Search Results (1,284)

Airborne laser scanning (ALS) and UAV-mounted LiDAR sensors have become well-established tools for identifying and mapping archaeological features across varying scales and contexts. Numerous algorithms have been developed over the years for generating Digital Terrain or Features Models (DTMs/DFMs), which provide an accurate representation of the ground or structures’ surface, serving as the foundation for subsequent archaeological analyses. In this study, we report the developed multi-level multi-resolution (MLMR) methodology, based on machine/deep learning methods, for DFM generation through point cloud semantic segmentation. The work also compares different approaches and the impact of the resolution on their performance. To this end, each approach’s performance is evaluated with a series of quantitative and qualitative analyses, with an eye on hardware limitations and time constraints. Three test sites from Mediterranean and Alpine environments, with manually annotated ground truth data, are used for the evaluation of each methodological approach. Full article

Forest biomass reflects the carbon storage capacity of forest ecosystems. Although remote sensing-based biomass estimation techniques have become increasingly mature, the issue of signal saturation in optical remote sensing still requires further investigation. This study was conducted in the Picea schrenkiana forest of the Ili River Valley in the western Tianshan Mountains. By integrating multimodal data from ICESat-2 LiDAR and GF-6 optical imagery, we developed machine learning and deep learning models to achieve high-precision biomass estimation. Based on forest management inventory data, we extracted spectral and textural features from GF-6, along with canopy structure attributes derived from the four acquisition modes (day/night, strong/weak beams) of ICESat-2. After correlation-based feature selection, LightGBM, CatBoost, and TabNet models were trained and compared. The results showed that models integrating multi-source data significantly outperformed those based on a single data source. The TabNet model not only achieved high estimation accuracy but also provided clear feature importance rankings, with ICESat-2-derived canopy height percentiles and GF-6 red-edge vegetation indices contributing most significantly to the biomass estimation of Picea schrenkiana. These findings demonstrate the feasibility of synergistically utilizing domestic high-resolution satellites and multi-mode spaceborne LiDAR for forest biomass estimation in arid regions, providing an effective technical reference for accurate carbon sink monitoring of specific tree species in forest areas. Full article

Autonomous vehicles at level 3 and above must maintain high navigation accuracy, particularly in global navigation satellite system (GNSS)-denied environments. The main innovations of this work are threefold. First, we integrate visual inertial odometry (VIO) and light detection and ranging (LiDAR) inertial odometry (LIO) as external updates to mitigate the rapid drift of micro-electromechanical system (MEMS)-based industrial-grade inertial measurement units (IMUs) during long-term GNSS outages. Second, we adopt a redundant IMU (RIMU) approach that fuses multiple low-cost IMUs to reduce sensor noise and improve reliability. Third, we propose a system calibration methodology using both static and dynamic vehicle motion to estimate extrinsic parameters (boresight angles and lever arms) of the sensors, achieving an overall boresight angle root-mean-square error of 0.04 degrees in the simulation. Experiments were conducted under a 7 min GNSS-denied scenario in an underground parking lot, allowing for comparison of the error characteristics of multi-sensor fusion schemes against a navigation-grade reference. The INS/GNSS/LIO framework achieved a two-dimensional root-mean-square position error of 1.22 m (95% position error within 2.5 m), meeting the lane-level (1.5 m) accuracy requirement under a GNSS outage exceeding 7 min without prior maps. In contrast, the RINS/GNSS/VIO framework yielded a 4.71 m 2D mean position error under the same conditions. This paper provides a quantitative comparison of the baseline error characteristics of VIO-, LIO-, and RIMU-assisted INS/GNSS fusion under a GNSS-denied navigation scenario. Full article

Multi-view 3D reconstruction is essential for smart city, supporting applications such as smart city planning and autonomous navigation. While traditional reconstruction pipelines and recent neural implicit methods, such as NeRF, achieve high visual fidelity, they often struggle with geometric accuracy and sparse-view scenarios. To address this challenge, we present DiffLiGS, a novel multi-modal 3D reconstruction framework that integrates LiDAR point clouds and LiDAR-guided diffusion-based priors into the 3D Gaussian Splatting (3DGS) pipeline, enabling high-fidelity and geometrically accurate models. Our method first densifies sparse LiDAR depths using a diffusion model and refines them through multi-view geometric constraints, producing dense LiDAR depth maps that provide robust supervision for 3DGS optimization. Leveraging these dense depth maps, we guide a Stable Video Diffusion model to synthesize novel view images, which are incorporated into training to enhance reconstruction completeness and visual realism. By jointly fusing rich appearance cues from multi-view images with precise LiDAR-derived geometry and diffusion priors, DiffLiGS achieves unified, geometry-aware 3D scene representations. Our extensive experiments demonstrate that our approach significantly improves both geometric accuracy and rendering quality compared to existing 3D reconstruction methods, enabling real-time, high-precision modeling of complex urban environments. Full article

