integrated ALS-HMLS achieved high accuracy for DBH estimations, showing Root Mean Squared Error (RMSE) of 1.46 cm (rRMSE 3.7%) and 1.38 cm (rRMSE 3.5%), respectively. In contrast, tree height obtained from HMLS was lower than expected, showing an RMSE of 2.85 m (12.74%) along with a bias of −2.34 m. ALS data enhanced the precision of tree height estimations, achieving a RMSE of 1.81 m and a bias of −1.24 m. However, integrating ALS and HMLS data resulted in the most precise tree height estimations resulted in a reduced RMSE to 1.43 m and biases to −0.3 m. Integrated ALS and HMLS and its advantages are a beneficial solution for accurate forest inventory, which in turn supports forest management and planning. Full article

This article examines the combined use of UAV (Unmanned Aerial Vehicle) photogrammetry and TLS (Terrestrial Laser Scanning) to detect changes in coastal cliffs in the Strunjan Nature Reserve. Coastal cliffs present unique surveying challenges, including limited access, unstable reference points due to erosion, GNSS (Global Navigation Satellite System) signal obstruction, dense vegetation, private property restrictions and weak mobile data. To overcome these limitations, UAV and TLS techniques are used with the help of GNSS and TPS (Total Positioning Station) surveying to establish a network of GCPs (Ground Control Points) for georeferencing. The methodology includes several epochs of data collection between 2019 and 2024, using a DJI Phantom 4 RTK for UAV surveys and a Riegl VZ-400 scanner for TLS. The data processing includes point cloud filtering, mesh comparison and a DoD (DEM of difference) analysis to quantify cliff surface changes. This study addresses the effects of vegetation by focusing on vegetation-free regions of interest distributed across the cliff face. The results aim to demonstrate the effectiveness and limitations of both methods for detecting and monitoring cliff erosion and provide valuable insights for coastal management and risk assessment. Full article

Close-to-nature forest management is a sustainable forest management approach aimed at achieving a balance between ecological and economic benefits. The cultivation of future crop trees in the later successional stages following the removal of competitive trees is crucial for promoting positive development trajectories of succession. Understanding the dynamic process of growth investment strategies in future crop trees facilitates the rational planning of management cycles and scopes, ultimately enhancing the quality of tree cultivation. This study was conducted in a Pinus massoniana secondary forest with close-to-nature forest management in Ningbo City, Zhejiang Province, using handheld mobile laser scanning technology to precisely reconstruct the structure of future crop trees. Over a period of 2–5 years following the initial implementation of close-to-nature forest management, 3D point cloud data were collected annually from both managed and reference (non-managed) plots. Using these multi-temporal data, we analyzed the dynamics of the investment strategies, structural growth components, and crown competition of future crop trees. A linear mixed-effect model was applied to compare the temporal variations in these indices between the managed and control plots. Our results revealed that the height-to-diameter ratio of the future crop trees gradually declined over time, while the crown-to-diameter ratio initially increased and then decreased in the managed plots. These trends were significantly different from those observed in the control plots. Additionally, the height growth rates of the future crop trees in the managed plots were consistently lower than those in the control plots, whereas the crown and diameter at breast height (DBH) growth rates were higher. Furthermore, the crown gap area between the future crop trees and their neighboring trees gradually diminished, and the crown overlap progressively increased. These results suggest that the investment in height growth, initially driven by crown competition, shifted toward crown and DBH growth following close-to-nature forest management. In the initial stage after the removal of competitive trees, future crop trees benefited from ample crown radial space and minimal crown competition. However, as the crown radial space became increasingly limited, the future crop trees shifted their growth investment toward DBH to enhance mechanical stability and achieve a balanced tree structure. Understanding these dynamic processes and the underlying mechanisms of growth investment strategies contributes to predicting future forest community development, improving forest productivity, maintaining structural diversity, and ensuring sustainable forest management. Full article

