Map Of Environment Research Articles

Autonomous Exploration Method for Fast Unknown Environment Mapping by Using UAV Equipped With Limited FOV Sensor

Autonomous exploration is crucial and highly challenging for various intelligent operations of unmanned aerial vehicles (UAVs). However, low-efficiency problems caused by low-quality trajectory or back-and-forth maneuvers (BFM) still exist. To improve the exploration efficiency in unknown environments, a fast autonomous exploration planner (FAEP) is proposed in this paper. We firstly design a novel frontiers exploration sequence generation method to significantly reduce BFM during the exploration by considering multi-level factors in asymmetric traveling salesman problem (ATSP). Then, according to the exploration sequence and the distribution of frontiers, an adaptive yaw planning method is proposed to cover more frontiers by yaw change during an exploration journey. In addition, to increase the fluency of flight, a dynamic replanning strategy is also adopted. The main technical contributions of the proposed approach are to provide a comprehensive global coverage path with less BFM, and use adaptive yaw planning to generate more reasonable yaw trajectory. We present extensive comparison and real-world experiments to validate the effectiveness and correctness of our method. Experimental results show the proposed approach has better performance compared to typical and state-of-the-art methods in these flat scenarios without lots of scattered obstacles. We release our implementation as an open-source package <inline-formula xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink"><tex-math notation="LaTeX">$^{1}$</tex-math></inline-formula> for the community.

Inspection Robot Navigation Based on Improved TD3 Algorithm

The swift advancements in robotics have rendered navigation an essential task for mobile robots. While map-based navigation methods depend on global environmental maps for decision-making, their efficacy in unfamiliar or dynamic settings falls short. Current deep reinforcement learning navigation strategies can navigate successfully without pre-existing map data, yet they grapple with issues like inefficient training, slow convergence, and infrequent rewards. To tackle these challenges, this study introduces an improved two-delay depth deterministic policy gradient algorithm (LP-TD3) for local planning navigation. Initially, the integration of the long–short-term memory (LSTM) module with the Prioritized Experience Re-play (PER) mechanism into the existing TD3 framework was performed to optimize training and improve the efficiency of experience data utilization. Furthermore, the incorporation of an Intrinsic Curiosity Module (ICM) merges intrinsic with extrinsic rewards to tackle sparse reward problems and enhance exploratory behavior. Experimental evaluations using ROS and Gazebo simulators demonstrate that the proposed method outperforms the original on various performance metrics.

Reconstruction of Radio Environment Map Based on Multi-Source Domain Adaptive of Graph Neural Network for Regression

The graph neural network (GNN) has shown outstanding performance in processing unstructured data. However, the downstream task performance of GNN strongly depends on the accuracy of data graph structural features and, as a type of deep learning (DL) model, the size of the training dataset is equally crucial to its performance. This paper is based on graph neural networks to predict and complete the target radio environment map (REM) through multiple complete REMs and sparse spectrum monitoring data in the target domain. Due to the complexity of radio wave propagation in space, it is difficult to accurately and explicitly construct the spatial graph structure of the spectral data. In response to the two above issues, we propose a multi-source domain adaptive of GNN for regression (GNN-MDAR) model, which includes two key modules: (1) graph structure alignment modules are used to capture and learn graph structure information shared by cross-domain radio propagation and extract reliable graph structure information for downstream reference signal receiving power (RSRP) prediction task; and (2) a spatial distribution matching module is used to reduce the feature distribution mismatch across spatial grids and improve the model’s ability to remain domain invariant. Based on the measured REMs dataset, the comparative results of simulation experiments show that the GNN-MDAR outperforms the other four benchmark methods in accuracy when there is less RSRP label data in the target domain.

