Search Results (242)

The present paper introduces a novel methodology for LiDAR point transformation and adjustment, grounded in two primary concepts. In the initial phase of the process, LiDAR data are mapped onto synthetic images, known as lidargrams, through the utilization of exterior orientation parameters (EOPs) of a virtual camera. Secondly, unique lidargram point identifiers (ULPIs) are assigned to each LiDAR point, ensuring the preservation of the relationship between specific LiDAR points and their corresponding lidargram projections. This process facilitates the reconstruction of ground points from their respective projections. The integration of these concepts facilitates the alignment and adjustment of blocks of lidargrams, thereby enabling the estimation of novel EOPs. The exchange of arbitrary EOPs and the intersection of the transformed point cloud based on the ULPIs are facilitated by these refined EOPs. The LiDAR data undergo a three-dimensional transformation using photogrammetric algorithms. This is in accordance with the fundamental principles of lidargrammetry. The accuracy of the new approach and its implementation in a research tool were verified on a range of data types, encompassing synthetic, semisynthetic, and real data. By evaluating the approach across a wide range of data sources, the authors were able to assess its effectiveness and reliability in different scenarios. The method’s flexibility is evidenced by its ability to reduce the final 3D root mean square error of discrepancies measured at check points by 30 times in synthetic data tests, 12 times in semisynthetic data tests, and 96 times in real data tests. The quantitative results obtained provide substantial support for the validity of the presented methodology. The efficacy of the proposed method was also evaluated by way of a comparative analysis with a selection of widely utilized LiDAR processing software developed by TerraSolid Ltd. Full article

Three-dimensional environment reconstruction refers to the creation of mathematical models of three-dimensional objects suitable for computer representation and processing. This paper proposes a novel 3D environment reconstruction approach that addresses the field-of-view limitations commonly faced by LiDAR-based systems. A rotary-driven LiDAR mechanism is designed to enable uniform and seamless full-field-of-view scanning, thereby overcoming blind spots in traditional setups. To complement the hardware, a multi-sensor fusion framework—LV-SLAM (LiDAR-Visual Simultaneous Localization and Mapping)—is introduced. The framework consists of two key modules: multi-threaded feature registration and a two-phase loop closure detection mechanism, both designed to enhance the system’s accuracy and robustness. Extensive experiments on the KITTI benchmark demonstrate that LV-SLAM outperforms state-of-the-art methods including LOAM, LeGO-LOAM, and FAST-LIO2. Our method reduces the average absolute trajectory error (ATE) from 6.90 m (LOAM) to 2.48 m, and achieves lower relative pose error (RPE), indicating improved global consistency and reduced drift. We further validate the system in real-world indoor and outdoor environments. Compared with fixed-angle scans, the rotary LiDAR mechanism produces more complete reconstructions with fewer occlusions. Geometric accuracy evaluation shows that the root mean square error between reconstructed and actual building dimensions remains below 5 cm. The proposed system offers a robust and accurate solution for high-fidelity 3D reconstruction, particularly suitable for GNSS-denied and structurally complex environments. Full article

The detection of coils in reservoir areas is part of the environmental perception technology of unmanned cranes. In order to improve the perception ability of unmanned cranes to include environmental information in reservoir areas, a method of automatic detection of coils based on two-dimensional LiDAR dynamic scanning is proposed, which realizes the detection of the position and attitude of coils in reservoir areas. This algorithm realizes map reconstruction of 3D point cloud by fusing LiDAR point cloud data and the motion position information of intelligent cranes. Additionally, a processing method based on histogram statistical analysis and 3D normal curvature estimation is proposed to solve the problem of over-segmentation and under-segmentation in 3D point cloud segmentation. Finally, for segmented point cloud clusters, coil models are fitted by the RANSAC method to identify their position and attitude. The accuracy, recall, and F1 score of the detection model are all higher than 0.91, indicating that the model has a good recognition effect. Full article

