Search Results (27)

Autonomous driving systems face critical perception failures in dense fog, where conventional RGB cameras suffer from severe degradation due to atmospheric scattering and reduced visibility. This paper presents an adaptive multi-modal fusion framework that synergistically integrates gated imaging with 3D LiDAR point clouds to achieve robust obstacle detection under visibility conditions as low as 50 m. Unlike standard cameras that passively capture scattered ambient light, gated cameras employ time-synchronized active illumination to physically filter backscattered photons, preserving structural features even in low-visibility scenarios. We propose a novel Adaptive Feature-Weighting Network (AFW-Net) that dynamically adjusts sensor modality contributions based on real-time environmental degradation assessment. The framework incorporates three key innovations: (1) a cross-modal feature extraction module that exploits the complementary physical properties of gated imaging and LiDAR, (2) an attention-based adaptive fusion mechanism that quantifies per-modality reliability through uncertainty estimation, and (3) a degradation-aware training strategy using weather-specific augmentation. Extensive experiments on the Princeton Automated Driving Dataset demonstrate that our approach maintains detection average precision (AP) above 82% under dense fog conditions (50 m visibility), representing a 23.7% improvement over state-of-the-art RGB-LiDAR fusion methods that exhibit substantial performance degradation to 58.4% AP. Ablation studies validate the necessity of each component, and cross-dataset evaluation confirms the generalization capability of the proposed framework. The adaptive weighting mechanism proves particularly effective, dynamically rebalancing modality contributions across the gated imaging and LiDAR branches while maintaining LiDAR geometric constraints. This work establishes a robust perception paradigm for safety-critical autonomous systems operating in low-visibility environmental conditions. Full article

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

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

The Advanced Topographic Laser Altimeter System (ATLAS) on the Ice, Cloud, and Land Elevation Satellite-2 (ICESat-2) employs a photon-counting detection mode with a 532 nm laser to obtain high-precision Earth surface elevation data and offers a new remote sensing method for nearshore bathymetry. The key issues in using ATLAS ATL03 data for bathymetry are achieving automatic and accurate extraction of signal photons in different water environments. Especially for areas with sharply fluctuating topography, the interaction of various impacts, such as topographic fluctuations, sea waves, and laser pulse direction, can result in a sharp change in photon density and distribution at the seafloor, which can cause the signal photon detection at the seafloor to be misinterpreted or omitted during analysis. Therefore, an improved size and direction adaptive filtering (ISDAF) method was proposed for nearshore bathymetry using ATLAS ATL03 data. This method can accurately distinguish between the original photons located above the sea surface, on the sea surface, and the seafloor. The size and direction of the elliptical density filter kernel automatically adapt to the sharp fluctuations in topography and changes in water depth, ensuring precise extraction of signal photons from both the sea surface and the seafloor. To evaluate the precision and reliability of the ISDAF, ATLAS ATL03 data from different water environments and seafloor terrains were used to perform bathymetric experiments. Airborne LiDAR bathymetry (ALB) data were also used to validate the bathymetric accuracy and reliability. The experimental findings show that the ISDAF consistently exhibits effectiveness in detecting and retrieving signal photons, regardless of whether the seafloor terrain is stable or dynamic. After applying refraction correction, the high accuracy of bathymetry was evidenced by a strong coefficient of determination (R²) and a low root mean square error (RMSE) between the ICESat-2 bathymetry data and ALB data. This research offers a promising approach to advancing remote sensing technologies for precise nearshore bathymetric mapping, with implications for coastal monitoring, marine ecology, and resource management. Full article

The Ice, Cloud, and land Elevation Satellite-2 has provided unprecedented global surface elevation measurements through photon-counting Lidar (Light detection and ranging), yet its low signal-to-noise ratio (SNR) poses significant challenges for denoising algorithms. Existing methods, relying on fixed parameters, struggle to adapt to dynamic noise distribution in rugged mountain regions where signal and noise change rapidly. This study proposes an adaptive Bayesian denoising algorithm integrating minimum spanning tree (MST) -based slope estimation and probabilistic parameter optimization. First, a simulation framework based on ATL03 data generates point clouds with ground truth labels under varying SNRs, achieving correlation coefficients > 0.9 between simulated and measured distributions. The algorithm then extracts surface profiles via MST and coarse filtering, fits slopes with >0.9 correlation to reference data, and derives the probability distribution function (PDF) of neighborhood photon counts. Bayesian estimation dynamically selects optimal clustering parameters (search radius and threshold), achieving F-scores > 0.9 even at extremely low SNR (1 photon/10 MHz noise). Validation against three benchmark algorithms (OPTICS, quadtree, DRAGANN) on simulated and ATL03 datasets demonstrates superior performance in mountainous terrain, with precision and recall improvements of 10–20% under high noise conditions. This work provides a robust framework for adaptive parameter selection in low-SNR photon-counting Lidar applications. Full article

