Accuracy of tree mapping based on hand-held laser scanning comparing leaf-on and leaf-off conditions in mixed forests

The use of mobile laser scanning to survey forest ecosystems is a promising,scalable technology to describe forest 3D structures at high resolution.To confirm the con-sistency in the retrieval of forest structural parameters using hand-held laser scanning(HLS),before operationalizing the method,confirming the data is crucial.We analyzed the per-formance of tree-level mapping based on HLS under differ-ent phenology conditions on a mixed forest in western Spain comprising Pinus pinaster and two deciduous species,Alnus glutinosa and Quercus pyrenaica.The area was surveyed twice during the growing season(July 2022)and once in the deciduous season(February 2022)using several scan-ning paths.Ground reference data(418 trees,15 snags)was used to calibrate the HLS data and to assess the influence of phenology when converting 3D data into tree-level attrib-utes(DBH,height and volume).The HLS-based workflow was robust at isolating tree positions and recognizing stems despite changes in phenology.Ninety-six percent of all pairs matched below 65 cm.For DBH,phenology barely altered estimates.We observed a strong agreement when comparing HLS-based tree height distributions.The values exceeded 2 m when comparing height measurements,confirming height data should be carefully used as reference in remote sensing-based inventories,especially for deciduous species.Tree volume was more precise for pines(r=0.95,and rela-tive RMSE=21.3–23.8%)compared to deciduous species(r=0.91–0.96,and relative RMSE=27.3–30.5%).HLS data and the forest structural complexity tool performed remark-ably,especially in tree positioning considering mixed forests and mixed phenology conditions.

Automated extraction of expressway road surface from mobile laser scanning data

This paper presents a voxel-based region growing method for automatic road surface extraction from mobile laser scanning point clouds in an expressway environment.The proposed method has three major steps:constructing a voxel model;extracting the road surface points by employing the voxel-based segmentation algorithm;refining the road boundary using the curb-based segmentation algorithm.To evaluate the accuracy of the proposed method,the two-point cloud datasets of two typical test sites in an expressway environment consisting of flat and bumpy surfaces with a high slope were used.The proposed algorithm extracted the road surface successfully with high accuracy.There was an average recall of 99.5%,the precision was 96.3%,and the F1 score was 97.9%.From the extracted road surface,a framework for the estimation of road roughness was proposed.Good agreement was achieved when comparing the results of the road roughness map with the visual image,indicating the feasibility and effectiveness of the proposed framework.

A robust approach to identify roof bolts in 3D point cloud data captured from a mobile laser scanner

Roof bolts such as rock bolts and cable bolts provide structural support in underground mines.Frequent assessment of these support structures is critical to maintain roof stability and minimise safety risks in underground environments.This study proposes a robust workflow to classify roof bolts in 3 D point cloud data and to generate maps of roof bolt density and spacing.The workflow was evaluated for identifying roof bolts in an underground coal mine with suboptimal lighting and global navigation satellite system(GNSS)signals not available.The approach is based on supervised classification using the multi-scale Canupo classifier coupled with a random sample consensus(RANSAC)shape detection algorithm to provide robust roof bolt identification.The issue of sparseness in point cloud data has been addressed through upsampling by using a moving least squares method.The accuracy of roof bolt identification was measured by correct identification of roof bolts(true positives),unidentified roof bolts(false negatives),and falsely identified roof bolts(false positives)using correctness,completeness,and quality metrics.The proposed workflow achieved correct identification of 89.27%of the roof bolts present in the test area.However,considering the false positives and false negatives,the overall quality metric was reduced to 78.54%.

Assessment of handheld mobile terrestrial laser scanning for estimating tree parameters

Sustainable forest management heavily relies on the accurate estimation of tree parameters.Among others,the diameter at breast height(DBH) is important for extracting the volume and mass of an individual tree.For systematically estimating the volume of entire plots,airborne laser scanning(ALS) data are used.The estimation model is frequently calibrated using manual DBH measurements or static terrestrial laser scans(STLS) of sample plots.Although reliable,this method is time-consuming,which greatly hampers its use.Here,a handheld mobile terrestrial laser scanning(HMTLS) was demonstrated to be a useful alternative technique to precisely and efficiently calculate DBH.Different data acquisition techniques were applied at a sample plot,then the resulting parameters were comparatively analysed.The calculated DBH values were comparable to the manual measurements for HMTLS,STLS,and ALS data sets.Given the comparability of the extracted parameters,with a reduced point density of HTMLS compared to STLS data,and the reasonable increase of performance,with a reduction of acquisition time with a factor of5 compared to conventional STLS techniques and a factor of3 compared to manual measurements,HMTLS is considered a useful alternative technique.

