High-resolution 3D Point Clouds Research Articles

Pothole formation on Rock Window Mesa, Chinle valley, AZ

In areas of the Colorado Plateau, rock basins, or potholes, occur in abundance. Because of their impressive size and often enigmatic location, their presence begs an explanation. Our goal in undertaking this research is to suggest a model for the origin of Rock Window Mesa's potholes, by which we might better interpret the geomorphological history of the mesa and Chinle Valley. Data collection consisted of both field work and analysis of a high-resolution 3D point cloud of the mesa. The southern and western edges of the mesa, closest to the Chinle Wash, and close to where knickpoints may have been, are the areas of highest pothole density. The pothole-forming processes disrupted drainage systems, and pothole sizes do not correlate with the catchment areas of the potholes. There are abundant, fluvially deposited erratic pebbles and cobbles on the mesa, and the joints and cracks that are present in the bedrock exert little to no control over pothole morphology. These data suggest that the potholes were formed subaqueously. A proposal that may point us to a possible mechanism is that similar potholes, in the Navajo Sandstone exposed in the Henry Mountains, appear to have been formed via fluvial processes in over-steepened tributary junctions. At our research location, the water that carved out the potholes appears to have come from ENE, and the point at which this water met the Chinle Wash may have been over-steepened as a result of rapid incision of the Chinle Wash through the poorly lithified Navajo Sandstone.

Calibration and validation of a multi-beam LiDAR onboard China Chang’e lunar probe for landing obstacle avoidance

For automatic exploration of specific areas with high scientific value on the moon and other planets, high-precision obstacle detection and hazard avoidance capabilities are required. Three-dimensional (3D) LiDAR can obtain a high-resolution 3D point cloud, offering significant advantages in landing obstacle avoidance. During the landing of the Chang’e lander, a laser 3D imaging sensor (L3DIS) is used to measure and generate accurate topographic maps of the candidate landing area in real-time to help find a safe landing zone. The L3DIS employs 16 beamlets split from a Gaussian laser beam and 16 channels of linear-array avalanche photodiodes within the same optical path and scans the object with a two-axis galvanometer in a field of view of 29°×33°. The calibration of the systematic errors and the performance of obstacle detection on this sensor are conducted in this paper. First, the instrument components and main error sources of the sensor are introduced, and the systematic errors are calibrated based on planar targets, indicating that the sensor’s accuracy is greater than 4 cm, and the corresponding obstacle detection accuracy is better than 12 cm. Second, the ground validation of obstacle detection is demonstrated, and the obtained point cloud is compared with that obtained by a terrestrial laser scanner, indicating that the sensor has good performance. Finally, the performance of onboard measurement and obstacle detection is analyzed, showing that the sensor can identify obvious craters and rocks, i.e., nine major craters with a maximum and minimum depth of 1.36 m and 0.16 m, respectively, and major rocks with a maximum and minimum height of 0.1 m and 0.05 m, respectively, and main landing area with slop less than 10° except for the edges of craters and rocks.

Impact of discontinuity data acquisition methods on rockfall susceptibility assessment using high-resolution 3D point cloud

This research evaluates the influence of various discontinuity data acquisition methods on three-dimensional rockfall susceptibility assessments, employing a high-resolution 3D point cloud of the Špičunak rock slope in Croatia. Discontinuity mapping was conducted utilising manual and semi-automated methods. Manual mapping was done in open-source software CloudCompare, while semi-automated mapping was done using Discontinuity Set Extractor and two CloudCompare plug-ins, qFacet Fast Marching and qFacet Kd-Tree algorithm. Significant differences were observed between the methods in terms of the number of identified discontinuity planes, sets, mean orientation values, and weighted densities associated with specific sets. Based on the mapping results, three-dimensional rockfall susceptibility maps were generated. The 3D rockfall susceptibility assessment employed a Kinematic Hazard Index (KHI) for planar, wedge, and flexural toppling failure mechanisms, which determines the percentage of discontinuity planes that meet the geometrical conditions specific to each type of failure. The findings underscore that the mapping results greatly affect the 3D rockfall susceptibility assessment, impacting the identification of potential rockfall source areas. The study emphasizes the importance of integrating manual and semi-automated mapping for reliable 3D rockfall susceptibility assessment. Additionally, this study evaluated the effect of varying the number of discontinuity orientation input data on rockfall susceptibility by comparing nine scenarios, each involving a reduction in the number of discontinuity orientation data. The results indicate that accurate discontinuity mapping is more critical than the sheer number of mapped discontinuities for reliable rockfall susceptibility assessment. Therefore, prioritizing the precise determination of discontinuity set numbers and their associated weighted densities is essential for reliable susceptibility evaluations.