Modern-day urban warehouses face exploding large inventory and tight spaces requiring fast, accurate, and safe stocktaking in a narrow aisle in a GPS-denied environment. This paper proposes a complete UAV-enabled framework performing real-time QR code scanning with inventory synchronization through a safety-aware trajectory generation for obtaining collision-free motion. A novel hybrid workflow integrating MATLAB/Simulink R2024b and Unreal Engine is used for dynamics and photorealistic rendering, alongside a real-time warehouse setup using drone cameras and 3D LiDAR coupled with a ground control station and live dashboard. The system in this paper was evaluated by testing with single and multi-UAV models across high-fidelity simulations and experiments. Results demonstrate simulated QR accuracy of approximately 95 to 96%, with experimental validation achieving between 86 and 90.5% due to real-world environmental factors. In experimental and simulation analysis, mean end-to-end latency remained under half a second, trajectory error range between 8 and 10 cm, and safety margins were consistently maintained throughout the test. It was further observed that multi-UAV coordination halved mission time compared to single-drone tests while keeping duplicate reads negligible, indicating a scalable and safe pipeline for industry application. Full article

The vertical distribution of atmospheric aerosol layers plays a fundamental role in understanding their climatic and environmental effects. Using one year of lidar observations in Jinhua, together with ground-based meteorological measurements and ERA5 reanalysis data, this study develops an integrated analytical framework to investigate the structural characteristics of aerosol layers in Mie-scattering profiles and their meteorological driving factors. K-means clustering identifies three representative aerosol layer structure types: single-layer concave, single-layer convex, and multi-layer profiles. By combining the Boruta algorithm with a random forest model, the dominant meteorological factors associated with each structure type are quantified across four boundary-layer stages (00–06, 06–12, 12–18, 18–24 LT). Temperature, humidity, wind speed, wind direction, divergence, and vertical velocity exhibit distinct influences across different boundary-layer conditions, revealing differentiated regulatory mechanisms governing aerosol layer structure change. The proposed framework establishes a coupled perspective between atmospheric dynamic/thermodynamic processes and aerosol layer structure formation, providing a basis for refined modeling of aerosol evolution and improved understanding of aerosol–meteorology interactions. Full article

In size, weight, and power (SWaP)-constrained optical systems, such as spaceborne LiDAR, high-precision centroid localization often relies on focal-plane measurements without dedicated wavefront sensors. Under such conditions, the nonlinear coupling between optical aberrations and sensor noise introduces systematic bias that is difficult to mitigate using conventional centroiding methods. To address this issue, we propose a physics-conditioned feature correction framework based on an aberration-conditioned attention mechanism. A hybrid CNN–Transformer architecture is employed to predict and compensate for systematic centroid bias. Specifically, convolutional layers encode the degraded spot morphology, while a multi-head attention mechanism leverages Seidel aberration coefficients to adaptively modulate spatial features for precise regression. Given the unavailability of absolute ground-truth coordinates in empirical scenarios, a physics-consistent simulation framework based on scalar diffraction theory is constructed to generate synthetic data for supervised learning. Simulation results indicate that the proposed method objectively reduces anisotropic systematic bias, achieving a localization root-mean-square error (RMSE) of 0.011 to 0.021 pixels, and maintains stable sub-pixel accuracy even under a 10% empirical prior perturbation. To evaluate generalization performance and engineering reliability, a wedge-based double-spot platform is developed to verify physical consistency via geometric invariance. Experimental results demonstrate a measured spacing standard deviation (SD) of 0.015 to 0.039 pixels. This validates the framework’s transferability from theoretical simulation to controlled physical measurements, providing an algorithmic foundation for precision optical metrology in hardware-constrained environments. Full article

Underground mine inspection is a critical operation for safety and resource management. It presents unique challenges, including confined spaces, harsh environments, and the lack of reliable positioning systems. This paper presents the design, development, and evaluation of an Unmanned Aerial Vehicle (UAV) specifically engineered for supervised autonomous inspection in subterranean scenarios. Key technical contributions include mechanical adaptations for collision tolerance, an optimized sensor-actuator selection for navigation, and the deployment of a mission-governing state machine for seamless autonomous acquisition. Furthermore, we detail the data treatment workflow, employing a multi-modal point cloud registration technique that successfully integrates high-resolution visual-depth scans of critical mine pillars into a comprehensive, globally referenced map derived from Light Detection and Ranging (LiDAR) data of the entire workspace. We show experiments that illustrate and validate our approach in two real-world scenarios, a simulated coal mine used to train mine rescue teams and an operating Limestone mine. Full article