The Ice, Cloud, and Land Elevation 2 (ICESat-2) mission uses a micropulse photon-counting lidar system for mapping, which provides technical support for capturing forest parameters and carbon stocks over large areas. However, the current algorithm is greatly affected by the slope, and the extraction of the forest canopy height in the area with steep terrain is poor. In this paper, an improved algorithm was provided to reduce the influence of topography on canopy height estimation and obtain higher accuracy of forest canopy height. First, the improved clustering algorithm based on ordering points to identify the clustering structure (OPTICS) algorithm was developed and used to remove the noisy photons, and then the photon points were divided into canopy photons and ground photons based on mean filtering and smooth filtering, and the pseudo-signal photons were removed according to the distance between the two photons. Finally, the photon points were classified and interpolated again to obtain the canopy height. The results show that the improved algorithm was more effective in estimating ground elevation and canopy height, and the result was better in areas with less noise. The root mean square error (RMSE) values of the ground elevation estimates are within the range of 1.15 m for daytime data and 0.67 m for nighttime data. The estimated RMSE values for vegetation height ranged from 3.83 m to 2.29 m. The improved algorithm can provide a good basis for forest height estimation, and its DEM and CHM accuracy improved by 36.48% and 55.93%, respectively. Full article

Inland lakes and reservoirs are critical components of global freshwater resources. However, traditional water level monitoring stations are costly to establish and maintain, particularly in remote areas. As an alternative, satellite altimetry has become a key tool for lake water level monitoring. Nevertheless, conventional radar altimetry techniques face accuracy limitations when monitoring small water bodies. The Ice, Cloud, and Land Elevation Satellite-2 (ICESat-2), equipped with a single-photon counting lidar system, offers enhanced precision and a smaller ground footprint, making it more suitable for small-scale water body monitoring. However, the water level data obtained from the ICESat-2 ATL13 inland water surface height product are limited in quantity, while the lake water level accuracy derived from the ATL08 product is relatively low. To overcome these challenges, this study proposes a Spatial Distribution-Based Hierarchical Clustering for Photon-Counting Laser altimeter (SD-HCPLA) for enhanced water level extraction, validated through experiments conducted at the Danjiangkou Reservoir. The proposed method first employs Landsat 8/9 imagery and the Normalized Difference Water Index (NDWI) to generate a water mask, which is then used to filter ATL03 photon data within the water body boundaries. Subsequently, a Minimum Spanning Tree (MST) is constructed by traversing all photon points, where the vertical distance between adjacent photons replaces the traditional Euclidean distance as the edge length, thereby facilitating the clustering and denoising of the point cloud data. The SD-HCPLA algorithm successfully obtained 41 days of valid water level data for the Danjiangkou Reservoir, achieving a correlation coefficient of 0.99 and an average error of 0.14 m. Compared with ATL08 and ATL13, the SD-HCPLA method yields higher data availability and improved accuracy in water level estimation. Furthermore, the proposed algorithm was applied to extract water level data for five lakes and reservoirs in Hubei Province from 2018 to 2023. The temporal variations and inter-correlations of water levels were analyzed, providing valuable insights for regional ecological environment monitoring and water resource management. Full article

