Spatial ecology, biodiversity, and abiotic determinants of Congo's bai ecosystem.

Canopy gaps are foundational features of rainforest biodiversity and successional processes. The bais of Central Africa are among the world's largest natural forest clearings and thought to be critically important islands of open-canopy habitat in an ocean of closed-canopy rainforest. However, while frequently denoted as a conservation priority, there are no published studies on the abundance or distribution of bais across the landscape, nor on their biodiversity patterns, limiting our understanding of their ecological contribution to Congolese rainforests. We combined remote sensing and field surveys to quantify the abundance, spatial distribution, shape, size, biodiversity, and soil properties of bais in Odzala-Kokoua National Park (OKNP), Republic of the Congo (hereafter, Congo). We related bai spatial distribution to variation in hydrology and topography, compared plant community composition and 3D structure between bais and other open ecosystems, quantified animal diversity from camera traps, and measured soil moisture content in different bai types. We found bais to be more numerous than previously thought (we mapped 2176 bais in OKNP), but their predominantly small size (80.7% of bais were <1 ha), highly clustered distribution, and restriction to areas of low topographic position make them a rare riparian habitat type. We documented low plant community and structural similarity between bai types and with other open ecosystems, and identified significant differences in soil moisture between bai and open ecosystem types. Our results demonstrate that two distinct bai types can be differentiated based on their plant and animal communities, soil properties, and vegetation structure. Taken together, our findings provide insights into how bais relate to other types of forest clearings and on their overall importance to Congolese rainforest ecosystems.

An open dataset for individual tree detection in UAV LiDAR point clouds and RGB orthophotos in dense mixed forests.

We present an open access dataset for development, evaluation, and comparison of algorithms for individual tree detection in dense mixed forests. The dataset consists of a detailed field inventory and overlapping UAV LiDAR and RGB orthophoto, which make it possible to develop algorithms that fuse multimodal data to improve detection results. Along with the dataset, we describe and implement a basic local maxima filtering baseline and an algorithm for automatically matching detection results to the ground truth trees for detection algorithm evaluation.

Detecting natural gas storage microleakage based on K-means clustering under constraint of Jeffries-Matusita distance criterion using mobile LiDAR data.

Natural gas leaks alter both the spectral reflectance and the structure of surface vegetation, which can be used to indirectly monitor microleakages in gas storage facilities. However, existing methods predominantly focus on the spectral rather than structural response of stressed vegetation, and it is not clear whether structure characteristic can be used to identify natural gas stressed vegetation. In this study, the utility of mobile LiDAR in detecting vegetation structure changes due to natural gas stress was demonstrated by analyzing LiDAR data from a field experiment with bean and grass plants in their growing phase. A method utilizing the Jeffries-Matusita distance criterion constrained K-means clustering (JCKC) algorithm was proposed, which comprises three main steps: First, response of vegetation structure characteristic to natural gas stress was quantitatively analyzed at plot and pixel scales using LiDAR data. Second, the optimal set of structure characteristic parameters indicating natural gas stressed vegetation was determined using hierarchical clustering algorithm. Third, the reduced LiDAR data was clustered using K-means algorithm, and the clusters were classified under constraint of Jeffries-Matusita distance criterion to identify stressed vegetation. The results indicated natural gas stress significantly changes vegetation structure (p = 0.05), decreasing parameters like height, projected leaf area, canopy relief ratio, coefficient of variation of vegetation height, and entropy, while increasing homogeneity, contrast, and dissimilarity. The set of structure characteristic parameters based on height, homogeneity, and contrast can stably indicate natural gas stress, with Jeffries-Matusita distance values for comparing healthy and stressed vegetation samples exceeding 1.8. The proposed model achieved pixel-level identification accuracies of 98.95% for bean and 96.22% for grass, with average localization accuracies of 0.15 m and 0.12 m, respectively. This study demonstrates the potential of vegetation's structure characteristic in reflecting response to natural gas stress and monitoring natural gas storage microleakage in vegetated areas.

Three-Dimensional Posture Estimation of Vehicle Occupants Using Depth and Infrared Images.