In fields such as military reconnaissance, forest fire prevention, and autonomous driving at night, there is an urgent need for high-precision three-dimensional reconstruction in low-light or night environments. The acquisition of remote sensing data by RGB cameras relies on external light, resulting in a significant decline in image quality and making it difficult to meet the task requirements. The method based on lidar has poor imaging effects in rainy and foggy weather, close-range scenes, and scenarios requiring thermal imaging data. In contrast, infrared cameras can effectively overcome this challenge because their imaging mechanisms are different from those of RGB cameras and lidar. However, the research on three-dimensional scene reconstruction of infrared images is relatively immature, especially in the field of infrared binocular stereo matching. There are two main challenges given this situation: first, there is a lack of a dataset specifically for infrared binocular stereo matching; second, the lack of texture information in infrared images causes a limit in the extension of the RGB method to the infrared reconstruction problem. To solve these problems, this study begins with the construction of an infrared binocular stereo matching dataset and then proposes an innovative perspective projection positional encoding-based transformer method to complete the infrared binocular stereo matching task. In this paper, a stereo matching network combined with transformer and cost volume is constructed. The existing work in the positional encoding of the transformer usually uses a parallel projection model to simplify the calculation. Our method is based on the actual perspective projection model so that each pixel is associated with a different projection ray. It effectively solves the problem of feature extraction and matching caused by insufficient texture information in infrared images and significantly improves matching accuracy. We conducted experiments based on the infrared binocular stereo matching dataset proposed in this paper. Experiments demonstrated the effectiveness of the proposed method. Full article

Slope-related geological disasters occur frequently in various countries, posing significant threats to surrounding infrastructure, ecosystems, and human lives and property. Traditional manual monitoring methods for slope hazards are inefficient and have limited coverage. To enhance the monitoring and analysis of geological hazards, a study was conducted on the legacy slopes of an abandoned quarry in Jinan, Shandong Province, China. High-resolution images of the slopes were captured using unmanned aerial vehicle (UAV) phase tilt photogrammetry, and three-dimensional models were subsequently constructed. Software tools, including LiDAR360 5.2 and ArcMap 10.8, were employed to extract slope geological information, identify disaster-prone areas, and conduct stability analyses. The Analytic Hierarchy Process (AHP) was employed to further evaluate the stability of hazardous slopes. The results reveal the presence of two geohazard-prone areas in the study area. Geological analysis shows that both areas exhibit instability, with a high susceptibility to small-scale rockfalls and landslides. The integration of UAV remote sensing technology with AHP represents a novel approach, and the combination of multiple analytical methods enhances the accuracy of slope stability assessments. Full article

The demand for spatially explicit and comprehensive forest attribute data has continued to increase. Light detection and ranging (LiDAR) remote sensing, which can measure three-dimensional (3D) forest attributes, plays a significant role. However, only a few studies have used uncrewed aerial vehicle (UAV)-LiDAR to extract the characteristics of the 3D structure of the forest understory. Therefore, this study proposes a method for classifying and mapping forest stratification and evaluating forest stratification changes using multitemporal UAV-LiDAR data. The study area is a forest of approximately 25 ha on the west side of the Expo Commemorative Park (Suita City, Osaka Prefecture, Japan). Three-dimensional point cloud models from two measurement periods during the leaf-fall season were used. Forest stratification was classified using time-series clustering of 2024 data. The classification of forest stratification and its spatial distribution effectively reflected the actual site conditions. By applying time-series clustering, the forest stratification was successfully classified using only UAV-LiDAR data. Changes in forest stratification were evaluated using data from 2022 to 2024. In areas where changes in forest stratification were evaluated as significant, evidence of tree felling was confirmed. In addition, changes in forest stratification were quantitatively evaluated. The proposed method uses only UAV-LiDAR, which is highly versatile; thus, it is expected to apply to various forests. The results of this study are expected to deepen our ecological understanding of forests and contribute to forest monitoring and management. Full article