“Ice, Cloud, and Land Elevation Satellite-2” (ICESat-2) produces photon-point clouds that can be used to obtain nearshore bathymetric data through density-based filtering methods. However, most traditional methods simplified the variable spatial density distribution of a photon to a linear relationship with water depth, causing a limited extraction effect. To address this limitation, we propose a two-stage filtering method that considers spatial relationships. Stage one constructs the adaptive photon density threshold by mapping a nonlinear relationship between the water depth and photon density to obtain initial signal photons. Stage two adopts a seed-point expanding method to fill gaps in initial signal photons to obtain continuous signal photons that more fully reflect seabed topography. The proposed method is applied to ICESat-2 data from Oahu Island and compared with three other density-based filtering methods: AVEBM (Adaptive Variable Ellipse filtering Bathymetric Method), Bimodal Gaussian fitting, and Quadtree Isolation. Our method (F-measure, F = 0.803) outperforms other methods (F = 0.745, 0.598, and 0.454, respectively). The accuracy of bathymetric data gained from seabed photons filtered using our method can achieve 0.615 m (Mean Absolute Error) and 0.716 m (Root Mean Squared Error). We demonstrate the effectiveness of incorporating photon spatial relationships to enhance the filtering of seabed signal photons. Full article

The CartoDEM Version 3 Release 1 openly accessible datasets are currently the most reliable datasets for relatively plain regions in India specifically. The aim of the presented study is to evaluate CartoDEM with respect to two openly accessible spaceborne LiDAR datasets from two LiDAR sensors: the Advanced Topographic Laser Altimeter System (ATLAS) on board the Ice, Cloud, and Land Elevation Satellite-2 (ICESat-2) and Global Ecosystem Dynamics Investigation (GEDI) over the International Space Station (ISS). The differences and deviations were computed for CartoDEM and LiDAR footprint elevations for the two datasets, namely, ICESat-2 and GEDI. The difference values were filtered for footprints with differences between 0 and 2.5 in the DEM and LiDAR elevation values. Besides this, an overall estimate was also calculated for the elevation values obtained over the surface, i.e., the ground, as well as objects such as the trees or buildings. The RMSEs were observed to be 1.16 m and 1.74 m for the ICESat-2 and GEDI datasets for the points/footprints on the terrain, whereas when considering similar parameters for the two datasets, the RMSEs were found to be 1.78 m and 5.48 m for the ICESat-2 and GEDI footprints on the surface (terrain/object), respectively. This study reveals that CartoDEM is highly accurate in the plain regions when validated with respect to the ICESat-2 datasets, which work via the photon counting technique. Further, it was observed that ICESat-2’s performance is better than that of the GEDI mission for terrain height. Thus, it was observed that the spaceborne LiDAR datasets from ICESat-2 can be utilized for the validation of DEMs and can be useful for applications where an input to a DEM is required for engineering or modeling applications. Full article

The photon point clouds collected by the high-sensitivity single-photon detector on the Ice, Cloud, and Land Elevation Satellite-2 (ICESat-2) are utilized in various applications. However, the discretely distributed noise among the signal photons greatly increases the difficulty of signal extraction, especially the edge noise adjacent to signals. To detect signal photons from vegetation coverage areas at different slopes, this paper proposes a density-based multilevel terrain-adaptive noise removal method (MTANR) that identifies noise in a coarse-to-fine strategy based on the distribution of noise photons and is evaluated with high-precision airborne LiDAR data. First, the histogram-based successive denoising method was used as a coarse denoising process to remove distant noise and part of the sparse noise, thereby increasing the fault tolerance of the subsequent steps. Second, a rotatable ellipse that adaptively corrects the direction and shape based on the slope was utilized to search for the optimal filtering direction (OFD). Based on the direction, sparse noise removal was accomplished robustly using the Otsu’s method in conjunction with the ordering points to identify the clustering structure (OPTICS) and provide a nearly noise-free environment for edge searching. Finally, the edge noise was removed by near-ground edge searching, and the signal photons were better preserved by the surface lines. The proposed MTANR was validated in four typical experimental areas: two in Baishan, China, and two in Taranaki, New Zealand. A comparison was made with three other representative methods, namely differential, regressive, and Gaussian adaptive nearest neighbor (DRAGANN), used in ATL08 products, local distance statistics (LDS), and horizontal ellipse-based OPTICS. The results demonstrated that the values of the F1 score for the signal photon identification achieved by the proposed MTANR were 0.9762, 0.9857, 0.9839, and 0.9534, respectively, which were higher than those of the other methods mentioned above. In addition, the qualitative and quantitative results demonstrated that MTANR outperformed in scenes with steep slopes, abrupt terrain changes, and uneven vegetation coverage. Full article