Pose estimation is crucial for ensuring passenger safety and better user experiences in semi- and fully autonomous vehicles. Traditional methods relying on pose estimation from regular color images face significant challenges due to a lack of three-dimensional (3D) information and the sensitivity to occlusion and lighting conditions. Depth images, which are invariant to lighting issues and provide 3D information about the scene, offer a promising alternative. However, there is a lack of strong work in 3D pose estimation from such images due to the time-consuming process of annotating depth images with 3D postures. In this paper, we present a novel approach to 3D human posture estimation using depth and infrared (IR) images. Our method leverages a three-stage fine-tuning process involving simulation data, approximated data, and a limited set of manually annotated samples. This approach allows us to effectively train a model capable of accurate 3D pose estimation with a median error of under 10 cm across all joints, using fewer than 100 manually annotated samples. To the best of our knowledge, this is the first work focusing on vehicle occupant posture detection utilizing only depth and IR data. Our results demonstrate the feasibility and efficacy of this approach, paving the way for enhanced passenger safety in autonomous vehicle systems.

BA-CLM: A Globally Consistent 3D LiDAR Mapping Based on Bundle Adjustment Cost Factors.

Constructing a globally consistent high-precision map is essential for the application of mobile robots. Existing optimization-based mapping methods typically constrain robot states in pose space during the graph optimization process, without directly optimizing the structure of the scene, thereby causing the map to be inconsistent. To address the above issues, this paper presents a three-dimensional (3D) LiDAR mapping framework (i.e., BA-CLM) based on LiDAR bundle adjustment (LBA) cost factors. We propose a multivariate LBA cost factor, which is built from a multi-resolution voxel map, to uniformly constrain the robot poses within a submap. The framework proposed in this paper applies the LBA cost factors for both local and global map optimization. Experimental results on several public 3D LiDAR datasets and a self-collected 32-line LiDAR dataset demonstrate that the proposed method achieves accurate trajectory estimation and consistent mapping.

LiDAR-Based Snowfall Level Classification for Safe Autonomous Driving in Terrestrial, Maritime, and Aerial Environments.

Studies on autonomous driving have started to focus on snowy environments, and studies to acquire data and remove noise and pixels caused by snowfall in such environments are in progress. However, research to determine the necessary weather information for the control of unmanned platforms by sensing the degree of snowfall in real time has not yet been conducted. Therefore, in this study, we attempted to determine snowfall information for autonomous driving control in snowy weather conditions. To this end, snowfall data were acquired by LiDAR sensors in various snowy areas in South Korea, Sweden, and Denmark. Snow, which was extracted using a snow removal filter (the LIOR filter that we previously developed), was newly classified and defined based on the extracted number of snow particles, the actual snowfall total, and the weather forecast at the time. Finally, we developed an algorithm that extracts only snow in real time and then provides snowfall information to an autonomous driving system. This algorithm is expected to have a similar effect to that of actual controllers in promoting driving safety in real-time weather conditions.

Compressing and Recovering Short-Range MEMS-Based LiDAR Point Clouds Based on Adaptive Clustered Compressive Sensing and Application to 3D Rock Fragment Surface Point Clouds.

Short-range MEMS-based (Micro Electronical Mechanical System) LiDAR provides precise point cloud datasets for rock fragment surfaces. However, there is more vibrational noise in MEMS-based LiDAR signals, which cannot guarantee that the reconstructed point cloud data are not distorted with a high compression ratio. Many studies have illustrated that wavelet-based clustered compressive sensing can improve reconstruction precision. The k-means clustering algorithm can be conveniently employed to obtain clusters; however, estimating a meaningful k value (i.e., the number of clusters) is challenging. An excessive quantity of clusters is not necessary for dense point clouds, as this leads to elevated consumption of memory and CPU resources. For sparser point clouds, fewer clusters lead to more distortions, while excessive clusters lead to more voids in reconstructed point clouds. This study proposes a local clustering method to determine a number of clusters closer to the actual number based on GMM (Gaussian Mixture Model) observation distances and density peaks. Experimental results illustrate that the estimated number of clusters is closer to the actual number in four datasets from the KEEL public repository. In point cloud compression and recovery experiments, our proposed approach compresses and recovers the Bunny and Armadillo datasets in the Stanford 3D repository; the experimental results illustrate that our proposed approach improves reconstructed point clouds' geometry and curvature similarity. Furthermore, the geometric similarity increases to 0.9 above in our complete rock fragment surface datasets after selecting a better wavelet basis for each dimension of MEMS-based LiDAR signals. In both experiments, the sparsity of signals was 0.8 and the sampling ratio was 0.4. Finally, a rock outcrop point cloud data experiment is utilized to verify that the proposed approach is applicable for large-scale research objects. All of our experiments illustrate that the proposed adaptive clustered compressive sensing approach can better reconstruct MEMS-based LiDAR point clouds with a lower sampling ratio.