Potholes are typical negative road obstacles that can significantly compromise vehicle safety and ride comfort when traversed at inappropriate speeds. To address this issue, this paper proposes a pothole-detection-based, comfort-oriented pothole traversal algorithm that integrates multi-sensor fusion perception, comfort-constrained speed planning, and fuzzy control. A camera and a single-point ranging LiDAR are first fused to extract key geometric features of potholes, including contour, area, and depth. Based on these features, a vehicle–pothole dynamic model is developed in ADAMS to quantify the influence of pothole area and depth on vehicle vertical vibration. The vertical frequency-weighted root-mean-square (RMS) acceleration is adopted as the ride comfort indicator, based on which the maximum allowable traversal speed under different pothole geometries is determined. Furthermore, a longitudinal pothole traversal control strategy based on fuzzy theory is designed to regulate vehicle acceleration, enabling the vehicle to reach the comfort-constrained limiting speed within a finite preview distance while ensuring braking safety. The proposed method is validated through multi-scenario co-simulations using MATLAB/Simulink and CarSim, as well as real-vehicle experiments. Results demonstrate that the proposed strategy can effectively adjust vehicle speed before pothole traversal, satisfying comfort constraints and improving ride comfort without sacrificing driving safety. Full article

This study evaluates the applicability of ERA5 wind speed (WS) and wind direction (WD) in the East China Sea, using high-resolution vertical wind profiles measured by a floating LiDAR at the Shanghai Nanhui Offshore Wind Farm from 15 January 2022 to 15 January 2023. Key findings are as follows: (1) Strong positive correlations exist between LiDAR-measured and ERA5 WS across all evaluated heights, with correlation coefficients of 0.76 (ground level), 0.86 (50 m), 0.88 (100 m), and 0.90 (200 m), respectively, and corresponding root mean square errors (RMSEs) of 2.33 m/s, 1.78 m/s, 1.73 m/s, and 1.77 m/s. This systematic improvement in correlation and modest reduction in RMSE with increasing height indicate that ERA5 captures vertical wind structure with progressively higher fidelity above the surface layer. (2) Both the ERA5 dataset and LiDAR measurements consistently show dominant wind frequencies in the NNE and SSE directions, with peaks at approximately 1000 occurrences. The minimal differences in the two datasets demonstrate the ERA5’s robust representation of near-surface offshore WD climatology. (3) The ERA5 reanalysis data of typhoon Muifa can better illustrate the increase in the initial WS and its subsequent decreases. However, the peak WS lags behind measurements by 2 h, and the extreme WS is significantly lower than that measured. Evaluations of the multi-year return period WS demonstrate an underestimation of extreme WS by 16.06–16.51% for the ERA5 data. Regarding the WD, the measured direction is clockwise, while that of the ERA5 is counterclockwise, revealing a fundamental deficiency in its representation of mesoscale cyclonic wind structure. Therefore, ERA5 reanalysis data provides reliable characterization of typical offshore WS and WD within the operational wind turbine hub-height range (100–200 m). For typhoon-related wind engineering assessments, the applicability of ERA5 data necessitates caution and potentially bias correction. Full article

The accurate and efficient extraction of individual tree phenotypic traits for seabuckthorn (Hippophae rhamnoides L.) in natural forests is crucial for germplasm exploration, precision silviculture, and ecological restoration. This study extracted structural and biochemical traits of seabuckthorn in Tibet’s Lhasa valley using Unmanned aerial vehicle (UAV) LiDAR, multispectral imagery, and the N-PROSAIL model. Firstly, building on a classification conducted through multi-scale spatial analysis and hierarchical clustering with dynamic thresholds, shrub interference was effectively reduced, thereby improving the accuracy of individual tree segmentation. Tree height and crown width were derived from the segmentation results, and a DBH estimation model was developed using handheld LiDAR data. Finally, leaf nitrogen content was mapped within canopies using random forest combined with the N-PROSAIL model and nitrogen reference data. The results demonstrated that the optimized segmentation method successfully extracted structural traits (F1 = 84.21%). Tree height was accurately estimated (R² = 0.814, RMSE = 0.580 m), and the DBH prediction model performed satisfactorily (R² = 0.779, RMSE = 1.725 cm). The random forest model also effectively estimated leaf nitrogen content (R² = 0.680, RMSE = 2.074 mg/g). Full article