Due to atmospheric scattering, solar radiation, and other factors, the Ice, Cloud, and land Elevation Satellite-2 (ICESat-2) product data suffer from a substantial amount of background noise. This poses a significant challenge when attempting to directly utilize the raw data. Consequently, data denoising becomes an indispensable preprocessing step for its subsequent applications, such as the extraction of forest structure parameters and ground elevation data. While the Density-Based Spatial Clustering of Applications with Noise (DBSCAN) algorithm is currently the most widely used method, it remains susceptible to complexities arising from terrain, low signal-to-noise ratio (SNR), and input parameter variations. This paper proposes an efficient Multi-Level Auto-Adaptive Noise Filter (MLANF) algorithm based on photon spatial density. Its purpose is to extract signal photons from ICESat-2 terrestrial data of different ground cover types. The algorithm follows a two-step process. Firstly, random noise photons are removed from the upper and lower regions of the signal photons through a coarse denoising process. Secondly, in the fine denoising step, the K-Nearest Neighbor (KNN) algorithm selects the K photons to calculate the slope along the track. The calculated slope is then used to rotate the direction of the searching neighborhood in the DBSCAN algorithm. The proposed algorithm was tested in eight datasets of four surface types: forest, grassland, desert, and urban, and the extraction results were compared with those from the ATL08 datasets and the DBSCAN algorithm. Based on the ground-truth signal photons obtained by visual inspection, the classification precision, recall, and F-score of our algorithm, as well as two other algorithms, were calculated. The MLANF could achieve a good balance between classification precision (97.48% averaged) and recall (97.96% averaged). Its F-score (97.69% averaged) was higher than that of the other two methods. This demonstrates that the MLANF algorithm successfully obtained a continuous surface profile from ICESat-2 datasets with different surface cover types, significant topographic relief, and low SNR. Full article

The Ice, Cloud, and Land Elevation Satellite-2 (ICESat-2) is equipped with the Advanced Topographic Laser Altimeter System (ATLAS), which can achieve high-precision ground detection. However, due to its low pulse energy and high sensitivity, it is also affected by noise when obtaining data. Therefore, data denoising is critical to the subsequent processing and application. In this study, a multilevel filtering algorithm is proposed to denoise the daytime photon cloud data with high background noise. Firstly, the Random Sample Consensus (RANSAC) algorithm is used to roughly denoise the daytime photon cloud data with high background noise, and a signal point cloud buffer is established to remove most of the noise points. Subsequently, the horizontal continuity parameter is calculated based on the photon cloud data following the rough denoising process. Based on this parameter, the shape and size of the search domain of the results of the subsequent fine denoising algorithm are adaptively improved. Finally, three filtering directions (a horizontal direction, an intra-group unified direction, and an adaptive direction for each photon) are proposed, and a hybrid algorithm combining the Ordering Points to Identify the Clustering Structure (OPTICS) density clustering algorithm and the Relative Neighboring Relationship K-nearest neighbors-based noise removal (RNR−KNNB) algorithm is employed to accurately denoise the photon cloud data in the three filtering directions. Furthermore, the RANSAC algorithm based on a sliding overlap window is used to remove outliers for the weak beam fine denoising photon cloud data. The results indicate that, for the strong beams, the denoising accuracy of the multilevel filtering algorithm in the three filtering directions is comparable (Rs ≥ 0.96, F ≥ 0.67), and they are all better than that of the ATL08 algorithm (Rs/Rn/p/F = 0.85/0.67/0.52/0.65). For weak beams, the denoising accuracy of the multilevel filtering algorithm in the horizontal direction and the intra-group unified direction is similar (Rs = 0.92, F = 0.69), and it is superior to the denoising results in the adaptive direction of each photon and the ATL08 algorithm (Rs/Rn/p/F = 0.94/0.84/0.51/0.65, 0.88/0.87/0.55/0.67, respectively). For strong and weak beams, the p-value and F-value of the denoising results of multilevel filtering algorithms in three different filtering directions increase with the increase of SNR value. It is demonstrated that SNR is an important factor affecting the denoising results of algorithms. The multilevel filtering algorithm proposed in the study can effectively achieve precise denoising of daytime photon cloud data with high background noise, and the three different filtering directions have different effects on the denoising results of strong and weak beam photon cloud data. This can provide technical and methodological guidance for subsequent photon cloud data filtering processing. Full article

