Bare-earth Points Research Articles

Analysis of UAS-LiDAR Ground Points Classification in Agricultural Fields Using Traditional Algorithms and PointCNN

Classifying bare earth (ground) points from Light Detection and Ranging (LiDAR) point clouds is well-established research in the forestry, topography, and urban domains using point clouds acquired by Airborne LiDAR System (ALS) at average point densities (≈2 points per meter-square (pts/m2)). The paradigm of point cloud collection has shifted with the advent of unmanned aerial systems (UAS) onboard affordable laser scanners with commercial utility (e.g., DJI Zenmuse L1 sensor) and unprecedented repeatability of UAS-LiDAR surveys. Therefore, there is an immediate need to investigate the existing methods, and to develop new ground classification methods, using UAS-LiDAR. In this paper, for the first time, traditional ground classification algorithms and modern machine learning methods were investigated to filter ground from point clouds of high-density UAS-LiDAR data (≈900 pts/m2) over five agricultural fields in North Dakota, USA. To this end, we tested frequently used ground classification algorithms: Cloth Simulation Function (CSF), Progressive Morphological Filter (PMF), Multiscale Curvature Classification (MCC), and ArcGIS ground classification algorithms along with the PointCNN deep learning model were trained. We investigated two aspects of ground classification algorithms and PointCNN: (a) Classification accuracy of optimized ground classification algorithms (i.e., fine adjustment is user-defined parameters) and PointCNN over training site, and (b) transferability potential over four yet diverse test agricultural fields. The well-established evaluation metrics of omission error, commission error, and total error, along with kappa coefficients showed that deep learning outperforms the traditional ground classification algorithms in both aspects: (a) overall classification accuracy, and (b) transferability over diverse agricultural fields.

Development and Testing of a UAV Laser Scanner and Multispectral Camera System for Eco-Geomorphic Applications

While Uncrewed Aerial Vehicle (UAV) systems and camera sensors are routinely deployed in conjunction with Structure from Motion (SfM) techniques to derive 3D models of fluvial systems, in the presence of vegetation these techniques are subject to large errors. This is because of the high structural complexity of vegetation and inability of processing techniques to identify bare earth points in vegetated areas. Furthermore, for eco-geomorphic applications where characterization of the vegetation is an important aim when collecting fluvial survey data, the issues are compounded, and an alternative survey method is required. Laser Scanning techniques have been shown to be a suitable technique for discretizing both bare earth and vegetation, owing to the high spatial density of collected data and the ability of some systems to deliver dual (e.g., first and last) returns. Herein we detail the development and testing of a UAV mounted LiDAR and Multispectral camera system and processing workflow, with application to a specific river field location and reference to eco-hydraulic research generally. We show that the system and data processing workflow has the ability to detect bare earth, vegetation structure and NDVI type outputs which are superior to SfM outputs alone, and which are shown to be more accurate and repeatable, with a level of detection of under 0.1 m. These characteristics of the developed sensor package and workflows offer great potential for future eco-geomorphic research.

ANALYSIS OF FILTERING TECHNIQUES FOR INVESTIGATING LANDSLIDE-INDUCED TOPOGRAPHIC CHANGES IN THE OETZ VALLEY (TYROL, AUSTRIA)

Abstract. Landslides endanger settlements and infrastructure in mountain areas across the world. Monitoring of landslides is therefore essential in order to understand and possibly predict their behavior and potential danger. Terrestrial laser scanning has proven to be a successful tool in the assessment of changes on landslide surfaces due to its high resolution and accuracy. However, it is necessary to classify the 3D point clouds into vegetation and bare-earth points using filtering algorithms so that changes caused by landslide activity can be quantified. For this study, three classification algorithms are compared on an exemplary landslide study site in the Oetz valley in Tyrol, Austria. An optimal set of parameters is derived for each algorithm and their performances are evaluated using different metrics. The volume changes on the study site between the years 2017 and 2019 are compared after the application of each algorithm. The results show that (i) the tested filter techniques perform differently, (ii) their performance depends on their parameterization and (iii) the best-performing parameterization found over the vegetated test area will yield misclassifications on non-vegetated rough terrain. In particular, if only small changes have occurred the choice of the filtering technique and its parameterization play an important role in estimating volume changes.