Accurate detection and delineation of individual tree crowns (ITCs) are essential for sustainable forest management and ecosystem monitoring, providing key biophysical attributes at the individual tree level. However, the complex structure of mixed-wood forests, characterized by overlapping canopies of various shapes and sizes, presents significant challenges, often compromising accuracy. This study presents a two-stage deep learning framework that integrates Canopy Height Model (CHM)-based treetop detection with three-dimensional (3D) ITC delineation using high-resolution airborne LiDAR point cloud data. In the first stage, Mask R-CNN detects treetops from the CHM, providing precise initial localizations of individual trees. In the second stage, a 3D U-Net architecture clusters LiDAR points to delineate ITC boundaries in 3D space. Evaluated against manually delineated reference data, our approach outperforms established methods, including Mask R-CNN alone and the lidR itcSegment algorithm, achieving mean intersection-over-union (mIoU) scores of 0.82 for coniferous plots, 0.81 for mixed-wood plots, and 0.79 for deciduous plots. This study demonstrates the great potential of the two-stage deep learning approach as a robust solution for 3D ITC delineation in mixed-wood forests. Full article

The avalanche multiplication effect, capable of significantly amplifying weak optical or electrical signals, plays a pivotal role in enhancing the performance of electronic and optoelectronic devices. This effect has been widely employed in devices such as avalanche photodiodes, impact ionization avalanche transit time diode, and impact ionization field-effect transistors, enabling diverse applications in biomedical imaging, 3D LIDAR, high-frequency microwave circuits, and optical fiber communications. However, the evolving demands in these fields require avalanche devices with superior performance, including lower power consumption, reduced avalanche threshold energy, higher efficiency, and improved sensitivity. Over the years, significant efforts have been directed towards exploring novel device architectures and multiplication mechanisms. The emergence of two-dimensional (2D) materials, characterized by their exceptional light-matter interaction, tunable bandgaps, and ease of forming junctions, has opened up new avenues for developing high-performance avalanche devices. This review provides an overview of carrier multiplication mechanisms and key performance metrics for avalanche devices. We discuss several device structures leveraging the avalanche multiplication effect, along with their electrical and optoelectronic properties. Furthermore, we highlight representative applications of avalanche devices in logic circuits, optoelectronic components, and neuromorphic computing systems. By synthesizing the principles and applications of the avalanche multiplication effect, this review aims to offer insightful perspectives on future research directions for 2D material-based avalanche devices. Full article

Two-dimensional (2D) simultaneous localization and mapping (SLAM) is a key technology for intelligent indoor robots. By using a map generated via SLAM, the robot can navigate and perform specific tasks. This paper reviews the progress of 2D Lidar SLAM algorithms based on four principles: filter-based SLAM, matching-based SLAM, graph optimization-based SLAM, and deep learning-based SLAM, highlighting their advantages, disadvantages, and applicability. Additionally, two key research topics in 2D Lidar SLAM are presented: solutions for dynamic objects during mapping and the fusion of 2D Lidar and vision data. Finally, the development trends of 2D SLAM are discussed. Full article

A MEMS scanning mirror is a beam scanning device based on MEMS technology, which plays an important role in the fields of Lidar, medical imaging, laser projection display, and so on. The accurate measurement of the scanning mirror index can verify its performance and application scenarios. This paper designed and built a scanning mirror benchmark platform based on a two-dimensional position-sensitive detector (PSD), which can accurately measure the deflection angle, resonance frequency, and angular resolution of the scanning mirror, and described the specific test steps of the scanning mirror parameters, which can meet the two-dimensional measurement. Secondly, this paper analyzed and calculated the angular test uncertainty of the designed test system. After considering the actual optical alignment error and PSD measurement error, when the distance between the PSD and MEMS scanning mirror is 100 mm, the range of mechanical deflection angle that can be measured is (−6.34°, +6.34°). When the mechanical deflection angle of the scanning mirror is 0.01°, the accuracy measured by the test system is 0.00097°, and when the mechanical deflection of the scanning mirror is 6.34°, the accuracy measured by the test system is 0.011°. The test platform has high accuracy and can measure the parameters of the scanning mirror accurately. Full article

