Reactive Oxygen Species Formation and Peroxide and Carbonyl Decomposition in Aqueous Photolysis of Secondary Organic Aerosols.

The mechanism and kinetics of reactive oxygen species (ROS) formation when atmospheric secondary organic aerosol (SOA) is exposed to solar radiation are poorly understood. In this study, we combined an in situ UV-vis irradiation system with electron paramagnetic resonance (EPR) spectroscopy to characterize the photolytic formation of ROS in aqueous extracts of SOA formed by the oxidation of isoprene, α-pinene, α-terpineol, and toluene. We observed substantial formation of free radicals, including •OH, superoxide (HO2•), and organic radicals (R•/RO•) upon irradiation. Compared to dark conditions, the radical yield was enhanced by a factor of ∼30 for •OH and by a factor of 2-10 for superoxide radicals, and we observed the emergence of organic radicals. Total peroxide measurements showed substantial decreases of peroxide contents after photoirradiation, indicating that organic peroxides can be an important source of the observed radicals. A liquid chromatography interfaced with high-resolution mass spectrometry was used to detect a number of organic radicals in the form of adducts with a spin trap, BMPO. The types of detected radicals and aqueous photolysis of model compounds indicated that photolysis of carbonyls by Norrish type I mechanisms plays an important role in the organic radical formation. The photolytic ROS formation serves as the driving force for cloud and fog processing of SOA.

Rapid cloud removal of dimethyl sulfide oxidation products limits SO2 and cloud condensation nuclei production in the marine atmosphere.

Oceans emit large quantities of dimethyl sulfide (DMS) to the marine atmosphere. The oxidation of DMS leads to the formation and growth of cloud condensation nuclei (CCN) with consequent effects on Earth's radiation balance and climate. The quantitative assessment of the impact of DMS emissions on CCN concentrations necessitates a detailed description of the oxidation of DMS in the presence of existing aerosol particles and clouds. In the unpolluted marine atmosphere, DMS is efficiently oxidized to hydroperoxymethyl thioformate (HPMTF), a stable intermediate in the chemical trajectory toward sulfur dioxide (SO2) and ultimately sulfate aerosol. Using direct airborne flux measurements, we demonstrate that the irreversible loss of HPMTF to clouds in the marine boundary layer determines the HPMTF lifetime (τHPMTF < 2 h) and terminates DMS oxidation to SO2 When accounting for HPMTF cloud loss in a global chemical transport model, we show that SO2 production from DMS is reduced by 35% globally and near-surface (0 to 3 km) SO2 concentrations over the ocean are lowered by 24%. This large, previously unconsidered loss process for volatile sulfur accelerates the timescale for the conversion of DMS to sulfate while limiting new particle formation in the marine atmosphere and changing the dynamics of aerosol growth. This loss process potentially reduces the spatial scale over which DMS emissions contribute to aerosol production and growth and weakens the link between DMS emission and marine CCN production with subsequent implications for cloud formation, radiative forcing, and climate.

Crop Leaf Phenotypic Parameter Measurement Based on the RKM-D Point Cloud Method.

Crop leaf length, perimeter, and area serve as vital phenotypic indicators of crop growth status, the measurement of which is important for crop monitoring and yield estimation. However, processing a leaf point cloud is often challenging due to cluttered, fluctuating, and uncertain points, which culminate in inaccurate measurements of leaf phenotypic parameters. To tackle this issue, the RKM-D point cloud method for measuring leaf phenotypic parameters is proposed, which is based on the fusion of improved Random Sample Consensus with a ground point removal (R) algorithm, the K-means clustering (K) algorithm, the Moving Least Squares (M) method, and the Euclidean distance (D) algorithm. Pepper leaves were obtained from three growth periods on the 14th, 28th, and 42nd days as experimental subjects, and a stereo camera was employed to capture point clouds. The experimental results reveal that the RKM-D point cloud method delivers high precision in measuring leaf phenotypic parameters. (i) For leaf length, the coefficient of determination (R2) surpasses 0.81, the mean absolute error (MAE) is less than 3.50 mm, the mean relative error (MRE) is less than 5.93%, and the root mean square error (RMSE) is less than 3.73 mm. (ii) For leaf perimeter, the R2 surpasses 0.82, the MAE is less than 7.30 mm, the MRE is less than 4.50%, and the RMSE is less than 8.37 mm. (iii) For leaf area, the R2 surpasses 0.97, the MAE is less than 64.66 mm2, the MRE is less than 4.96%, and the RMSE is less than 73.06 mm2. The results show that the proposed RKM-D point cloud method offers a robust solution for the precise measurement of crop leaf phenotypic parameters.