The Improvement of Density Peaks Clustering Algorithm and Its Application to Point Cloud Segmentation of LiDAR.

This work focuses on the improvement of the density peaks clustering (DPC) algorithm and its application to point cloud segmentation in LiDAR. The improvement of DPC focuses on avoiding the manual determination of the cut-off distance and the manual selection of cluster centers. And the clustering process of the improved DPC is automatic without manual intervention. The cut-off distance is avoided by forming a voxel structure and using the number of points in the voxel as the local density of the voxel. The automatic selection of cluster centers is realized by selecting the voxels whose gamma values are greater than the gamma value of the inflection point of the fitted γ curve as cluster centers. Finally, a new merging strategy is introduced to overcome the over-segmentation problem and obtain the final clustering result. To verify the effectiveness of the improved DPC, experiments on point cloud segmentation of LiDAR under different scenes were conducted. The basic DPC, K-means, and DBSCAN were introduced for comparison. The experimental results showed that the improved DPC is effective and its application to point cloud segmentation of LiDAR is successful. Compared with the basic DPC, K-means, the improved DPC has better clustering accuracy. And, compared with DBSCAN, the improved DPC has comparable or slightly better clustering accuracy without nontrivial parameters.

An Algorithm for Generating Outdoor Floor Plans and 3D Models of Rural Houses Based on Backpack LiDAR.

As the Rural Revitalization Strategy continues to progress, there is an increasing demand for the digitization of rural houses, roads, and roadside trees. Given the characteristics of rural areas, such as narrow roads, high building density, and low-rise buildings, the precise and automated generation of outdoor floor plans and 3D models for rural areas is the core research issue of this paper. The specific research content is as follows: Using the point cloud data of the outer walls of rural houses collected by backpack LiDAR as the data source, this paper proposes an algorithm for drawing outdoor floor plans based on the topological relationship of sliced and rasterized wall point clouds. This algorithm aims to meet the needs of periodically updating large-scale rural house floor plans. By comparing the coordinates of house corner points measured with RTK, it is verified that the floor plans drawn by this algorithm can meet the accuracy requirements of 1:1000 topographic maps. Additionally, based on the generated outdoor floor plans, this paper proposes an algorithm for quickly generating outdoor 3D models of rural houses using the height information of wall point clouds. This algorithm can quickly generate outdoor 3D models of rural houses by longitudinally stretching the floor plans, meeting the requirements for 3D models in spatial analyses such as lighting and inundation. By measuring the distance from the wall point clouds to the 3D models and conducting statistical analysis, results show that the distances are concentrated between -0.1 m and 0.1 m. The 3D model generated by the method proposed in this paper can be used as one of the basic data for real 3D construction.

Dual-Wavelength LiDAR with a Single-Pixel Detector Based on the Time-Stretched Method.

In the fields of agriculture and forestry, the Normalized Difference Vegetation Index (NDVI) is a critical indicator for assessing the physiological state of plants. Traditional imaging sensors can only collect two-dimensional vegetation distribution data, while dual-wavelength LiDAR technology offers the capability to capture vertical distribution information, which is essential for forest structure recovery and precision agriculture management. However, existing LiDAR systems face challenges in detecting echoes at two wavelengths, typically relying on multiple detectors or array sensors, leading to high costs, bulky systems, and slow detection rates. This study introduces a time-stretched method to separate two laser wavelengths in the time dimension, enabling a more cost-effective and efficient dual-spectral (600 nm and 800 nm) LiDAR system. Utilizing a supercontinuum laser and a single-pixel detector, the system incorporates specifically designed time-stretched transmission optics, enhancing the efficiency of NDVI data collection. We validated the ranging performance of the system, achieving an accuracy of approximately 3 mm by collecting data with a high sampling rate oscilloscope. Furthermore, by detecting branches, soil, and leaves in various health conditions, we evaluated the system's performance. The dual-wavelength LiDAR can detect variations in NDVI due to differences in chlorophyll concentration and water content. Additionally, we used the radar equation to analyze the actual scene, clarifying the impact of the incidence angle on reflectance and NDVI. Scanning the Red Sumach, we obtained its NDVI distribution, demonstrating its physical characteristics. In conclusion, the proposed dual-wavelength LiDAR based on the time-stretched method has proven effective in agricultural and forestry applications, offering a new technological approach for future precision agriculture and forest management.