A Compact Handheld Sensor Package with Sensor Fusion for Comprehensive and Robust 3D Mapping

This paper introduces an innovative approach to 3D environmental mapping through the integration of a compact, handheld sensor package with a two-stage sensor fusion pipeline. The sensor package, incorporating LiDAR, IMU, RGB, and thermal cameras, enables comprehensive and robust 3D mapping of various environments. By leveraging Simultaneous Localization and Mapping (SLAM) and thermal imaging, our solution offers good performance in conditions where global positioning is unavailable and in visually degraded environments. The sensor package runs a real-time LiDAR-Inertial SLAM algorithm, generating a dense point cloud map that accurately reconstructs the geometric features of the environment. Following the acquisition of that point cloud, we post-process these data by fusing them with images from the RGB and thermal cameras and produce a detailed, color-enriched 3D map that is useful and adaptable to different mission requirements. We demonstrated our system in a variety of scenarios, from indoor to outdoor conditions, and the results showcased the effectiveness and applicability of our sensor package and fusion pipeline. This system can be applied in a wide range of applications, ranging from autonomous navigation to smart agriculture, and has the potential to make a substantial benefit across diverse fields.

UAV‐based simultaneous localization and mapping in outdoor environments: A systematic scoping review

AbstractThis study aims to investigate the current knowledge of unmanned aerial vehicle (UAV)‐based simultaneous localization and mapping (SLAM) in outdoor environments and to discuss challenges and limitations in this field. A literature search was conducted in three online databases (Web of Science, Scopus, and IEEE) for articles published before October 2022 related to UAV‐based SLAM. A scoping review was carried out to identify the key concepts and applications, and discover research gaps in the use of algorithm‐oriented and task‐oriented, open‐source studies. A total of 97 studies met the criteria after conducting a two‐step screening by a systematic method followed the Preferred Reporting Items for Systematic Reviews and Meta‐Analyses. Among eligible studies, 97 were classified into two main categories: algorithm‐oriented studies and task‐oriented studies. The analysis of the literature revealed that the majority of the studies were focused on the development and implementation of new algorithms and algorithms. This review highlights the significance and diversity of sensors utilized in UAVs in different tasks and applications scenarios that employ different types of sensors. The evaluation method is able to show the real results and performance of the new algorithms in the target scenarios compared with the evaluation method by the public data set and simulation platform.

3D Radiation Mapping Using Gaussian Process Regression with Intensity Projection

This article presents a novel approach for generating a three‐dimensional radiation map using data collected by mobile robots, aimed at monitoring radiation distribution in environments such as nuclear power plants. The proposed approach leverages Gaussian process regression with a novel adaptation of the inverse square law as a kernel function, which accurately reflects the physical characteristics of radiation, enabling precise mapping from uncertain data. Additionally, a method is proposed for constructing a comprehensive radiation map in 3D environments by estimating the radiation source and project the radiation data from sparse data. The effectiveness of the methodology is validated through simulations and experiments. Utilizing Octomap, a 3D spatial mapping tool, the study not only successfully visualizes radiation distribution in complex settings with multiple sources but also quantitatively demonstrates the enhanced accuracy of our approach compared to other existing methods. This research offers contributions in managing radiation risks, providing essential insights into the field.

Environmental risk analysis of a Ramsar site: a case study of east Kolkata wetlands with PSR framework.

The East Kolkata Wetlands (EKWT), designated as a Ramsar Site for its crucial role in sewage water purification, agriculture and pisciculture, faces escalating environmental threats due to rapid urbanisation. Employing the pressure-state-response (PSR) framework and Environmental Risk Assessment (ERA), this study spans three decades to elucidate the evolving dynamics of EKWT. Using Landsat TM and OLI images from 1991, 2001, 2011 and 2021, the research identifies key parameters within the PSR framework. Principal component analysis generates environmental risk maps, revealing a 46% increase in urbanisation, leading to reduced vegetation cover and altered land surface conditions. The spatial analysis, utilizing Getis-Ord Gi* statistics, pinpoints risk hotspots and coldspots in the EKWT region. Correlation analysis underscores a robust relationship between urbanisation, climatic response and environmental risk. Decadal ERA exposes a noteworthy surge in high-risk areas, indicating a deteriorating trend. Quantitative assessments pinpoint environmental risk hotspots, emphasizing the imperative for targeted conservation measures. The study establishes a direct correlation between environmental risk and air quality, underscoring the broader implications of EKWT's degradation. While acknowledging the East Kolkata administration's efforts, the research recognises its limitations and advocates a holistic, multidisciplinary approach for future investigations. Recommendations encompass the establishment of effective institutions, real-time monitoring, public engagement and robust anti-pollution measures. In offering quantitative insights, this study provides an evidence-based foundation for conservation strategies and sustainable management practices essential to safeguard the East Kolkata Wetlands.