Tree Height Estimation of Forest Plantation in Mountainous Terrain from Bare-Earth Points Using a DoG-Coupled Radial Basis Function Neural Network

Tree heights are the principal variables for forest plantation inventory. The increasing availability of high-resolution three-dimensional (3D) point clouds derived from low-cost Unmanned Aerial Vehicle (UAV) and modern photogrammetry offers an opportunity to generate a Canopy Height Model (CHM) in the mountainous areas. In this paper, we assessed the capabilities of tree height estimation using UAV-based Structure-from-Motion (SfM) photogrammetry and Semi-Global Matching (SGM). The former is utilized to generate 3D geometry, while the latter is used to generate dense point clouds from UAV imagery. The two algorithms were coupled with a Radial Basis Function (RBF) neural network to acquire CHMs in mountainous areas. This study focused on the performance of Digital Terrain Model (DTM) interpolation over complex terrains. With the UAV-based image acquisition and image-derived point clouds, we constructed a 5 cm-resolution Digital Surface Model (DSM), which was assessed against 14 independent checkpoints measured by a Real-Time Kinematic Global Positioning System RTK GPS. Results showed that the Root Mean Square Errors (RMSEs) of horizontal and vertical accuracies are approximately 5 cm and 10 cm, respectively. Bare-earth Index (BEI) and Shadow Index (SI) were used to separate ground points from the image-derived point clouds. The RBF neural network coupled with the Difference of Gaussian (DoG) was exploited to provide a favorable generalization for the DTM from 3D ground points with noisy data. CHMs were generated using the height value in each pixel of the DSM and by subtracting the corresponding DTM value. Individual tree heights were estimated using local maxima algorithm under a contour-surround constraint. Two forest plantations in mountainous areas were selected to evaluate the accuracy of estimating tree heights, rather than field measurements. Results indicated that the proposed method can construct a highly accurate DTM and effectively remove nontreetop maxima. Furthermore, the proposed method has been confirmed to be acceptable for tree height estimation in mountainous areas given the strong linear correlation of the measured and estimated tree heights and the acceptable t-test values. Overall, the low-cost UAV-based photogrammetry and RBF neural network can yield a highly accurate DTM over mountainous terrain, thereby making them particularly suitable for rapid and cost-effective estimation of tree heights of forest plantation in mountainous areas.

DTM generation from the point cloud using a progressive geodesic morphology and a modified Particle Swarm Optimization

ABSTRACTThe digital terrain model (DTM) is an important geospatial product used in many applications of geo-information systems. Advances in light detection and ranging technology leads to generate a dense and accurate point cloud from the Earth’s surface. Because of the existence of various types of non-ground object in the complex terrain, filtering of the point cloud data and DTM interpolation is still a challenging topic. In this article, a progressive geodesic morphology has been proposed to filter the non-ground points from the point cloud. In this regard, the noises were eliminated and the point cloud was gridded and rasterized. Then, an iterative procedure was carried out based on an elevation vector constructed by considering the terrain topography. The geodesic dilation and opening operators were applied in each iteration and some pixels were detected as the non-ground points. These pixels were labelled by the connected component analysis and the generated parcels were investigated using some geometric and structural features such as the object height, the slope of the terrain, the slope of the object boundary, as well as the boundary factor in order to decide about the considered parcel entity. Afterwards, the non-ground points were removed and the DTM was interpolated using the bare Earth points. A modified Particle Swarm Optimization (PSO) has been proposed to optimize the coefficients of the polynomial interpolation for generating a DTM with high accuracy. Results showed that the error of the proposed progressive geodesic morphology was on average 3.42% using an optimized set of parameters and 4.00% using a single set of parameters, respectively. These results represented the stability of the proposed filtering method against the predefined thresholds and this is an important factor to make it a practical method. In comparing the proposed modified PSO with the other interpolation algorithms, the evaluation results indicated that the proposed modified PSO interpolated data only with 0.0884 cm error, averagely. This means the proposed modified PSO has a significant performance in generating DTM.

Comprehensive approach for building outline extraction from LiDAR data with accent to a sparse laser scanning point cloud

<em>The method of building outline extraction based on segmentation of airborne laser scanning data is proposed and tested on a dataset comprising 1,400 buildings typical for residential and industrial urban areas. The algorithm starts with setting a special threshold to separate building from bare earth points and low objects. Next, local planes are fitted to each point using RANSAC and further refined by least squares adjustment. A normal vector is assigned to each point. Similarities among normal vectors are evaluated in order to assemble planar or curved roof segments. Finally, building outlines are formed from detected segments using the a-shapes algorithm and further regularized. The extracted outlines were compared with reference polygons manually derived from the processed laser scanning point cloud and orthoimages. Area-based evaluation of accuracy of the proposed method revealed completeness and correctness of 87 % and 97 %, respectively, for the test dataset. The influence of parameters like number of points per roof segment, complexity of the roof structure, roof type, and overlap with vegetation on accuracy was evaluated and discussed.</em>

Defining optimal DEM resolutions and point densities for modelling hydrologically sensitive areas in agricultural catchments dominated by microtopography