Addressing the challenges in 3D reconstruction of large-scale open-pit mines, such as dramatic terrain undulations, complex texture features, and the difficulty of balancing geometric accuracy with real-time rendering efficiency using traditional methods, this paper proposes a high-fidelity reconstruction framework integrating UAV multi-modal data with the state-of-the-art 3D Gaussian Splatting (3DGS) architecture. First, an integrated air-ground multi-modal data acquisition system is established. Using a UAV equipped with LiDAR and a high-resolution camera, high-quality geometric and textural data of the mining area are acquired through terrain-adaptive flight planning. Second, to tackle the VRAM bottlenecks and loose geometric structures inherent in original 3DGS for large scenes, we adopt the advanced CityGaussianV2 architecture as our core reconstruction engine. By leveraging its divide-and-conquer parallel training strategy, 2DGS planar geometric constraints, and Decomposed Gradient Densification (DGD) mechanism, this framework effectively overcomes memory limitations and significantly enhances the geometric sharpness of slope crests and toes. Finally, engineering validation was conducted at Kambove Mining. Experimental results demonstrate that the proposed method achieves centimeter-level geometric accuracy, a real-time web rendering frame rate exceeding 60 FPS, and a model storage compression rate of over 90%. The digital twin control platform built upon this model successfully achieves deep fusion and visual scheduling of multi-source heterogeneous data, providing a novel technical path for constructing high-precision reality-based foundations for smart mines. Full article

Simultaneous online mapping and semantic segmentation using handheld scanners supports various environmental inspection and measurement tasks. For such scanners, combing visual and LiDAR data is beneficial for improving the segmentation performance. But the direct fusion of multi-modal and multi-view features faces challenges in terms of both real-time performance and robustness. To address these challenges, this paper proposes a multi-view and cross-modal knowledge distillation method for supporting runtime LiDAR-only semantic segmentation. The proposed method hierarchically compacts multi-view and cross-model priors and distills them into two branches to improve segmentation accuracy. In addition, we design an improved data augmentation technique based on PolarMix for rendering more realistic point cloud scenes. The experimental results on the SemanticKITTI and nuScenes datasets demonstrate that the mIoU of our approach outperforms the state-of-the-art knowledge-distillation-based methods. In addition, mapping experiments using a handheld scanner demonstrate the proposed method’s superior real-time performance and accuracy. Full article

Accurate registration of multi-temporal LiDAR point clouds is essential for reliable monitoring of mining subsidence. Systematic errors in point clouds acquired at different times can arise from GNSS/INS positioning drift, sensor calibration bias, and differences in observation geometry. These errors typically manifest as global reference shifts or gradual distortions. When such errors are superimposed on real terrain changes, they can mask subsidence signals and introduce observational pseudo-differences, thereby increasing the difficulty of separating actual subsidence from artifacts. To address this issue, this study proposes Robust-Registration-Based Systematic Error Correction for Time-Series Point Clouds (RR-SEC), which establishes a consistent reference framework across epochs. The method does not assume that stable areas remain strictly unchanged. Instead, it identifies regions whose local change patterns are more temporally consistent using an information entropy analysis of multi-temporal differences. Under complex terrain, the method selects points with lower difference entropy as stable control points and uses them to constrain the registration process. It then performs Generalized Iterative Closest Point (GICP) rigid registration under these constraints to estimate the overall three-dimensional translation and rotation between point clouds from different periods. The estimated transformation is applied to the entire point cloud to correct inter-epoch reference mismatches and unify the coordinate reference across all epochs. Comprehensive validation using simulated complex terrain data containing rigid reference biases and non-rigid deformations, as well as UAV LiDAR data collected from the MuduChaideng Coal Mine, shows that, compared with the baseline GICP method, RR-SEC reduces alignment errors. It decreases the mean residual in stable areas by approximately 85%. The subsidence values computed from the corrected point clouds are more consistent with measured values, and the spatial deformation patterns are easier to interpret. RR-SEC demonstrates robust performance and can serve as a practical approach to improve the accuracy of deformation monitoring in mining areas and potentially other geoscientific applications. Full article

LiDAR serves as the primary sensor for acquiring environmental information in intelligent driving systems. However, under adverse weather conditions, point cloud signals obtained by LiDAR suffer from intensity attenuation and noise interference, leading to a decline in segmentation accuracy. To address these issues, this paper designs a lightweight semantic segmentation system based on the Gated Visual State Space Model (VMamba), named RainMamba. Specifically, the system utilizes spherical projection to transform point clouds into 2D sequences and constructs a physical perception feature embedding module guided by the Beer–Lambert law to explicitly model and suppress spatial noise at the source. Subsequently, an uncertainty-weighted cross-modal correction module is employed to incorporate RGB images for dynamically calibrating the degraded point cloud data. Finally, a VMamba backbone is adopted to establish global dependencies with linear complexity. Experimental results on the SemanticKITTI dataset demonstrate that the system achieves an inference speed of 83 FPS, with a relative mIoU improvement of approximately 7.2% compared to the real-time baseline PolarNet. Furthermore, zero-shot evaluations on the real-world SemanticSTF dataset validate the system’s robust Sim-to-Real generalization capability. Notably, RainMamba delivers highly competitive accuracy comparable to the state-of-the-art heavy-weight model PTv3 while requiring a significantly lower parameter footprint, thereby demonstrating its immense potential for practical edge-computing deployment. Full article