In low-illumination environments, traditional traffic accident survey methods struggle to obtain high-quality data. This paper proposes a traffic accident reconstruction method utilizing an unmanned aerial vehicle (UAV) and auxiliary equipment. Firstly, a methodological framework for investigating traffic accidents under low-illumination conditions is developed. Accidents are classified based on the presence of obstructions, and corresponding investigation strategies are formulated. As for the unobstructed scene, a UAV-mounted LiDAR scans the accident site to generate a comprehensive point cloud model. In the partially obstructed scene, a ground-based mobile laser scanner complements the areas that are obscured or inaccessible to the UAV-mounted LiDAR. Subsequently, the collected point cloud data are processed with a multiscale voxel iteration method for down-sampling to determine optimal parameters. Then, the improved normal distributions transform (NDT) algorithm and different filtering algorithms are adopted to register the ground and air point clouds, and the optimal combination of algorithms is selected, thus, to reconstruct a high-precision 3D point cloud model of the accident scene. Finally, two nighttime traffic accident scenarios are conducted. DJI Zenmuse L1 UAV LiDAR system and EinScan Pro 2X mobile scanner are selected for survey reconstruction. In both experiments, the proposed method achieved RMSE values of 0.0427 m and 0.0451 m, outperforming traditional aerial photogrammetry-based modeling with RMSE values of 0.0466 m and 0.0581 m. The results demonstrate that this method can efficiently and accurately investigate low-illumination traffic accident scenes without being affected by obstructions, providing valuable technical support for refined traffic management and accident analysis. Moreover, the challenges and future research directions are discussed. Full article

The capture of 3D reality has demonstrated increased efficiency and consistently accurate outcomes in architectural digitisation. Nevertheless, despite advancements in data collection, 3D reality-based modelling still lacks full automation, especially in the post-processing and modelling phase. Artificial intelligence (AI) has been a significant focus, especially in computer vision, and tasks such as image classification and object recognition might be beneficial for the digitisation process and its subsequent utilisation. This study aims to examine the potential outcomes of integrating AI technology into the field of 3D reality-based modelling, with a particular focus on its use in architecture and cultural-heritage scenarios. The main methods used for data collection are laser scanning (static or mobile) and photogrammetry. As a result, image data, including RGB-D data (files containing both RGB colours and depth information) and point clouds, have become the most common raw datasets available for object mapping. This study comprehensively analyses the current use of 2D and 3D deep learning techniques in documentation tasks, particularly downstream applications. It also highlights the ongoing research efforts in developing real-time applications with the ultimate objective of achieving generalisation and improved accuracy. Full article

This article focuses on the assessment of point clouds obtained by various laser scanning methods as a tool for 3D mapping and Digital Twin concepts. The presented research employed terrestrial and mobile laser scanning methods to obtain high-precision spatial data, enabling efficient spatial documentation of urban structures and infrastructure. As a reference method, static terrestrial laser scanning (TLS) was chosen. Mobile laser scanning (MLS) data obtained by devices such as Lidaretto, the Stonex X120GO laser scanning device, and an iPhone 13 Pro with an Emlid scanning kit and GNSS antenna Reach RX were evaluated. Analyses based on comparing methods of classification, differences in individual objects, detail/density, and noise were performed. The results confirm the high accuracy of the methods and their ability to support the development of digital twins and smart solutions that enhance the efficiency of infrastructure management and planning. Full article

Significant progress has been made in the semantic segmentation of mobile laser scanning (MLS) point clouds based on deep learning. However, the segmentation classes of deep learning models depend on the label classes of the source point clouds used for training, which makes it difficult to generalize the models to target point clouds with novel classes. In addition, retraining models using complete class label datasets is time-consuming, and the source point clouds are often unavailable or occupy a large amount of storage space. In this paper, we propose a new class-incremental semantic segmentation framework for MLS point clouds. Firstly, to prevent catastrophic forgetting of original class knowledge when the model learns novel classes, we design a feature representation preservation-based knowledge distillation module to maintain the encoding ability of the target models for original classes. Then, to further separate novel classes from the original background classes, we introduce a background shift mechanism based on loss cross-coupling and pseudo-label collaborative training, which adaptively balances the model plasticity when learning novel class knowledge. Finally, we conducted extensive experiments on two benchmark datasets (Paris-Lille-3D and Toronto-3D), and our proposed method achieved impressive results, which indicate that the proposed framework could effectively achieve class-incremental semantic segmentation for MLS point clouds. Full article