A Performance Comparison of 3D Survey Instruments for Their Application in the Cultural Heritage Field.

Thanks to the recent development of innovative instruments and software with high accuracy and resolution, 3D modelling provides useful insights in several sectors (from industrial metrology to cultural heritage). Moreover, the 3D reconstruction of objects of artistic interest is becoming mandatory, not only because of the risks to which works of art are increasingly exposed (e.g., wars and climatic disasters) but also because of the leading role that the virtual fruition of art is taking. In this work, we compared the performance of four 3D instruments based on different working principles and techniques (laser micro-profilometry, structured-light topography and the phase-shifting method) by measuring four samples of different sizes, dimensions and surface characteristics. We aimed to assess the capabilities and limitations of these instruments to verify their accuracy and the technical specifications given in the suppliers' data sheets. To this end, we calculated the point densities and extracted several profiles from the models to evaluate both their lateral (XY) and axial (Z) resolution. A comparison between the nominal resolution values and those calculated on samples representative of cultural artefacts was used to predict the performance of the instruments in real case studies. Overall, the purpose of this comparison is to provide a quantitative assessment of the performance of the instruments that allows for their correct application to works of art according to their specific characteristics.

Vertical Gradient of Size-Resolved Aerosol Compositions over the Arctic Reveals Cloud Processed Aerosol in-Cloud and above Cloud.

Arctic aerosols play a significant role in aerosol-radiation and aerosol-cloud interactions, but ground-based measurements are insufficient to explain the interaction of aerosols and clouds in a vertically stratified Arctic atmosphere. This study shows the vertical variability of a size resolved aerosol composition via a tethered balloon system at Oliktok Point, Alaska, at different cloud layers for two representative case studies (background aerosol and polluted conditions). Multimodal microspectroscopy analysis during the background case reveals a broadening of chemically specific size distribution above the cloud top with a high abundance of sulfate particles and core-shell morphology, suggesting possible cloud processing of aerosols. The polluted case also indicates broadening of aerosol size distribution at the upper layer within the clouds with the dominance of carbonaceous particles, which suggests that the carbonaceous particles play a potential role in modulating Arctic cloud properties.

MoTI: A Multi-Stage Algorithm for Moving Object Identification in SLAM.

Simultaneous localization and mapping (SLAM) algorithms are widely applied in fields such as autonomous driving and target tracking. However, the effect of moving objects on localization and mapping remains a challenge in natural dynamic scenarios. To overcome this challenge, this paper proposes an algorithm for dynamic point cloud detection that fuses laser and visual identification data, the multi-stage moving object identification algorithm (MoTI). The MoTI algorithm consists of two stages: rough processing and precise processing. In the rough processing stage, a statistical method is employed to preliminarily detect dynamic points based on the range image error of the point cloud. In the precise processing stage, the radius search strategy is used to statistically test the nearest neighbor points. Next, visual identification information and point cloud registration results are fused using a method of statistics and information weighting to construct a probability model for identifying whether a point cloud cluster originates from a moving object. The algorithm is integrated into the front-end of the LOAM system, which significantly improves the localization accuracy. The MoTI algorithm is evaluated on an actual indoor dynamic environment and several KITTI datasets, and the results demonstrate its ability to accurately detect dynamic targets in the background and improve the localization accuracy of the robot.

Discrete Geodesic Distribution-Based Graph Kernel for 3D Point Clouds.

In the structural analysis of discrete geometric data, graph kernels have a great track record of performance. Using graph kernel functions provides two significant advantages. First, a graph kernel is capable of preserving the graph's topological structures by describing graph properties in a high-dimensional space. Second, graph kernels allow the application of machine learning methods to vector data that are rapidly evolving into graphs. In this paper, the unique kernel function for similarity determination procedures of point cloud data structures, which are crucial for several applications, is formulated. This function is determined by the proximity of the geodesic route distributions in graphs reflecting the discrete geometry underlying the point cloud. This research demonstrates the efficiency of this unique kernel for similarity measures and the categorization of point clouds.