Instantaneous Material Classification Using a Polarization-Diverse RMCW LIDAR.

Light detection and ranging (LIDAR) sensors using a polarization-diverse receiver are able to capture polarimetric information about the target under measurement. We demonstrate this capability using a silicon photonic receiver architecture that enables this on a shot-by-shot basis, enabling polarization analysis nearly instantaneously in the point cloud, and then use this data to train a material classification neural network. Using this classifier, we show an accuracy of 85.4% for classifying plastic, wood, concrete, and coated aluminum.

Point Cloud Densification Algorithm for Multiple Cameras and Lidars Data Fusion.

Fusing data from many sources helps to achieve improved analysis and results. In this work, we present a new algorithm to fuse data from multiple cameras with data from multiple lidars. This algorithm was developed to increase the sensitivity and specificity of autonomous vehicle perception systems, where the most accurate sensors measuring the vehicle's surroundings are cameras and lidar devices. Perception systems based on data from one type of sensor do not use complete information and have lower quality. The camera provides two-dimensional images; lidar produces three-dimensional point clouds. We developed a method for matching pixels on a pair of stereoscopic images using dynamic programming inspired by an algorithm to match sequences of amino acids used in bioinformatics. We improve the quality of the basic algorithm using additional data from edge detectors. Furthermore, we also improve the algorithm performance by reducing the size of matched pixels determined by available car speeds. We perform point cloud densification in the final step of our method, fusing lidar output data with stereo vision output. We implemented our algorithm in C++ with Python API, and we provided the open-source library named Stereo PCD. This library very efficiently fuses data from multiple cameras and multiple lidars. In the article, we present the results of our approach to benchmark databases in terms of quality and performance. We compare our algorithm with other popular methods.

AEPF: Attention-Enabled Point Fusion for 3D Object Detection.

Current state-of-the-art (SOTA) LiDAR-only detectors perform well for 3D object detection tasks, but point cloud data are typically sparse and lacks semantic information. Detailed semantic information obtained from camera images can be added with existing LiDAR-based detectors to create a robust 3D detection pipeline. With two different data types, a major challenge in developing multi-modal sensor fusion networks is to achieve effective data fusion while managing computational resources. With separate 2D and 3D feature extraction backbones, feature fusion can become more challenging as these modes generate different gradients, leading to gradient conflicts and suboptimal convergence during network optimization. To this end, we propose a 3D object detection method, Attention-Enabled Point Fusion (AEPF). AEPF uses images and voxelized point cloud data as inputs and estimates the 3D bounding boxes of object locations as outputs. An attention mechanism is introduced to an existing feature fusion strategy to improve 3D detection accuracy and two variants are proposed. These two variants, AEPF-Small and AEPF-Large, address different needs. AEPF-Small, with a lightweight attention module and fewer parameters, offers fast inference. AEPF-Large, with a more complex attention module and increased parameters, provides higher accuracy than baseline models. Experimental results on the KITTI validation set show that AEPF-Small maintains SOTA 3D detection accuracy while inferencing at higher speeds. AEPF-Large achieves mean average precision scores of 91.13, 79.06, and 76.15 for the car class's easy, medium, and hard targets, respectively, in the KITTI validation set. Results from ablation experiments are also presented to support the choice of model architecture.

High-precision docking of wheelchair/beds through LIDAR and visual information.

To address the low docking accuracy of existing robotic wheelchair/beds, this study proposes an automatic docking framework integrating light detection and ranging (LIDAR), visual positioning, and laser ranging. First, a mobile chassis was designed for an intelligent wheelchair/bed with independent four-wheel steering. In the remote guidance phase, the simultaneous localization and mapping (SLAM) algorithm was employed to construct an environment map, achieving remote guidance and obstacle avoidance through the integration of LIDAR, inertial measurement unit (IMU), and an improved A* algorithm. In the mid-range pose determination and positioning phase, the IMU module and vision system on the wheelchair/bed collected coordinate and path information marked by quick response (QR) code labels to adjust the relative pose between the wheelchair/bed and bed frame. Finally, in the short-range precise docking phase, laser triangulation ranging was utilized to achieve precise automatic docking between the wheelchair/bed and the bed frame. The results of multiple experiments show that the proposed method significantly improves the docking accuracy of the intelligent wheelchair/bed.