Defining critical source areas (CSAs) of diffuse pollution in agricultural catchments depends upon the accurate delineation of hydrologically sensitive areas (HSAs) at highest risk of generating surface runoff pathways. In topographically complex landscapes, this delineation is constrained by digital elevation model (DEM) resolution and the influence of microtopographic features. To address this, optimal DEM resolutions and point densities for spatially modelling HSAs were investigated, for onward use in delineating CSAs. The surface runoff framework was modelled using the Topographic Wetness Index (TWI) and maps were derived from 0.25m LiDAR DEMs (40 bare-earth points m−2), resampled 1m and 2m LiDAR DEMs, and a radar generated 5m DEM. Furthermore, the resampled 1m and 2m LiDAR DEMs were regenerated with reduced bare-earth point densities (5, 2, 1, 0.5, 0.25 and 0.125 points m−2) to analyse effects on elevation accuracy and important microtopographic features. Results were compared to surface runoff field observations in two 10km2 agricultural catchments for evaluation. Analysis showed that the accuracy of modelled HSAs using different thresholds (5%, 10% and 15% of the catchment area with the highest TWI values) was much higher using LiDAR data compared to the 5m DEM (70–100% and 10–84%, respectively). This was attributed to the DEM capturing microtopographic features such as hedgerow banks, roads, tramlines and open agricultural drains, which acted as topographic barriers or channels that diverted runoff away from the hillslope scale flow direction. Furthermore, the identification of ‘breakthrough’ and ‘delivery’ points along runoff pathways where runoff and mobilised pollutants could be potentially transported between fields or delivered to the drainage channel network was much higher using LiDAR data compared to the 5m DEM (75–100% and 0–100%, respectively). Optimal DEM resolutions of 1–2m were identified for modelling HSAs, which balanced the need for microtopographic detail as well as surface generalisations required to model the natural hillslope scale movement of flow. Little loss of vertical accuracy was observed in 1–2m LiDAR DEMs with reduced bare-earth point densities of 2–5 points m−2, even at hedgerows. Further improvements in HSA models could be achieved if soil hydrological properties and the effects of flow sinks (filtered out in TWI models) on hydrological connectivity are also considered.

Bare-earth extraction and DTM generation from photogrammetric point clouds including the use of an existing lower-resolution DTM

ABSTRACTA method of extracting bare-earth points from photogrammetric point clouds by partially using an existing lower resolution digital terrain model (DTM) is presented. The bare-earth points are extracted based on a threshold defined by local slope. The local slope is estimated from the lower resolution DTM. A gridded DTM is then interpolated from the extracted bare-earth points. Five different interpolation algorithms are implemented and evaluated to identify the most suitable interpolation method for such non-uniformly scattered data. The algorithm is tested on four test sites with varying topographic and ground cover characteristics. The results are evaluated against a reference DTM created using aerial laser scanning. The deviations of the extracted bare-earth points, and the interpolated DTM, from the reference DTM increases with increasing forest canopy density and terrain roughness. The DTM created by the method is significantly closer to the reference DTM than the lower resolution national DTM. The ANUDEM (Australian National University Digital Elevation Modelling) interpolation method is found to be the best performing interpolation method in terms of reducing the deviations and in terms of modelling the terrain realistically with minimum artefacts, although the differences among the interpolation methods are not considerably large.

BARE-EARTH EXTRACTION AND DTM GENERATION FROM PHOTOGRAMMETRIC POINT CLOUDS WITH A PARTIAL USE OF AN EXISTING LOWER RESOLUTION DTM

Abstract. A method of extracting bare-earth points from photogrammetric point clouds by partially using an existing lower resolution digital terrain model (DTM) is presented. The bare-earth points are extracted based on a threshold defined by local slope. The local slope is estimated from the lower resolution DTM. A gridded DTM is then interpolated from the extracted bare-earth points. Five different interpolation algorithms are implemented and evaluated to identify the most suitable interpolation method for such non-uniformly scattered data. The algorithm is tested on four test sites with varying topographic and ground cover characteristics. The results are evaluated against a reference DTM created using aerial laser scanning. The deviations of the extracted bare-earth points, and the interpolated DTM, from the reference DTM increases with increasing forest canopy density and terrain roughness. The DTM created by the method is significantly closer to the reference DTM than the lower resolution national DTM. The ANUDEM (Australian National University Digital Elevation Modelling) interpolation method is found to be the best performing interpolation method in terms of reducing the deviations and in terms of modelling the terrain realistically with minimum artefacts, although the differences among the interpolation methods are not considerably large.