L-DIG: A GAN-Based Method for LiDAR Point Cloud Processing under Snow Driving Conditions.

LiDAR point clouds are significantly impacted by snow in driving scenarios, introducing scattered noise points and phantom objects, thereby compromising the perception capabilities of autonomous driving systems. Current effective methods for removing snow from point clouds largely rely on outlier filters, which mechanically eliminate isolated points. This research proposes a novel translation model for LiDAR point clouds, the 'L-DIG' (LiDAR depth images GAN), built upon refined generative adversarial networks (GANs). This model not only has the capacity to reduce snow noise from point clouds, but it also can artificially synthesize snow points onto clear data. The model is trained using depth image representations of point clouds derived from unpaired datasets, complemented by customized loss functions for depth images to ensure scale and structure consistencies. To amplify the efficacy of snow capture, particularly in the region surrounding the ego vehicle, we have developed a pixel-attention discriminator that operates without downsampling convolutional layers. Concurrently, the other discriminator equipped with two-step downsampling convolutional layers has been engineered to effectively handle snow clusters. This dual-discriminator approach ensures robust and comprehensive performance in tackling diverse snow conditions. The proposed model displays a superior ability to capture snow and object features within LiDAR point clouds. A 3D clustering algorithm is employed to adaptively evaluate different levels of snow conditions, including scattered snowfall and snow swirls. Experimental findings demonstrate an evident de-snowing effect, and the ability to synthesize snow effects.

Dimensioning Cuboid and Cylindrical Objects Using Only Noisy and Partially Observed Time-of-Flight Data.

One of the challenges of using Time-of-Flight (ToF) sensors for dimensioning objects is that the depth information suffers from issues such as low resolution, self-occlusions, noise, and multipath interference, which distort the shape and size of objects. In this work, we successfully apply a superquadric fitting framework for dimensioning cuboid and cylindrical objects from point cloud data generated using a ToF sensor. Our work demonstrates that an average error of less than 1 cm is possible for a box with the largest dimension of about 30 cm and a cylinder with the largest dimension of about 20 cm that are each placed 1.5 m from a ToF sensor. We also quantify the performance of dimensioning objects using various object orientations, ground plane surfaces, and model fitting methods. For cuboid objects, our results show that the proposed superquadric fitting framework is able to achieve absolute dimensioning errors between 4% and 9% using the bounding technique and between 8% and 15% using the mirroring technique across all tested surfaces. For cylindrical objects, our results show that the proposed superquadric fitting framework is able to achieve absolute dimensioning errors between 2.97% and 6.61% when the object is in a horizontal orientation and between 8.01% and 13.13% when the object is in a vertical orientation using the bounding technique across all tested surfaces.

Digital Fringe Projection-Based Clamping Force Estimation Algorithm for Railway Fasteners.

The inspection of railway fasteners to assess their clamping force can be used to evaluate the looseness of the fasteners and improve railway safety. Although there are various methods for inspecting railway fasteners, there is still a need for non-contact, fast inspection without installing additional devices on fasteners. In this study, a system that uses digital fringe projection technology to measure the 3D topography of the fastener was developed. This system inspects the looseness through a series of algorithms, including point cloud denoising, coarse registration based on fast point feature histograms (FPFH) features, fine registration based on the iterative closest point (ICP) algorithm, specific region selection, kernel density estimation, and ridge regression. Unlike the previous inspection technology, which can only measure the geometric parameters of fasteners to characterize the tightness, this system can directly estimate the tightening torque and the bolt clamping force. Experiments on WJ-8 fasteners showed a root mean square error of 9.272 N·m and 1.94 kN for the tightening torque and clamping force, demonstrating that the system is sufficiently precise to replace manual measurement and can substantially improve inspection efficiency while evaluating railway fastener looseness.

A Survey on Deep-Learning-Based LiDAR 3D Object Detection for Autonomous Driving.