Revolutionizing Depth Sensing: A Review Study of Apple LiDAR Sensor for as-built Scanning Applications

Incorporating the LiDAR sensor in the most recent Apple devices represents a substantial development in 3D mapping technology. Meanwhile, Apple's Lidar is still a new sensor. Therefore, this article reviews the potential uses of the Apple Lidar sensor in various fields, including engineering and construction, focusing on indoor and outdoor as-built 3D mapping and cultural heritage conservation. The affordable cost and shorter observation times compared to traditional surveying and other remote sensing techniques make the Apple Lidar an attractive choice among scholars and professionals. This article highlights the need for continued research on the Apple LiDAR sensor technology while discussing its specifications and limitations. A comprehensive review found that the Apple LiDAR sensor has shown promise in capturing 3D point clouds of small to medium-sized objects with exceptional detail. This technology offers a cost-effective and accessible option to scan areas faster and analyze data more quickly and automatically for 3D mapping and modelling in indoor and outdoor environments, particularly in areas with restricted access when using other traditional techniques. It also opens the door for more sophisticated applications in future studies, including cultural heritage conservation, archaeological investigations and feature detection, building health monitoring and many more.

LVIO-Fusion:Tightly-Coupled LiDAR-Visual-Inertial Odometry and Mapping in Degenerate Environments

LVIO-Fusion:Tightly-Coupled LiDAR-Visual-Inertial Odometry and Mapping in Degenerate Environments

A LANE TRACKING ALGORITHM FOR LOW-COMPUTATIONAL-POWER MICROCONTROLLER-CONTROLLED AUTONOMOUS VEHICLE MODELS

At work, three tasks were presented: road lane detection and trajectory estimation, environment mapping, and the application of a neural network. All these tasks are based on the results of the lane detection method. The presented lane detection method stands out due to the execution of an interpolation transformation for all previously detected edge points. This transformation transfers these points to a “bird’s-eye” coordinate system and distributes them on a grid. Road lanes are identified by a lane feature filter based on the analysis of the distances between unique points. This allows lane views to be obtained in a coordinate system while preserving the distance condition. The road environment map is constructed from the obtained images using a probabilistic algorithm called Distributed Particle-SLAM (DP-SLAM). Based on the map result, a method for representing characteristic points describing the path of road lanes in each incoming camera image has been developed. These points are then used for training the neural network. The neural network solves a regression task for the coordinates of the points on the road lanes, enabling the identification of coefficients for parabolic fitting. Validation has been performed.

INDIVIDUAL GEOINFORMATIC AND CARTOGRAPHIC PROJECTS: A CASE STUDY IN VÁC, HUNGARY

This article presents the findings and methods employed in two individual projects: the Individual Geoinformatic Project (IGP) and the Individual Cartographic Project (ICP). The projects were conducted in the town of Vác, Hungary, with the IGP focusing on environmental measurements and the ICP on mapping tourist attractions. The goals of the projects were to design and create maps, develop a geodatabase, and produce related materials such as reports and presentations. The project area covered a specific part of Vác, including prominent landmarks, historic sites, and residential areas. Data for the projects were collected through field surveys and office work, using various data sources and tools such as GPS devices and ArcGIS Collector. The process involved planning, data collection, and extensive laboratory work to process and analyze the acquired data. The results include two sets of environmental maps and two touristic maps, as well as a comprehensive website showcasing the findings. The article concludes with recommendations for future projects, highlighting the importance of continuous data collection and more sophisticated measurement techniques for accurate map representations.

Simulation of Mobile Robot Navigation System using Hector SLAM on ROS

The ability to move from one point to the destination point autonomously is very necessary in AMR robots, to be able to meet this, the robot must be able to detect the surrounding environment and know its location to the environment, the Hector SLAM algorithm is added using the LIDAR sensor, and to find out the ability of the LIDAR sensor with the Hector SLAM and computer specifications in order to process properly, a simulation of the HECTOR SLAM with the LIDAR sensor was made. Simulation is carried out by creating an environment map on the Gazebo. Then explore environmental mapping using Hokuyo LIDAR which has been added to the turtlebot3 model waffle_pi to the simulated environment map. In this study, a model of the second floor lobby environment and Brail of the Batam State Polytechnic was used which was made in the form of a simulation on the Gazebo, where robots that have used LIDAR will be controlled with a keyboard around the simulation environment, where simultaneously the mapping and localization process runs and the process can be seen on the Rviz in real-time, where LIDAR will send data in the form of distance readings that will be received by Hector SLAM. The results of this study are expected that Hector SLAM using LIDAR sensor simulation can produce environmental mapping and localization in the simulation environment and obtain a minimum computer specification to process data from the SLAM Hector process using LIDAR sensors.