Enhancing angular resolution in single-photon LIDAR for daytime long-range 3D imaging

Single photon LIDAR exhibits exceptional detection sensitivity and finds extensive applications in long-distance measurement and three-dimensional imaging domains. However, it is susceptible to background noise interference, leading to a trade-off between scanning imaging efficiency and angular resolution, thereby limiting its overall performance. In this paper, we propose a novel ‘compression-resampling’ high-resolution imaging method for single-photon scanning LIDAR based on the spatial correlation of the target scene. This approach significantly enhances the system's angular resolution without compromising imaging efficiency. By employing this method, we successfully conducted 3D imaging over distances exceeding 26 km even under challenging conditions with high levels of background noise during daylight hours. Within a target field of view measuring 1° × 1°, we reconstructed a high-resolution 3D point cloud image comprising 1000 × 1410 pixels. Notably, this achievement yielded an impressive angular resolution of 17.4 urad while maintaining an acceptable imaging time of approximately 20 minutes. The results unequivocally demonstrate the effectiveness of our proposed method in improving the quality of three-dimensional imaging and enhancing angular resolution while simultaneously reducing imaging time requirements, thus expanding potential application scenarios for single-photon LIDAR technology.

MVPCC-Net: Multi-View Based Point Cloud Completion Network for MLS data

In this paper, we introduce a novel multi view-based method for completing high-resolution 3D point clouds of partial object shapes obtained by mobile laser scanning (MLS) platforms. Our approach estimates both the geometry and color cues of the missing or incomplete object segments, by projecting the 3D input point cloud by multiple virtual cameras, and performing 2D inpainting in the image domains of the different views. In contrast to existing state-of-the-art methods, our method can generate point clouds consisting of a variable number of points, depending on the detailedness of the input measurement, which property highly facilitates the efficient processing of MLS data with inhomogeneous point density. For training and quantitative evaluation of the proposed method, we provide a new point cloud dataset that consists of both synthetic point clouds of four different street objects with accurate ground truth, and real MLS measurements of partially or fully scanned vehicles. The quantitative and qualitative experiments on the provided dataset demonstrate that our method surpasses state-of-the-art approaches in reconstructing the local fine geometric structures as well as in estimating the overall shape and color pattern of the objects.

Progress and perspectives of point cloud intelligence

ABSTRACT With the rapid development of reality capture methods, such as laser scanning and oblique photogrammetry, point cloud data have become the third most important data source, after vector maps and imagery. Point cloud data also play an increasingly important role in scientific research and engineering in the fields of Earth science, spatial cognition, and smart cities. However, how to acquire high-quality three-dimensional (3D) geospatial information from point clouds has become a scientific frontier, for which there is an urgent demand in the fields of surveying and mapping, as well as geoscience applications. To address the challenges mentioned above, point cloud intelligence came into being. This paper summarizes the state-of-the-art of point cloud intelligence, with regard to acquisition equipment, intelligent processing, scientific research, and engineering applications. For this purpose, we refer to a recent project on the hybrid georeferencing of images and LiDAR data for high-quality point cloud collection, as well as a current benchmark for the semantic segmentation of high-resolution 3D point clouds. These projects were conducted at the Institute for Photogrammetry, the University of Stuttgart, which was initially headed by the late Prof. Ackermann. Finally, the development prospects of point cloud intelligence are summarized.

Sharp Performance Bounds for PASTA

LiDAR is a standard sensor choice for self-localization and SLAM on indoor autonomous robots. While there are many methods to estimate a robot’s location using LiDAR measurements, most rely on algorithms that solve a generic LiDAR scan matching problem. When safety is a concern, these algorithms must provide a bound on the localization error to enable safety enforcing controllers, such as those based on Control Barrier Functions. Unfortunately, most existing scan matching algorithms offer no formal guarantees and are tailored to structured, high-resolution 3D point clouds. In this paper, we present an improved theoretical analysis for a low-cost alternative to these methods named Pasta (Provably Accurate Simple Transformation Alignment), originally introduced in marchi2022lidar. We provide a formal worst-case guarantee on the localization error and show, experimentally, that it is tight. This characterization of the localization error simplifies the interface between high-dimensional perception data and safety-critical control.