LiDAR is a commonly used sensor for autonomous driving to make accurate, robust, and fast decision-making when driving. The sensor is used in the perception system, especially object detection, to understand the driving environment. Although 2D object detection has succeeded during the deep-learning era, the lack of depth information limits understanding of the driving environment and object location. Three-dimensional sensors, such as LiDAR, give 3D information about the surrounding environment, which is essential for a 3D perception system. Despite the attention of the computer vision community to 3D object detection due to multiple applications in robotics and autonomous driving, there are challenges, such as scale change, sparsity, uneven distribution of LiDAR data, and occlusions. Different representations of LiDAR data and methods to minimize the effect of the sparsity of LiDAR data have been proposed. This survey presents the LiDAR-based 3D object detection and feature-extraction techniques for LiDAR data. The 3D coordinate systems differ in camera and LiDAR-based datasets and methods. Therefore, the commonly used 3D coordinate systems are summarized. Then, state-of-the-art LiDAR-based 3D object-detection methods are reviewed with a selected comparison among methods.

ResSANet: Learning Geometric Information for Point Cloud Processing.

Point clouds with rich local geometric information have potentially huge implications in several applications, especially in areas of robotic manipulation and autonomous driving. However, most point cloud processing methods cannot extract enough geometric features from a raw point cloud, which restricts the performance of their downstream tasks such as point cloud classification, shape retrieval and part segmentation. In this paper, the authors propose a new method where a convolution based on geometric primitives is adopted to accurately represent the elusive shape in the form of a point cloud to fully extract hidden geometric features. The key idea of the proposed approach is building a brand-new convolution net named ResSANet on the basis of geometric primitives to learn hierarchical geometry information. Two different modules are devised in our network, Res-SA and Res-SA-2, to achieve feature fusion at different levels in ResSANet. This work achieves classification accuracy up to 93.2% on the ModelNet40 dataset and the shape retrieval with an effect of 87.4%. The part segmentation experiment also achieves an accuracy of 83.3% (class mIoU) and 85.3% (instance mIoU) on ShapeNet dataset. It is worth mentioning that the number of parameters in this work is just 1.04 M while the network depth is minimal. Experimental results and comparisons with state-of-the-art methods demonstrate that our approach can achieve superior performance.

Transfer Learning Based Semantic Segmentation for 3D Object Detection from Point Cloud.

Three-dimensional object detection utilizing LiDAR point cloud data is an indispensable part of autonomous driving perception systems. Point cloud-based 3D object detection has been a better replacement for higher accuracy than cameras during nighttime. However, most LiDAR-based 3D object methods work in a supervised manner, which means their state-of-the-art performance relies heavily on a large-scale and well-labeled dataset, while these annotated datasets could be expensive to obtain and only accessible in the limited scenario. Transfer learning is a promising approach to reduce the large-scale training datasets requirement, but existing transfer learning object detectors are primarily for 2D object detection rather than 3D. In this work, we utilize the 3D point cloud data more effectively by representing the birds-eye-view (BEV) scene and propose a transfer learning based point cloud semantic segmentation for 3D object detection. The proposed model minimizes the need for large-scale training datasets and consequently reduces the training time. First, a preprocessing stage filters the raw point cloud data to a BEV map within a specific field of view. Second, the transfer learning stage uses knowledge from the previously learned classification task (with more data for training) and generalizes the semantic segmentation-based 2D object detection task. Finally, 2D detection results from the BEV image have been back-projected into 3D in the postprocessing stage. We verify results on two datasets: the KITTI 3D object detection dataset and the Ouster LiDAR-64 dataset, thus demonstrating that the proposed method is highly competitive in terms of mean average precision (mAP up to 70%) while still running at more than 30 frames per second (FPS).

A Multi-Sensor Environmental Perception System for an Automatic Electric Shovel Platform.