Stem volume is a critical factor in managing and evaluating forest resources. At present, stem volume is commonly estimated indirectly by constructing a taper model that utilizes sampling, diameter at breast height (DBH), and tree height. However, these estimates are constrained by errors arising from spatial and stand environment variations as well as uncertainties in height measurements. To address these issues, this study aimed to accurately estimate stem volume using light detection and ranging (LiDAR) technology, a key tool in modern precision forestry. LiDAR data were used to build comprehensive three-dimensional models of forests with multi-platform LiDAR systems. This approach allowed for precise measurements of tree heights and stem diameters at various heights, effectively mitigating the limitations of earlier measurement methods. Based on these data, a Kozak taper curve was developed at the individual tree level using LiDAR-derived tree height and diameter estimates. Integrating this curve with LiDAR data enabled a hybrid approach to estimating stem volume, facilitating the calculation of diameters at points not directly identifiable from LiDAR data alone. The proposed method was implemented and evaluated for two economically significant tree species in Korea: Pinus koraiensis and Larix kaempferi. The RMSE comparison between the taper curve-based approach and the hybrid volume estimation method showed that, for Pinus koraiensis, the RMSE was 0.11 m³ using the taper curve-based approach and 0.07 m³ for the hybrid method, while for Larix kaempferi, the RMSE was 0.13 m³ and 0.05 m³, respectively. The estimation error of the hybrid method was approximately half that of the taper curve-based approach. Consequently, the hybrid volume estimation method, which integrates LiDAR and the taper model, overcomes the limitations of conventional taper curve-based approaches and contributes to improving the accuracy of forest resource monitoring. Full article

Structural changes in savanna trees vary spatially and temporally because of both biotic and abiotic drivers, as well as the complex interactions between them. Given this complexity, it is essential to monitor and quantify woody structural changes in savannas efficiently. We implemented a non-destructive approach based on Terrestrial Laser Scanning (TLS) and Quantitative Structure Models (QSMs) that offers the unique advantage of investigating changes in complex tree parameters, such as volume and branch length parameters that have not been previously reported for savanna trees. Leaf-off multi-scan TLS point clouds were acquired during the dry season, using a Riegl VZ1000 TLS, in September 2015 and October 2019 at the Skukuza flux tower in Kruger National Park, South Africa. These three-dimensional (3D) data covered an area of 15.2 ha with an average point density of 4270 points/m² (0.015°) and 1600 points/m² (0.025°) for the 2015 and 2019 clouds, respectively. Individual tree segmentation was applied on the two clouds using the comparative shortest-path algorithm in LiDAR 360(v5.4) software. We reconstructed optimized QSMs and assessed tree structural parameters such as Diameter at Breast Height (DBH), tree height, crown area, volume, and branch length at individual tree level. The DBH, tree height, crown area, and trunk volume showed significant positive correlations (R² > 0.80) between scanning periods regardless of the difference in the number of points of the matched trees. The opposite was observed for total and branch volume, total number of branches, and 1st-order branch length. As the difference in the point densities increased, the difference in the computed parameters also increased (R² < 0.63) for a high relative difference. A total of 45% of the trees present in 2015 were identified in 2019 as damaged/felled (75 trees), and the volume lost was estimated to be 83.4 m³. The results of our study showed that volume reconstruction algorithms such as TreeQSMs and high-resolution TLS datasets can be used successfully to quantify changes in the structure of savanna trees. The results of this study are key in understanding savanna ecology given its complex and dynamic nature and accurately quantifying the gains and losses that could arise from fire, drought, herbivory, and other abiotic and biotic disturbances. Full article