Rigorous Density Correction Model for Single-Scan TLS Point Clouds

Terrestrial laser scanning (TLS) can acquire high-precision and high-resolution 3D point clouds of the scanned targets, and the common technical challenge is how to accurately and efficiently process the massive unorganized point clouds. Density is one of the most fundamental and significant quantities that can be derived for each point by counting the number of neighbors in a given 3D space. It contains key information of the target geometric features and thus plays an important role in TLS data processing (e.g., classification and feature extraction). However, density usually varies remarkably for different scenes with varied scan geometry (e.g., distance and incidence angle), scan resolution (e.g., horizontal and vertical angular resolutions), and object geometry (e.g., slope, size, and spatial attitude), thereby greatly hindering its full capability in reflecting the geometric discrepancies of different targets. The density must be corrected before reliably used as a proxy for target geometric features. In this study, a generalized rigorous model is proposed to correct the density of single-scan TLS point clouds based on the mathematically deduced relation between density and related influencing factors. The superiority of the proposed model over existing models is that it is rigorously developed based on the instrumental scanning principles and target spatial geometry and can be used for different instruments, scanning scenes, targets, and scanning parameters. The proposed model is verified by a series of indoor quantitative control experiments and three natural scenes with totally different instruments and scanning conditions. The results show that the proposed model can accurately simulate the density variation at different scanning geometries with an average correlation coefficient of 0.9957 between the calculated and actual densities. The effects of all influencing factors on density are significantly removed in complex natural scenes by the proposed model where the coefficient of variation of the density from a homogeneous surface after correction is reduced by 72.31%, on the average. The proposed model exhibits good performance in terms of the feasibility, effectiveness, and generality and can derive a corrected density value that is a proxy of target geometric size. Additionally, the proposed model can be conducted on each scan individually before the co-registration in the actual TLS campaign with a number of single scans, which has tremendous application value in facilitating TLS data interpretation.

Detection of geometric properties of discontinuities on the Špičunak rock slope (Croatia) using high-resolution 3D Point Cloud generated from Terrestrial Laser Scanning

Rock mass characterization is a very important part of engineering geological investigation. For a better understanding of the rock mass behaviour, it is crucially important to obtain as much as possible information about the discontinuity network, especially about orientation and the number of dominant discontinuity sets. The traditional methodology includes field mapping which dominantly produces a limited amount of data and consequently only a rough estimate about discontinuity network. To increase the number of measurements and to eliminate orientation bias, rock mass on the Špičunak rock slope in Gorski kotar, Croatia, was analysed using a combination of 3D Point Cloud and Textured Mesh Model generated from 3D Point Cloud by Poisson surface reconstruction. Both models were obtained from Terrestrial Laser Scanning. Two considerably different parts of a rock slope, with different weathering conditions and different degrees of fracturing were mapped. Discontinuities were mapped in the field and on the models using manual mapping techniques and semi-automated methods. Manual mapping on a 3D Point Cloud and Textured Mesh Model was done by Compass plugin and by Trace a polyline tool in Cloud Compare software version V2.12 and semi-automated mapping methods were done by Discontinuity Set Extractor and qFacet Fast Marching plugin for Cloud Compare software version V2.12. This study was used to show how the application of different methodologies, for the detection of geometric properties of discontinuities, influences the result. Statistical analyses were performed on the collected data to determine differences in the accuracy between the mapping techniques. Manual mapping on the 3D Point Cloud and high-resolution Textured Mesh Model showed good agreement with field measurements, apart from the higher number of discontinuities mapped by remote sensing methods. On the other hand, significant deviations were found between manual and semi-automated mapping techniques. Semiautomated methods did not correctly detect certain discontinuities, especially bedding planes that are perpendicular to a rock face. Also, semi-automated methods overestimate the number of discontinuity sets, especially in a highly weathered and highly fractured rock mass. These differences between methods can influence kinematic analysis results. Based on the results, an appropriate methodology was proposed to utilize the advantages of both manual and semiautomated methods. The proposed approach presents a powerful tool to accurately map and measure discontinuity orientation with results comparable to the field measurements.