Electric shovels have been widely used in heavy industrial applications, such as mineral extraction. However, the performance of the electric shovel is often affected by the complicated working environment and the proficiency of the operator, which will affect safety and efficiency. To improve the extraction performance, it is particularly important to study an intelligent electric shovel with autonomous operation technology. An electric shovel experimental platform for intelligent technology research and testing is proposed in this paper. The core of the designed platform is an intelligent environmental sensing/perception system, in which multiple sensors, such as RTK (real-time kinematic), IMU (inertial measurement unit) and LiDAR (light detection and ranging), have been employed. By appreciating the multi-directional loading characteristics of electric shovels, two 2D-LiDARs have been used and their data are synchronized and fused to construct a 3D point cloud. The synchronization is achieved with the assistance of RTK and IMU, which provide pose information of the shovel. In addition, in order to down-sample the LiDAR point clouds to facilitate more efficient data analysis, a new point cloud data processing algorithm including a bilateral-filtering based noise filter and a grid-based data compression method is proposed. The designed platform, together with its sensing system, was tested in different outdoor environment conditions. Compared with the original LiDAR point cloud, the proposed new environment sensing/perception system not only guarantees the characteristic points and effective edges of the measured objects, but also reduces the amount of processing point cloud data and improves system efficiency. By undertaking a large number of experiments, the overall measurement error of the proposed system is within 50 mm, which is well beyond the requirements of electric shovel application. The environment perception system for the automatic electric shovel platform has great research value and engineering significance for the improvement of the service problem of the electric shovel.

Vehicle Localization Using 3D Building Models and Point Cloud Matching.

Detecting buildings in the surroundings of an urban vehicle and matching them to building models available on map services is an emerging trend in robotics localization for urban vehicles. In this paper, we present a novel technique, which improves a previous work by detecting building façade, their positions, and finding the correspondences with their 3D models, available in OpenStreetMap. The proposed technique uses segmented point clouds produced using stereo images, processed by a convolutional neural network. The point clouds of the façades are then matched against a reference point cloud, produced extruding the buildings' outlines, which are available on OpenStreetMap (OSM). In order to produce a lane-level localization of the vehicle, the resulting information is then fed into our probabilistic framework, called Road Layout Estimation (RLE). We prove the effectiveness of this proposal, testing it on sequences from the well-known KITTI dataset and comparing the results concerning a basic RLE version without the proposed pipeline.

Automatic Reconstruction of Multi-Level Indoor Spaces from Point Cloud and Trajectory.

Remarkable progress in the development of modeling methods for indoor spaces has been made in recent years with a focus on the reconstruction of complex environments, such as multi-room and multi-level buildings. Existing methods represent indoor structure models as a combination of several sub-spaces, which are constructed by room segmentation or horizontal slicing approach that divide the multi-room or multi-level building environments into several segments. In this study, we propose an automatic reconstruction method of multi-level indoor spaces with unique models, including inter-room and inter-floor connections from point cloud and trajectory. We construct structural points from registered point cloud and extract piece-wise planar segments from the structural points. Then, a three-dimensional space decomposition is conducted and water-tight meshes are generated with energy minimization using graph cut algorithm. The data term of the energy function is expressed as a difference in visibility between each decomposed space and trajectory. The proposed method allows modeling of indoor spaces in complex environments, such as multi-room, room-less, and multi-level buildings. The performance of the proposed approach is evaluated for seven indoor space datasets.

Traumatic brain injury neuroelectrochemical monitoring: behind-the-ear micro-instrument and cloud application.

BACKGROUND: Traumatic Brain Injury (TBI) is a leading cause of fatality and disability worldwide, partly due to the occurrence of secondary injury and late interventions. Correct diagnosis and timely monitoring ensure effective medical intervention aimed at improving clinical outcome. However, due to the limitations in size and cost of current ambulatory bioinstruments, they cannot be used to monitor patients who may still be at risk of secondary injury outside the ICU. METHODS: We propose a complete system consisting of a wearable wireless bioinstrument and a cloud-based application for real-time TBI monitoring. The bioinstrument can simultaneously record up to ten channels including both ECoG biopotential and neurochemicals (e.g. potassium, glucose and lactate), and supports various electrochemical methods including potentiometry, amperometry and cyclic voltammetry. All channels support variable gain programming to automatically tune the input dynamic range and address biosensors' falling sensitivity. The instrument is flexible and can be folded to occupy a small space behind the ear. A Bluetooth Low-Energy (BLE) receiver is used to wirelessly connect the instrument to a cloud application where the recorded data is stored, processed and visualised in real-time. Bench testing has been used to validate device performance. RESULTS: The instrument successfully monitored spreading depolarisations (SDs) - reproduced using a signal generator - with an SNR of 29.07 dB and NF of 0.26 dB. The potentiostat generates a wide voltage range from -1.65V to +1.65V with a resolution of 0.8mV and the sensitivity of the amperometric AFE was verified by recording 5 pA currents. Different potassium, glucose and lactate concentrations prepared in lab were accurately measured and their respective working curves were constructed. Finally,the instrument achieved a maximum sampling rate of 1.25 ksps/channel with a throughput of 105 kbps. All measurements were successfully received at the cloud. CONCLUSION: The proposed instrument uniquely positions itself by presenting an aggressive optimisation of size and cost while maintaining high measurement accuracy. The system can effectively extend neuroelectrochemical monitoring to all TBI patients including those who are mobile and those who are outside the ICU. Finally, data recorded in the cloud application could be used to help diagnosis and guide rehabilitation.