Currently, the new space-based laser altimetry mission, Ice, Cloud, and Land Elevation Satellite-2 (ICESat-2), is widely used to obtain terrain information. Photon cloud filtering is a crucial step toward retrieving sub-canopy terrain. However, an unsuccessful photon cloud filtering performance weakens the retrieval of sub-canopy terrain. In addition, sub-canopy terrain retrieval would not be accurate in densely forested areas due to existing sparse ground photons. This paper proposes a photon cloud filtering method and a ground photon extraction method to accurately retrieve sub-canopy terrain from ICESat-2 data. First, signal photon cloud data were derived from ICESat-2 data using the proposed photon cloud filtering method. Second, ground photons were extracted based on a specific percentile range of elevation. Third, erroneous ground photons were identified and corrected to obtain accurate sub-canopy terrain results, assuming that the terrain in the local area with accurate ground photons was continuous and therefore could be fitted appropriately through a straight line. Then, the signal photon cloud data obtained by the proposed method were compared with the reference signal photon cloud data. The results demonstrate that the overall accuracy of the signal photon identification achieved by the proposed filtering method exceeded 96.1% in the study areas. The sub-canopy terrain retrieved by the proposed sub-canopy terrain retrieval method was compared with the airborne LiDAR terrain measurements. The root-mean-squared error (RMSE) values in the two study areas were 1.28 m and 1.19 m, while the corresponding $R^2$ (coefficient of determination) values were 0.999 and 0.999, respectively. We also identified and corrected erroneous ground photons with an RMSE lower than 2.079 m in densely forested areas. Therefore, the results of this study can be used to improve the accuracy of sub-canopy terrain retrieval, thus pioneering the application of ICESat-2 data, such as the generation of global sub-canopy terrain products. Full article

The second-generation spaceborne LiDAR-Ice, Cloud and Land Elevation Satellite-2 (ICESat-2) carries the Advanced Topographic Laser Altimeter System (ATLAS), which can penetrate a certain depth of water, and is one of the important means to obtain the water depth information of nearshore water. However, due to the influence of the atmospheric environment, water quality and color, the system itself and other factors, the photon point cloud introduces survey noise, which restricts the survey accuracy and reliability of nearshore water depth. Therefore, in this study, we presented a photon denoising algorithm for layered processing of submarine surface. Firstly, rough denoising of the original photon data was completed by smoothing filtering. Then, elevation histogram statistics were carried out on the photon data, two peaks of the histogram were fitted by a double Gaussian function, and the intersection of two curves was then taken to separate the water surface and underwater photons. The surface photons were denoised by the DBSCAN clustering algorithm. Then according to the distribution characteristics of underwater signal photons, a single-photon point cloud filtering bathymetric method was proposed based on improved local distance statistics (LDSBM), which was used for fine denoising of underwater point cloud data. Finally, the Gaussian function was used to fit the frequency histogram, and the signal photons were screened to extract the water depth information. In this study, 13 groups of the ATL03 dataset from the Xisha Islands, the St. Thomas and the Acklins Island were used for denoising. The denoising results were compared with the signal photons manually marked and the signal photons extracted by the official built-in method (OM). The experimental results showed that, compared with the official method results of ATL03, the LDSBM had a higher F value (comprehensive evaluation index), with an average of more than 96.70%. In conclusion, the proposed underwater single-photon point cloud filtering bathymetric method was superior to the traditional algorithm and could recover terrain information accurately. Full article

The Ice, Cloud, and Land Elevation Satellite 2 (ICESat-2) is equipped with an Advanced Terrain Laser Altimeter System (ATLAS) with the capability of penetrating water bodies, making it a widely utilized tool for the bathymetry of various aquatic environments. However, the laser sensor often encounters a significant number of noise photons due to various factors such as sunlight, water quality, and after-pulse effect. These noise photons significantly compromise the accuracy of bathymetry measurements. In an effort to address this issue, this study proposes a two-step method for photon denoising by utilizing a method combining the DBSCAN algorithm and a two-dimensional window filter, achieving an F1 score of 0.94. A robust M-estimation method was employed to estimate the water depth of the denoised and refraction-corrected bathymetric photons, achieving an RMSE of 0.30 m. The method proposed in this paper preserves as much information as possible about signal photons, increases the number of bathymetric points, enhances the resistance to gross error, and guarantees the accuracy of bathymetry measurements while outlining the underwater topography. While the method is not fully automated and requires setting parameters, the fixed parameter values allow for efficient batch denoising of underwater photon points in different environments. Full article