The Potential of UAV Imagery for the Detection of Rapid Permafrost Degradation: Assessing the Impacts on Critical Arctic Infrastructure

Ground subsidence and erosion processes caused by permafrost thaw pose a high risk to infrastructure in the Arctic. Climate warming is increasingly accelerating the thawing of permafrost, emphasizing the need for thorough monitoring to detect damages and hazards at an early stage. The use of unoccupied aerial vehicles (UAVs) allows a fast and uncomplicated analysis of sub-meter changes across larger areas compared to manual surveys in the field. In our study, we investigated the potential of photogrammetry products derived from imagery acquired with off-the-shelf UAVs in order to provide a low-cost assessment of the risks of permafrost degradation along critical infrastructure. We tested a minimal drone setup without ground control points to derive high-resolution 3D point clouds via structure from motion (SfM) at a site affected by thermal erosion along the Dalton Highway on the North Slope of Alaska. For the sub-meter change analysis, we used a multiscale point cloud comparison which we improved by applying (i) denoising filters and (ii) alignment procedures to correct for horizontal and vertical offsets. Our results show a successful reduction in outliers and a thorough correction of the horizontal and vertical point cloud offset by a factor of 6 and 10, respectively. In a defined point cloud subset of an erosion feature, we derive a median land surface displacement of −0.35 m from 2018 to 2019. Projecting the development of the erosion feature, we observe an expansion to NNE, following the ice-wedge polygon network. With a land surface displacement of −0.35 m and an alignment root mean square error of 0.99 m, we find our workflow is best suitable for detecting and quantifying rapid land surface changes. For a future improvement of the workflow, we recommend using alternate flight patterns and an enhancement of the point cloud comparison algorithm.

URBAN CLASSIFICATION BASED ON TOP-VIEW POINT CLOUD AND SAR IMAGE FUSION WITH SWIN TRANSFORMER

Abstract. Urban areas are complex scenarios consisting of objects with various materials. This variety poses a challenge to single-data classification schemes. In this paper, we propose a feature fusion and classification network on RGB top-view point cloud and SAR images with swin-Transformer. In this network, the heterogeneous features are learned separately by an asymmetric encoder, and then they are concatenated along the channel dimension and fed into a fusing encoder. Finally, the fused features are decoded by an UperNet for generating the semantic labels. As data we use high-resolution 3D point cloud provided by Hessigheim benchmark which are complemented by TerraSAR-X images. The overall precision and the mean intersection over union (mIoU) achieves 87.25% and 73.56%, respectively, which outperforms the single-data swin-Transformer by 4.08% and 1.91%, respectively.

A TWO-STAGE APPROACH FOR RARE CLASS SEGMENTATION IN LARGE-SCALE URBAN POINT CLOUDS

Abstract. Although deep learning has greatly improved the semantic segmentation accuracy of point clouds, the segmentation of rare classes in large-scale urban scenes has not been targeted in available methods. This paper proposes a two-stage segmentation framework with automated workflows for imbalanced rare classes based on general semantic segmentation. The proposed approach includes two stages: general semantic segmentation and object-based refined semantic segmentation. Firstly, general segmentation networks are utilized to segment general large objects. Secondly, refined semantic segmentation is conducted by an automated workflow: 3D clustering and bounding box (BBox) generation are applied to the point cloud of rare fine-grained objects during the training, followed by object detection to extract fine-grained objects. Afterwards, as the constraints, the extracted BBoxes further refine the segmentation results. Our approach is evaluated on the Hessigheim High-Resolution 3D Point Cloud (H3D) Benchmark and obtains state-of-the-art 89.35% overall accuracy and outstanding 75.70% mean F1-Score. Furthermore, rare classes Vehicle and Chimney achieve breakthroughs from zero to 63.63% and 52.00% in F1-score, respectively.

Branch-Pipe: Improving Graph Skeletonization around Branch Points in 3D Point Clouds

Modern plant phenotyping requires tools that are robust to noise and missing data, while being able to efficiently process large numbers of plants. Here, we studied the skeletonization of plant architectures from 3D point clouds, which is critical for many downstream tasks, including analyses of plant shape, morphology, and branching angles. Specifically, we developed an algorithm to improve skeletonization at branch points (forks) by leveraging the geometric properties of cylinders around branch points. We tested this algorithm on a diverse set of high-resolution 3D point clouds of tomato and tobacco plants, grown in five environments and across multiple developmental timepoints. Compared to existing methods for 3D skeletonization, our method efficiently and more accurately estimated branching angles even in areas with noisy, missing, or non-uniformly sampled data. Our method is also applicable to inorganic datasets, such as scans of industrial pipes or urban scenes containing networks of complex cylindrical shapes.