BARE-EARTH EXTRACTION AND DTM GENERATION FROM PHOTOGRAMMETRIC POINT CLOUDS WITH A PARTIAL USE OF AN EXISTING LOWER RESOLUTION DTM

A method of extracting bare-earth points from photogrammetric point clouds by partially using an existing lower resolution digital terrain model (DTM) is presented. The bare-earth points are extracted based on a threshold defined by local slope. The local slope is estimated from the lower resolution DTM. A gridded DTM is then interpolated from the extracted bare-earth points. Five different interpolation algorithms are implemented and evaluated to identify the most suitable interpolation method for such non-uniformly scattered data. The algorithm is tested on four test sites with varying topographic and ground cover characteristics. The results are evaluated against a reference DTM created using aerial laser scanning. The deviations of the extracted bare-earth points, and the interpolated DTM, from the reference DTM increases with increasing forest canopy density and terrain roughness. The DTM created by the method is significantly closer to the reference DTM than the lower resolution national DTM. The ANUDEM (Australian National University Digital Elevation Modelling) interpolation method is found to be the best performing interpolation method in terms of reducing the deviations and in terms of modelling the terrain realistically with minimum artefacts, although the differences among the interpolation methods are not considerably large.

An entropy-based filtering approach for airborne laser scanning data

Parameter-tuning is a challenging task when generating digital terrain models from airborne laser scanning (light detection and ranging, LiDAR) data. To address this issue, this paper presents a filtering method for near-infrared laser scanning data that exploits the principle of entropy maximization as the optimization objective. The proposed approach generates ground elevation of point cloud by constructing a triangulated irregular network, calculates the entropy of the elevation from different parts, and automatically separates ground and non-ground points by the principle of entropy maximization. Experimental results from different ground surfaces show that the proposed entropy-based filtering method can effectively extract bare-earth points from the point cloud without adjusting thresholds.

Classification of lidar bare-earth points, buildings, vegetation, and small objects based on region growing and angular classifier

In recent years, light detection and ranging (lidar) systems have been intensively used in different urban applications such as map updating, communication analysis, virtual city modelling, risk assessment, and monitoring. A prerequisite to enhance lidar data content is to differentiate ground (bare earth) points that yield digital terrain models and off-terrain points in order to classify urban objects and vegetation. The increasing demand for a fast and efficient algorithm to extract three-dimensional urban features was the motive behind this work. A new combined approach to extract bare-earth points is proposed, and a novel methodology to automatically classify airborne laser data into different objects in an urban area is presented. In addition, a new concept of angular classification is introduced to differentiate buildings from vegetation and other small objects. The new angular classifier analyses the distribution of bare-earth points around unclassified point clusters to determine whether a cluster can be classified either as building or as vegetation. The experimental results confirm the high accuracy achieved to automatically classify urban objects in flat complex areas.

A Novel Filtering Algorithm for Bare-Earth Extraction From Airborne Laser Scanning Data Using an Artificial Neural Network

The extraction of bare-earth points from airborne laser scanning (ALS) data and the generation of high-quality digital terrain models (DTMs) are important research challenges. In this study, a novel filtering algorithm based on artificial neural networks (ANNs) is proposed to extract bare-earth points from ALS data efficiently. An efficient set of conditions were defined to choose the training data semi-automatically when an expert user is not available. Four standard study sites were used to evaluate the performance of the method. The obtained results were compared with four popular filtering algorithms based on type I error, type II error, the kappa coefficient and the total error. First echoes were used in the proposed method to increase the reliable detection of vegetated areas. The proposed algorithm has an easy implementation procedure and low computational costs. The results obtained for both semiautomatic and supervised training data selection reveal acceptable accuracies, especially for type II errors. Use of this algorithm would lead to high-quality DTM generation using accurately identified bare-earth points in urban areas.

Filtering of airborne Lidar point clouds for complex cityscapes

A novel filtering algorithm for Lidar point clouds is presented, which can work well for complex cityscapes. Its main features are filtering based on raw Lidar point clouds without previous triangulation or rasterization. 3D topological relations among points are used to search edge points at the top of discontinuities, which are key information to recognize the bare earth points and building points. Experiment results show that the proposed algorithm can preserve discontinuous features in the bare earth and has no impact of size and shape of buildings.

Experimental comparison of filter algorithms for bare-Earth extraction from airborne laser scanning point clouds

Over the past years, several filters have been developed to extract bare-Earth points from point clouds. ISPRS Working Group III/3 conducted a test to determine the performance of these filters and the influence of point density thereon, and to identify directions for future research. Twelve selected datasets have been processed by eight participants. In this paper, the test results are presented. The paper describes the characteristics of the provided datasets and the used filter approaches. The filter performance is analysed both qualitatively and quantitatively. All filters perform well in smooth rural landscapes, but all produce errors in complex urban areas and rough terrain with vegetation. In general, filters that estimate local surfaces are found to perform best. The influence of point density could not well be determined in this experiment. Future research should be directed towards the usage of additional data sources, segment-based classification, and self-diagnosis of filter algorithms.