The challenge of identifying dust events in a highly polluted Eastern Mediterranean region.

Dust pollution largely impacts our environment, health and well-being. However, there is no agreement on how dust-contaminated days are identified to study exposures, as methods differ across disciplines. Different quantitative thresholds, which rely on ground measurements, are generally used to define these events. In this study, we used ground-based lidar measurements to detect dust layers. The dataset was then compared to methods that are widely used to define the presence of dust on the ground. Our results show that dust layers extend to a height of up to 10 km and a depth of up to 6.3 km. We show that at least 50 % of days that include dust components according to the lidar were not included by any of the methods that we investigated. As a result, these days are not considered in many health-related studies and climate models. Many dust events exhibit a high anthropogenic component and can be misinterpreted: (Ångström exponent>1.2), high-altitude (on average above 1.7 km) and relatively shallow (average depth 1.4 km) dust layers, and low PM10 on the ground. Mixed pollution (0.8 < Ångström exponent < 1.2) accounts for 45 % of these events. The most accurate dust-detection method considered the aerosol optical depth and Ångström exponent parameters, and provided 60 % of the dust days as determined by lidar. It does not seem to be possible to differentiate between anthropogenic and dust events because most measurements contained dust, resulting in further biased estimations. Our results indicate that there is a need to change our perception of what constitutes a dust day, when studying the impact of dust exposure. We suggest that in arid and semiarid, and in particular Eastern Mediterranean climates, where dust is a frequent and strong meteorological component, a greater number of days need to be included in the analyses or critically evaluated.

A Low-Power Optoelectronic Receiver IC for Short-Range LiDAR Sensors in 180 nm CMOS.

This paper presents a novel power-efficient topology for receivers in short-range LiDAR sensors. Conventionally, LiDAR sensors exploit complex time-to-digital converters (TDCs) for time-of-flight (ToF) distance measurements, thereby frequently leading to intricate circuit designs and persistent walk error issues. However, this work features a fully differential trans-impedance amplifier with on-chip avalanche photodiodes as optical detectors so that the need of the following post-amplifiers and output buffers can be eliminated, thus considerably reducing power consumption. Also, the combination of amplitude-to-voltage (A2V) and time-to-voltage (T2V) converters are exploited to replace the complicated TDC circuit. The A2V converter efficiently processes weak input photocurrents ranging from 1 to 50 µApp which corresponds to a maximum distance of 22.8 m, while the T2V converter handles relatively larger photocurrents from 40 µApp to 5.8 mApp for distances as short as 30 cm. The post-layout simulations confirm that the proposed LiDAR receiver can detect optical pulses over the range of 0.3 to 22.8 m with a low power dissipation of 10 mW from a single 1.8 V supply. This topology offers significant improvements in simplifying the receiver design and reducing the power consumption, providing a more efficient and accurate solution that is highly suitable for short-range LiDAR sensor applications.

Research on the Depth Image Reconstruction Algorithm Using the Two-Dimensional Kaniadakis Entropy Threshold.

The photon-counting light laser detection and ranging (LiDAR), especially the Geiger mode avalanche photon diode (Gm-APD) LiDAR, can obtain three-dimensional images of the scene, with the characteristics of single-photon sensitivity, but the background noise limits the imaging quality of the laser radar. In order to solve this problem, a depth image estimation method based on a two-dimensional (2D) Kaniadakis entropy thresholding method is proposed which transforms a weak signal extraction problem into a denoising problem for point cloud data. The characteristics of signal peak aggregation in the data and the spatio-temporal correlation features between target image elements in the point cloud-intensity data are exploited. Through adequate simulations and outdoor target-imaging experiments under different signal-to-background ratios (SBRs), the effectiveness of the method under low signal-to-background ratio conditions is demonstrated. When the SBR is 0.025, the proposed method reaches a target recovery rate of 91.7%, which is better than the existing typical methods, such as the Peak-picking method, Cross-Correlation method, and the sparse Poisson intensity reconstruction algorithm (SPIRAL), which achieve a target recovery rate of 15.7%, 7.0%, and 18.4%, respectively. Additionally, comparing with the SPIRAL, the reconstruction recovery ratio is improved by 73.3%. The proposed method greatly improves the integrity of the target under high-background-noise environments and finally provides a basis for feature extraction and target recognition.