As autonomous driving technology progresses, LiDAR-based 3D object detection has emerged as a fundamental element of environmental perception systems. PointPillars transforms point cloud data into a two-dimensional pseudo-image and employs a 2D CNN for efficient and precise detection. Nevertheless, this approach encounters two primary challenges: (1) the sparsity and disorganization of raw point clouds hinder the model’s capacity to capture local features, thus impacting detection accuracy; and (2) existing models struggle to detect small objects within complex environments, particularly regarding orientation estimation. To address these issues, we propose two enhancements: (1) point-level fusion of LiDAR point clouds and RGB images, which integrates the semantic information of 2D images with the geometric features of 3D point clouds to improve model performance in intricate scenarios; (2) the incorporation of the Efficient Channel Attention mechanism to concentrate on essential features, particularly for small and sparse objects. Experimental results on the KITTI dataset indicate significant improvements, particularly in small object detection tasks, such as identifying pedestrians and cyclists. The enhanced model also demonstrates substantial gains in the Average Orientation Similarity (AOS) metric. These enhancements enhance the vehicle’s ability to track and predict object trajectories in dynamic environments, critical for reliable recognition and decision-making. Full article

This study explores the potential of repurposing historical aerial photographs to produce high-accuracy digital surface models (DSMs) at regional scales. A novel methodology is introduced, incorporating road points for quality control and refinement to enhance the precision and comparability of multitemporal DSMs. The method consists of two phases. The first is the photogrammetric phase, where DSMs are generated using photogrammetric and structure from motion (SfM) techniques. The second is the refinement phase, which uses a large number (millions) of points extracted from road centrelines to evaluate altimetric residuals—defined as the differences between photogrammetric DSMs and a reference DSM. These points are filtered to ensure that they represent stable positions. The analysis shows that the initial residuals exhibit geographical trends, rather than random behaviour, that are removed after the refinement. An application example covering the whole coast of the Valencian region (Eastern Spain, 518 km of coastline) shows the obtention of a series composed of six DSMs. The method achieves levels of accuracy (0.15–0.20 m) comparable to modern LiDAR techniques, offering a cost-effective alternative for three-dimensional characterisation. The application to the foredune and coastal environment demonstrated the method’s effectiveness in quantifying sand volumetric changes through comparison with a reference DSM. The achieved accuracy is crucial for establishing precise sedimentary balances, essential for coastal management. At the same time, this method shows significant potential for its application in other dynamic landscapes, as well as urban or agricultural monitoring. Full article

The application of LiDAR technology in extracting individual trees and stand parameters plays a crucial role in forest surveys. Accurate identification of individual tree trunks is a critical foundation for subsequent parameter extraction. For LiDAR-acquired forest point cloud data, existing two-dimensional (2D) plane-based algorithms for tree trunk detection often suffer from spatial information loss, resulting in reduced accuracy, particularly for tilted trees. While cylinder fitting algorithms provide a three-dimensional (3D) solution for trunk detection, their performance in complex forest environments remains limited due to sensitivity to parameters like distance thresholds. To address these challenges, this study proposes an improved individual tree trunk detection algorithm, Random Sample Consensus Cylinder Fitting (RANSAC-CyF), specifically optimized for detecting cylindrical tree trunks. Validated in three forest plots with varying complexities in Tianhe District, Guangzhou, the algorithm demonstrated significant advantages in the inlier rate, detection success rate, and robustness for tilted trees. The study showed the following results: (1) The average difference between the inlier rates of tree trunks and non-tree points for the three sample plots using RANSAC-CyF were 0.59, 0.63, and 0.52, respectively, which were significantly higher than those using the Least Squares Circle Fitting (LSCF) algorithm and the Random Sample Consensus Circle Fitting (RANSAC-CF) algorithm (p < 0.05). (2) RANSAC-CyF required only 2 and 8 clusters to achieve a 100% detection success rate in Plot 1 and Plot 2, while the other algorithms needed 26 and 40 clusters. (3) The effective distance threshold range of RANSAC-CyF was more than twice that of the comparison algorithms, maintaining stable inlier rates above 0.9 across all tilt angles. (4) The RANSAC-CyF algorithm still achieved good detection performance in the challenging Plot 3. Together, the other two algorithms failed to detect. The findings highlight the RANSAC-CyF algorithm’s superior accuracy, robustness, and adaptability in complex forest environments, significantly improving the efficiency and precision of individual tree trunk detection for forestry surveys and ecological research. Full article