The Hessigheim 3D (H3D) benchmark on semantic segmentation of high-resolution 3D point clouds and textured meshes from UAV LiDAR and Multi-View-Stereo

Automated semantic segmentation and object detection are of great importance in geospatial data analysis. However, supervised machine learning systems such as convolutional neural networks require large corpora of annotated training data. Especially in the geospatial domain, such datasets are quite scarce. Within this paper, we aim to alleviate this issue by introducing a new annotated 3D dataset that is unique in three ways: i) The dataset consists of both an Unmanned Aerial Vehicle (UAV) laser scanning point cloud and a 3D textured mesh. ii) The point cloud features a mean point density of about 800 ​pts/m2 and the oblique imagery used for 3D mesh texturing realizes a ground sampling distance of about 2–3 ​cm. This enables the identification of fine-grained structures and represents the state of the art in UAV-based mapping. iii) Both data modalities will be published for a total of three epochs allowing applications such as change detection. The dataset depicts the village of Hessigheim (Germany), henceforth referred to as H3D - either represented as 3D point cloud H3D(PC) or 3D mesh H3D(Mesh). It is designed to promote research in the field of 3D data analysis on one hand and to evaluate and rank existing and emerging approaches for semantic segmentation of both data modalities on the other hand. Ultimately, we hope that H3D will become a widely used benchmark dataset in company with the well-established ISPRS Vaihingen 3D Semantic Labeling Challenge benchmark (V3D). The dataset can be downloaded from https://ifpwww.ifp.uni-stuttgart.de/benchmark/hessigheim/default.aspx.

Intercomparison of UAV platforms for mapping snow depth distribution in complex alpine terrain

Unmanned Aerial Vehicles (UAVs) offer great flexibility in acquiring images in inaccessible study areas, which are then processed with stereo-matching techniques through Structure-from-Motion (SfM) algorithms. This procedure allows generating high spatial resolution 3D point clouds. The high accuracy of these 3D models allows the production of detailed snow depth distribution maps through the comparison of point clouds from different dates. In this way, UAVs allow monitoring of remote areas that were not achievable previously. The large number of works evaluating this novel technique has not, to date, conducted a systematic evaluation of concurrent snowpack observations with different UAV devices. Taking into account this, and also bearing in mind that potential users of this technique may be interested in exploiting ready-to-use commercial devices, we conducted an evaluation of the snow depth distribution maps with different commercial UAVs. During the 2018–19 snow season, two multi-rotors (Parrot Anafi and DJI Mavic Pro2) and one fixed-wing device (SenseFly eBee plus) were used on three different dates over a small test area (5 ha) within Izas Experimental Catchment in the Central Pyrenees. Simultaneously, snowpack distribution was retrieved with a Terrestrial Laser Scanner (TLS, RIEGL LPM-321) and was considered as ground truth. Three different georeferencing methods (Ground Control Points, ICP algorithm over snow-free areas and RTK-GPS positioning) were tested, showing equivalent performances under optimum illumination conditions. Additionally, for the three acquisition dates, both multi-rotors were flown at two distinct altitudes (50 and 75 m) to evaluate impact on the obtained snow depth maps. The evaluation with the TLS showed an equivalent performance of the two multi-rotors, with mean RMSE below 0.23 m and maximum volume deviations of less than 5%. Flying altitudes did not show significant differences in the obtained maps. These results were obtained under contrasted snow surface characteristics. This study reveals that under good illumination conditions and in relatively small areas, affordable commercial UAVs provide reliable estimations of snow distribution compared to more sophisticated and expensive close-range remote sensing techniques. Results obtained under overcast skies were poor, demonstrating that UAV observations require clear-sky conditions and acquisitions around noon to guarantee a homogenous illumination of the study area.

AUTOMATIC INTEGRATION OF LASER SCANNING AND PHOTOGRAMMETRIC POINT CLOUDS: FROM ACQUISITION TO CO-REGISTRATION

Abstract. Laser scanning systems have been developed to capture very high-resolution 3D point clouds and consequently acquire the object geometry. This object measuring technique has a high capacity for being utilized in a wide variety of applications such as indoor and outdoor modelling. The Terrestrial Laser Scanning (TLS) is used as an important data capturing measurement system to provide high quality point cloud from industrial or built-up environments. However, the static nature of the TLS and complexity of the industrial sites necessitate employing a complementary data capturing system e.g. cameras to fill the gaps in the TLS point cloud caused by occlusions which is very common in complex industrial areas. Moreover, employing images provide better radiometric and edge information. This motivated a joint project to develop a system for automatic and robust co-registration of TLS data and images directly, especially for complex objects. In this paper, the proposed methods for various components of this project including gap detection from point cloud, calculation of initial image capturing configuration, user interface and support system for the image capturing procedures, and co-registration between TLS point cloud and photogrammetric point cloud are presented. The primarily results on a complex industrial environment are promising.