A Simple Deep Learning Network for Classification of 3D Mobile LiDAR Point Clouds

Automatic and accurate classification is a fundamental problem to the analysis and modeling of LiDAR(Light Detection and Ranging)data.Recently,convolutional neural network(ConvNet or CNN)has achieved remarkable performance in image recognition and computer vision.While significant efforts have also been made to develop various deep networks for satellite image scene classification,it still needs to further investigate suitable deep learning network frameworks for 3D dense mobile laser scanning(MLS)data.In this paper,we present a simple deep CNN for multiple object classification based on multi-scale context representation.For the pointwise classification,we first extracted the neighboring points within spatial context and transformed them into a three-channel image for each point.Then,the classification task can be treated as the image recognition using CNN.The proposed CNN architecture adopted common convolution,maximum pooling and rectified linear unit(ReLU)layers,which combined multiple deeper network layers.After being trained and tested on approximately seven million labeled MLS points,the deep CNN model can classify accurately into nine classes.Comparing with the widely used ResNet algorithm,this model performs better precision and recall rates,and less processing time,which indicated the significant potential of deep-learning-based methods in MLS data classification.

Mixed reality head mounted displays for enhanced indoor point cloud segmentation with virtual seeds

Mixed Reality(MR)Head Mounted Displays(HMDs)offer a hitherto underutilized set of advantages compared to conventional 3D scanners.These benefits,inherent to MR-HMDs albeit not originally intended for such appli-cations,encompass the freedom of hand movement,hand tracking capabilities,and real-time mesh visualization.This study leverages these attributes to enhance indoor scanning process.The primary innovation lies in the con-ceptualization of manual-positioned MR virtual seeds for the purpose of indoor point cloud segmentation via a region-growing approach.The proposed methodology is effectively implemented using the HoloLens 2 platform.An application is designed to enable the remote placement of virtual tags based on the user’s visual focus on the MR-HMD display.This non-intrusive interface is further enriched with expedited tag saving and deletion functionalities,as well as augmented tag visualization through overlaying them on real-world objects.To assess the practicality of the proposed method,a comprehensive real-world case study spanning an area of 330 s^(2) is conducted.Remarkably,the survey demonstrates remarkable efficiency,with 20 virtual tags swiftly deployed,each requiring a mere 2 s for precise positioning.Subsequently,these virtual tags are employed as seeds in a region-growing algorithm for point cloud segmentation.The accuracy of virtual tag positioning is found to be exceptional,with an average error of 2.4±1.8 cm.Importantly,the user experience is significantly enhanced,leading to improved seed positioning and,consequently,more accurate final segmentation results.

Characterization of particle number size distribution and new particle formation in Southern China

Knowledge of particle number size distribution（PND） and new particle formation（NPF）events in Southern China is essential for mitigation strategies related to submicron particles and their effects on regional air quality,haze,and human health.In this study,seven field measurement campaigns were conducted from December 2013 to May 2015 using a scanning mobility particle sizer（SMPS） at four sites in Southern China,including three urban sites and one background site.Particles were measured in the size range of15-515 nm,and the median particle number concentrations（PNCs） were found to vary in the range of 0.3× 10~4-2.2 × 10~4 cn^（-3） at the urban sites and were approximately 0.2 × 10~4 cm^（-3） at the background site.The peak diameters at the different sites varied largely from 22 to 102 nm.The PNCs in the Aitken mode（25-100 nm） at the urban sites were up to 10 times higher than they were at the background site,indicating large primary emissions from traffic at the urban sites.The diurnal variations of PNCs were significantly influenced by both rush hour traffic at the urban sites and NPF events.The frequencies of NPF events at the different sites were0%-30%,with the highest frequency occurring at an urban site during autumn.With higher SO_2 concentrations and higher ambient temperatures being necessary,NPF at the urban site was found to be more influenced by atmospheric oxidizing capability,while NPF at the background site was limited by the condensation sink.This study provides a unique dataset of particle number and size information in various environments in Southern China,which can help understand the sources,formation,and the climate forcing of aerosols in this quickly developing region,as well as help constrain and validate NPF modeling.