Laboratory Tests of Metrological Characteristics of a Non-Repetitive Low-Cost Mobile Handheld Laser Scanner.

The popularity of mobile laser scanning systems as a surveying tool is growing among construction contractors, architects, land surveyors, and urban planners. The user-friendliness and rapid capture of precise and complete data on places and objects make them serious competitors for traditional surveying approaches. Considering the low cost and constantly improving availability of Mobile Laser Scanning (MLS), mainly handheld surveying tools, the measurement possibilities seem unlimited. We conducted a comprehensive investigation into the quality and accuracy of a point cloud generated by a recently marketed low-cost mobile surveying system, the MandEye MLS. The purpose of the study is to conduct exhaustive laboratory tests to determine the actual metrological characteristics of the device. The test facility was the surveying laboratory of the University of Agriculture in Kraków. The results of the MLS measurements (dynamic and static) were juxtaposed with a reference base, a geometric system of reference points in the laboratory, and in relation to a reference point cloud from a higher-class laser scanner: Leica ScanStation P40 TLS. The Authors verified the geometry of the point cloud, technical parameters, and data structure, as well as whether it can be used for surveying and mapping objects by assessing the point cloud density, noise and measurement errors, and detectability of objects in the cloud.

A LiDAR-Camera Joint Calibration Algorithm Based on Deep Learning.

Multisensor (MS) data fusion is important for improving the stability of vehicle environmental perception systems. MS joint calibration is a prerequisite for the fusion of multimodality sensors. Traditional calibration methods based on calibration boards require the manual extraction of many features and manual registration, resulting in a cumbersome calibration process and significant errors. A joint calibration algorithm for a Light Laser Detection and Ranging (LiDAR) and camera is proposed based on deep learning without the need for other special calibration objects. A network model constructed based on deep learning can automatically capture object features in the environment and complete the calibration by matching and calculating object features. A mathematical model was constructed for joint LiDAR-camera calibration, and the process of sensor joint calibration was analyzed in detail. By constructing a deep-learning-based network model to determine the parameters of the rotation matrix and translation matrix, the relative spatial positions of the two sensors were determined to complete the joint calibration. The network model consists of three parts: a feature extraction module, a feature-matching module, and a feature aggregation module. The feature extraction module extracts the image features of color and depth images, the feature-matching module calculates the correlation between the two, and the feature aggregation module determines the calibration matrix parameters. The proposed algorithm was validated and tested on the KITTI-odometry dataset and compared with other advanced algorithms. The experimental results show that the average translation error of the calibration algorithm is 0.26 cm, and the average rotation error is 0.02°. The calibration error is lower than those of other advanced algorithms.

A singular, broadly-applicable model for estimating on- and off-path walking travel rates using airborne lidar data.

Accurate prediction of walking travel rates is central to wide-ranging applications, including modeling historical travel networks, simulating evacuation from hazards, evaluating military ground troop movements, and assessing risk to wildland firefighters. Most of the existing functions for estimating travel rates have focused on slope as the sole landscape impediment, while some have gone a step further in applying a limited set of multiplicative factors to account for broadly defined surface types (e.g., "on-path" vs. "off-path"). In this study, we introduce the Simulating Travel Rates In Diverse Environments (STRIDE) model, which accurately predicts travel rates using a suite of airborne lidar-derived metrics (slope, vegetation density, and surface roughness) that encompass a continuous spectrum of landscape structure. STRIDE enables the accurate prediction of both on- and off-path travel rates using a single function that can be applied across wide-ranging environmental settings. The model explained more than 80% of the variance in the mean travel rates from three separate field experiments, with an average predictive error less than 16%. We demonstrate the use of STRIDE to map least-cost paths, highlighting its propensity for selecting logically consistent routes and producing more accurate yet considerably greater total travel time estimates than a slope-only model.