Visualization of 3D rock mass properties in underground tunnels using extended reality

The term extended reality (XR) refers to a family of technologies that cover Virtual Reality (VR), Augmented Reality (AR), and Mixed Reality (MR). The main benefit of XR is that it can offer a new viewpoint on the surrounding environment by augmenting it with digital data and visualizations. Recent developments of XR enable its deployment for rock engineering applications, including underground tunnels. In this paper, we demonstrate two cases of the use of XR in an underground tunnel to display spatial information on the tunnel surface. One of the tunnels in the Underground Research Laboratory of Aalto University (URLA) was digitized using Structure-from-motion (SfM) photogrammetry. As a result, a high-resolution 3D point cloud and textured model of the tunnel were created. Next, the rock joint planes were obtained semi-automatically from the digitized rock surfaces. The results are then represented in their actual positions in the tunnel geometry. In the first case, we used VR to display the rock joint planes on the textured model of the tunnel. In the second case, the data was displayed in real-time in tunnel conditions through a mobile device. The results demonstrate that XR technology can be successfully used in underground construction to digitize the workplace and provide a new perspective on the work environment, which can potentially lead to an increase in safety and productivity.

Demarcation of River based on UAV LIDAR Point Cloud Data

Delimiting the scope and boundary of river and lake management is the primary work of strengthening river and lake management, and is the precondition of water conservancy administration according to law. The precise scope of management and protection areas is defined for the purpose of regulating all activities within the area and carrying out water conservation activities within the area. The conventional surveying and mapping technology of acquiring terrain data, i.e., Computer Aided Design (CAD) drawing of river construction projects, mapping of 1:2 000 scale image, are not only time-consuming but also inaccurate.The high-resolution 3D point cloud data obtained from Unmanned Aerial Vehicle (UAV) lidar can identify the baseline lines of river management demarcation, i.e.,ank toe line, dike toe line, bank revetment top line, bank slope line, etc. Through spatial analysis and manual visual interpretation, the boundary of river management area can be accurately demarcated.The accuracy of the baseline lines of river management demarcation drawn by ARCGIS depends on the resolution of 3D point cloud data, the environment of the river and the deviation of manual visual interpretation.

Analysis of the lateral slope’s impact on the calculation of water-filled rut depth

Accurate calculation of the water-filled rut depth is critical for assessing hydroplaning potential. Nevertheless, due to the difficulty in collecting and calculating the water-filled rut depth, most transportation agencies do not use i, especially in the case of lateral slopes, although water-filled rut depth is a key parameter that impacts driving safety. Contributions of this paper are development of a methodology to reliably compute the water-filled rut depth and quantitatively evaluate the influence of lateral slope on the water-filled rut depth. The proposed method include: 1) acquisition of the high-resolution 3D point cloud data of rut, 2) smooth processing of rut profile through moving average method with Matlab programming, 3) water-filled rut depth computation at different lateral slopes with the assistance of key points based on rut sections. With the variation of water-filled rut depth (ΔWD), its change rate (δWD), and the calculation error between the rut depth and the water-filled rut depth (Δn) as evaluation indexes, the variation law of water-filled rut depth under different lateral slopes is analyzed when considering the severity level and rut shape of the rut profile. Results show that: 1) the increase in lateral slope leads to the reduction of water-filled rut depth; 2) the water-filled rut depth is affected by the rut shape, including rut side wall’s slope and the key points’ elevation. The accurate calculation of the water-filled rut depth can provide reliable suggestions for safe driving.

A Built Heritage Information System Based on Point Cloud Data: HIS-PC

The digital management of an archaeological site requires to store, organise, access and represent all the information that is collected on the field. Heritage building information modelling, archaeological or heritage information systems now tend to propose a common framework where all the materials are managed from a central database and visualised through a 3D representation. In this research, we offer the development of a built heritage information system prototype based on a high-resolution 3D point cloud data set. The particularity of the approach is to consider a user-centred development methodology while avoiding meshing/down-sampling operations. The proposed system is initiated by a close collaboration between multi-modal users (managers, visitors, curators) and a development team (designers, developers, architects). The developed heritage information system permits the management of spatial and temporal information, including a wide range of semantics using relational along with NoSQL databases. The semantics used to describe the artifacts are subject to conceptual modelling. Finally, the system proposes a bi-directional communication with a 3D interface able to stream massive point clouds, which is a big step forward to provide a comprehensive site representation for stakeholders while minimising modelling costs.