Fine-Grained Permeable Surface Mapping through Parallel U-Net.

Permeable surface mapping, which mainly is the identification of surface materials that will percolate, is essential for various environmental and civil engineering applications, such as urban planning, stormwater management, and groundwater modeling. Traditionally, this task involves labor-intensive manual classification, but deep learning offers an efficient alternative. Although several studies have tackled aerial image segmentation, the challenges in permeable surface mapping arid environments remain largely unexplored because of the difficulties in distinguishing pixel values of the input data and due to the unbalanced distribution of its classes. To address these issues, this research introduces a novel approach using a parallel U-Net model for the fine-grained semantic segmentation of permeable surfaces. The process involves binary classification to distinguish between entirely and partially permeable surfaces, followed by fine-grained classification into four distinct permeability levels. Results show that this novel method enhances accuracy, particularly when working with small, unbalanced datasets dominated by a single category. Furthermore, the proposed model is capable of generalizing across different geographical domains. Domain adaptation is explored to transfer knowledge from one location to another, addressing the challenges posed by varying environmental characteristics. Experiments demonstrate that the parallel U-Net model outperforms the baseline methods when applied across domains. To support this research and inspire future research, a novel permeable surface dataset is introduced, with pixel-wise fine-grained labeling for five distinct permeable surface classes. In summary, in this work, we offer a novel solution to permeable surface mapping, extend the boundaries of arid environment mapping, introduce a large-scale permeable surface dataset, and explore cross-area applications of the proposed model. The three contributions are enhancing the efficiency and accuracy of permeable surface mapping while progressing in this field.

A semantic SLAM-based method for navigation and landing of UAVs in indoor environments

Autonomous navigation and landing of Unmanned aerial vehicles (UAVs) are critical functions towards full intelligence in unknown environments. However, current methods heavily rely on positioning devices or geometric maps, leading to two limitations: (1) UAVs fail to work normally indoors when signals are blocked, and (2) Navigation systems are not capable of achieving high-level decision-making missions. In this paper, we propose a novel and complete framework to realize the autonomous landing of UAVs in unknown indoor scenes based on visual SLAM, semantic segmentation, terrain estimation, and a decision-making model. Firstly, our 3D map is built on top of the visual SLAM system with semantic features, and then multiple types of maps (e.g., texture map, octo-map, grid-map, and semantic topology) are created for different function requirements. To achieve high-level scene understanding, we design a data association rule to fuse semantic features extracted by a deep learning model into the mapping process of topology structure. Next, a terrain estimation strategy is performed in the lightweight grid-map, which is modeled only via low-level elevation representation. Through multiple terrain constraints factor, a few optimized landing sites are selected in safe regions via clustering algorithm. Finally, based on the guidance of semantic topology, we construct a decision-making model for UAV landing that effectively integrates terrain safety, environment perception, and path planning. We perform extensive autonomous landing experiments on multiple indoor scenes from the TUM RGB-D dataset, and the full unknown environment maps are created simultaneously. The experiment proves that the proposed framework can select an optimal landing site for the advanced mission of UAVs effectively.