Cascaded Cross-Modality Fusion Network for 3D Object Detection.

We focus on exploring the LIDAR-RGB fusion-based 3D object detection in this paper. This task is still challenging in two aspects: (1) the difference of data formats and sensor positions contributes to the misalignment of reasoning between the semantic features of images and the geometric features of point clouds. (2) The optimization of traditional IoU is not equal to the regression loss of bounding boxes, resulting in biased back-propagation for non-overlapping cases. In this work, we propose a cascaded cross-modality fusion network (CCFNet), which includes a cascaded multi-scale fusion module (CMF) and a novel center 3D IoU loss to resolve these two issues. Our CMF module is developed to reinforce the discriminative representation of objects by reasoning the relation of corresponding LIDAR geometric capability and RGB semantic capability of the object from two modalities. Specifically, CMF is added in a cascaded way between the RGB and LIDAR streams, which selects salient points and transmits multi-scale point cloud features to each stage of RGB streams. Moreover, our center 3D IoU loss incorporates the distance between anchor centers to avoid the oversimple optimization for non-overlapping bounding boxes. Extensive experiments on the KITTI benchmark have demonstrated that our proposed approach performs better than the compared methods.

Special Issue on "Terrestrial Laser Scanning": Editors' Notes.

In this editorial, we provide an overview of the content of the special issue on "Terrestrial Laser Scanning". The aim of this Special Issue is to bring together innovative developments and applications of terrestrial laser scanning (TLS), understood in a broad sense. Thus, although most contributions mainly involve the use of laser-based systems, other alternative technologies that also allow for obtaining 3D point clouds for the measurement and the 3D characterization of terrestrial targets, such as photogrammetry, are also considered. The 15 published contributions are mainly focused on the applications of TLS to the following three topics: TLS performance and point cloud processing, applications to civil engineering, and applications to plant characterization.

Deformation Analysis of a Composite Bridge during Proof Loading Using Point Cloud Processing.

Remote sensing in structural diagnostics has recently been gaining attention. These techniques allow the creation of three-dimensional projections of the measured objects, and are relatively easy to use. One of the most popular branches of remote sensing is terrestrial laser scanning. Laser scanners are fast and efficient, gathering up to one million points per second. However, the weakness of terrestrial laser scanning is the troublesome processing of point clouds. Currently, many studies deal with the subject of point cloud processing in various areas, but it seems that there are not many clear procedures that we can use in practice, which indicates that point cloud processing is one of the biggest challenges of this issue. To tackle that challenge we propose a general framework for studying the structural deformations of bridges. We performed an advanced object shape analysis of a composite foot-bridge, which is subject to spatial deformations during the proof loading process. The added value of this work is the comprehensive procedure for bridge evaluation, and adaptation of the spheres translation method procedure for use in bridge engineering. The aforementioned method is accurate for the study of structural element deformation under monotonic load. The study also includes a comparative analysis between results from the spheres translation method, a total station, and a deflectometer. The results are characterized by a high degree of convergence and reveal the highly complex state of deformation more clearly than can be concluded from other measurement methods, proving that laser scanning is a good method for examining bridge structures with several competitive advantages over mainstream measurement methods.