Assessing the 2023 Canadian wildfire smoke impact in Northeastern US: Air quality, exposure and environmental justice

The Canadian wildfires in June 2023 significantly impacted the northeastern United States, particularly in terms of worsened air pollution and environmental justice concerns. While advancements have been made in low-cost sensor deployments and satellite observations of atmospheric composition, integrating dynamic human mobility with wildfire PM2.5 exposure to fully understand the environmental justice implications remains underinvestigated. This study aims to enhance the accuracy of estimating ground-level fine particulate matter (PM2.5) concentrations by fusing chemical transport model outputs with empirical observations, estimating exposures using human mobility data, and evaluating the impact of environmental justice. Employing a novel data fusion technique, the study combines the Weather Research and Forecasting model with Chemistry (WRF-Chem) outputs and surface PM2.5 measurements, providing a more accurate estimation of PM2.5 distribution. The study addresses the gap in traditional exposure assessments by incorporating human mobility data and further investigates the spatial correlation of PM2.5 levels with various environmental and demographic factors from the US Environmental Protection Agency (EPA) Environmental Justice Screening and Mapping Tool (EJScreen). Results reveal that despite reduced mobility during high PM2.5 levels from wildfire smoke, exposure for both residents and individuals on the move remains high. Regions already burdened with high environmental pollution levels face amplified PM2.5 effects from wildfire smoke. Furthermore, we observed mixed correlations between PM2.5 concentrations and various demographic and socioeconomic factors, indicating complex exposure patterns across communities. Urban areas, in particular, experience persistent high exposure, while significant correlations in rural areas with EJScreen factors highlight the unique vulnerabilities of these populations to smoke exposure. These results advocate for a comprehensive approach to environmental health that leverages advanced models, integrates human mobility data, and addresses socio-demographic disparities, contributing to the development of equitable strategies against the growing threat of wildfires.

Improving SLAM Techniques with Integrated Multi-Sensor Fusion for 3D Reconstruction.

Simultaneous Localization and Mapping (SLAM) poses distinct challenges, especially in settings with variable elements, which demand the integration of multiple sensors to ensure robustness. This study addresses these issues by integrating advanced technologies like LiDAR-inertial odometry (LIO), visual-inertial odometry (VIO), and sophisticated Inertial Measurement Unit (IMU) preintegration methods. These integrations enhance the robustness and reliability of the SLAM process for precise mapping of complex environments. Additionally, incorporating an object-detection network aids in identifying and excluding transient objects such as pedestrians and vehicles, essential for maintaining the integrity and accuracy of environmental mapping. The object-detection network features a lightweight design and swift performance, enabling real-time analysis without significant resource utilization. Our approach focuses on harmoniously blending these techniques to yield superior mapping outcomes in complex scenarios. The effectiveness of our proposed methods is substantiated through experimental evaluation, demonstrating their capability to produce more reliable and precise maps in environments with variable elements. The results indicate improvements in autonomous navigation and mapping, providing a practical solution for SLAM in challenging and dynamic settings.

Assessing vulnerability for future Zika virus outbreaks using seroprevalence data and environmental suitability maps.

The 2015-17 Zika virus (ZIKV) epidemic in the Americas subsided faster than expected and evolving population immunity was postulated to be the main reason. Herd immunization is suggested to occur around 60-70% seroprevalence, depending on demographic density and climate suitability. However, herd immunity was only documented for a few cities in South America, meaning a substantial portion of the population might still be vulnerable to a future Zika virus outbreak. The aim of our study was to determine the vulnerability of populations to ZIKV by comparing the environmental suitability of ZIKV transmission to the observed seroprevalence, based on published studies. Using a systematic search, we collected seroprevalence and geospatial data for 119 unique locations from 37 studies. Extracting the environmental suitability at each location and converting to a hypothetical expected seroprevalence, we were able to determine the discrepancy between observed and expected. This discrepancy is an indicator of vulnerability and divided into three categories: high risk, low risk, and very low risk. The vulnerability was used to evaluate the level of risk that each location still has for a ZIKV outbreak to occur. Of the 119 unique locations, 69 locations (58%) fell within the high risk category, 47 locations (39%) fell within the low risk category, and 3 locations (3%) fell within the very low risk category. The considerable heterogeneity between environmental suitability and seroprevalence potentially leaves a large population vulnerable to future infection. Vulnerability seems to be especially pronounced at the fringes of the environmental suitability for ZIKV (e.g. Sao Paulo, Brazil). The discrepancies between observed and expected seroprevalence raise the question: "why did the ZIKV epidemic stop with large populations unaffected?". This lack of understanding also highlights that future ZIKV outbreaks currently cannot be predicted with confidence.

ROS OS Based Environment Mapping of Cyber Physical System Lab by Depth Sensor

The 21st century is a century of Robotics and thus the appearance of robots in the industries made the “Industrial Revolution 4.0” in which we can control and analyse the system using HMI’s or wirelessly over network and it’s a great example of industry 4.0 component. Nowadays robots are very important part of industry’s processing unit as they have the tendency to work 24*7 thus increases the efficiency of processing and production unit.&#x0D;  In our project a depth sensor (Microsoft’s Xbox Kinect) is mounted on a mobile robot whose main task is to map our Cyber Physical System Lab in 3-Dimensional which uses a ROS OS software installed on linux machine.&#x0D;  The robot will use a Simultaneous localization and mapping (SLAM) process to map an environment while currently generating an estimate for the location of the Robot.

Comparison of ASI-PRISMA Data, DLR-EnMAP Data, and Field Spectrometer Measurements on “Sale ‘e Porcus”, a Salty Pond (Sardinia, Italy)

A comparison between the ASI-PRISMA (Agenzia Spaziale Italiana-PRecursore IperSpettrale della Missione Applicativa) DLR-EnMAP (German Aerospace Center—Environmental Mapping and Analysis Program) data and field spectrometer measurements has been performed. The test site, located at the “Sale ‘e Porcus” pond (hereafter SPp) in Western Sardinia, Italy, offers particularly homogenous characteristics, making it an ideal location not only for experimentation but also for calibration purposes. Three remote-sensed data acquisitions have been performed by these agencies (ASI and DLR) starting on 14 July 2023 and continuing until 22 July 2023. The DLR-EnMAP data acquired on 22 July overestimates both that of the ASI-PRISMA and the 14 July DLR-EnMAP radiance in the VNIR region, while all the datasets are close to each other, up to 2500 nm, for all considered days. The average absolute mean difference between the reflectance values estimated by the ASI-PRISMA and DLR-EnMAP, in the test area, is around 0.015, despite the small difference in their time of acquisition (8 days); their maximum relative difference value occurs at about 2100 nm. In this study, we investigate the relationship between the averaged ground truth value of reflectance, acquired by means of a portable ASD FieldSpec spectoradiometer, characterizing the test site and the EO reflectance data derived from the official datasets. FieldSpec measurements confirm the quality of both the ASI-PRISMA and DLR-EnMAP’s reflectance estimations.

Spectral imaging of grass species in arid ecosystems of Namibia

Grasslands across the African continent are under pressure from climate change and human activities, particularly in arid ecosystems. From a remote sensing perspective, these ecosystems have not received much scientific attention, especially in Namibia. To address this knowledge gap, various remote sensing methods were implemented using new generation spaceborne imaging spectrometers amongst others. Therefore, this research provides a first methodological approach aimed at mapping and evaluating the distribution of grasslands within two private nature reserves, namely, the NamibRand Nature Reserve (NRNR) and ProNamib Nature Reserve (PNNR) with surrounding farmlands on the edge of Namib Sand Sea. The multi-sensor approach utilizes Mixture Tuned Matched Filtering (MTMF) and incorporated spectral information collected in the field to analyze grasslands. The research involves a sensor comparison of multispectral Sentinel-2 and PlanetScope data, hyperspectral data from Environmental Mapping and Analysis Programme (EnMAP) and PRecursore IperSpettrale della Missione Applicativa (PRISMA) and an additional data fusion product derived from Sentinel-2 and EnMAP imagery based on a Smoothing Filter-based Intensity Modulation Hypersharpening method (SFIM-HS). Additionally, a unique spectral library of collected field spectra was established and inter-species spectral separability and intra-species spectral homogeneity was analyzed. This library presents newly published spectra of individual species. Due to dry initial conditions, the calculated spectral separability of individual grasses is limited, making only a mean endmember feasible for partial unmixing. The validation results of satellite comparison show that data fusion products (R2 = 0.51 with Normalized Difference Vegetation Index (NDVI); R2 = 0.66 with Soil Adjusted Vegetation Index (SAVI)) are more suitable for mapping arid grasslands than multispectral or hyperspectral data (all R2 &amp;lt; 0.35). More research is required and potential methodological adjustments are discussed to further investigate the spatio-temporal dynamics of arid grasslands and to aid conservation efforts in the Greater Sossusvlei-Namib Landscape in line with the United Nations Decade of Restoration.