Real Laser Scanning Research Articles

Generating synthetic laser scanning data of forests by combining forest inventory information, a tree point cloud database and an open-source laser scanning simulator

Abstract Airborne laser scanning (ALS) data are routinely used to estimate and map structure-related forest inventory variables. The further development, refinement and evaluation of methods to derive forest inventory variables from ALS data require extensive datasets of forest stand information on an individual tree-level and corresponding ALS data. A cost-efficient method to obtain such datasets is the combination of virtual forest stands with a laser scanning simulator. We present an approach to simulate ALS data of forest stands by combining forest inventory information, a tree point cloud database and the laser scanning simulation framework HELIOS++. ALS data of six 1-ha plots were simulated and compared to real ALS data of these plots. The synthetic 3D representations of the forest stands were composed of real laser scanning point clouds of individual trees that were acquired by an uncrewed aerial vehicle (UAV), and, for comparison, simplified tree models with cylindrical stems and spheroidal crowns. The simulated ALS point clouds of the six plots were compared with the real point clouds based on canopy cover, height distribution of returns and several other point cloud metrics. In addition, the performance of biomass models trained using these synthetic data was evaluated. The comparison revealed that, in general, both the real tree models and the simplified tree models can be used to generate synthetic data. The results differed for the different study sites and depending on whether all returns or only first returns were considered. The measure of canopy cover was better represented by the data of the simplified tree models, whereas the height distribution of the returns was – for most of the study sites – better represented by the real tree model data. Training biomass models with metrics derived from the real tree model data led to an overestimation of biomass, while using metrics of the simplified tree model data resulted in an underestimation of biomass. Still, the accuracy of models trained with simulated data was only slightly lower compared to models trained with real ALS data. Our results suggest that the presented approach can be used to generate ALS data that are sufficiently realistic for many applications. The synthetic data may be used to develop new or refine existing ALS-based forest inventory methods, to systematically investigate the relationship between point cloud metrics and forest inventory variables and to analyse how this relationship is affected by laser scanning acquisition settings and field reference data characteristics.

H ∞ LIDAR odometry for spacecraft relative navigation

Current light detection and ranging (LIDAR) based odometry solutions that are used for spacecraft relative navigation suffer from quite a few deficiencies. These include an off-line training requirement and relying on the iterative closest point (ICP) that does not guarantee a globally optimum solution. To encounter this, the authors suggest a robust architecture that overcomes the problems of current proposals by combining the concepts of 3D local feature matching with an adaptive variant of the H∞ recursive filtering process. Trials on real laser scans of an EnviSat model demonstrate that the proposed architecture affords at least one order of magnitude better accuracy compared to ICP.

Application of Dixon resultant to maximization of the likelihood function of Gaussian mixture distribution

In this presentation a new robust technique employing expectation maximization to separate outliers (corrupted data points) from inliers (true data points) iteratively, represented by different Gaussian distributions is introduced. Since in every iteration step, a new parameter estimation should be carried out, it is important to solve this parameter estimation as fast as possible. To do that, the problem of numerical global maximization of the likelihood function of the Gaussian mixture was transformed into the solution of a multivariate polynomial system. The symbolic solution of the resulting polynomial system consisting of four equations is quite challenging due to the high number of parameters. In order to solve it, a linear transformation was employed to reduce the number of the equations as well as the total degrees of the polynomials. This reduced system has been solved successfully via Dixon resultant accelerated by the Early Discovery of Factors method implemented in Fermat. The symbolic result was verified via numerical Groebner basis and the suggested robust technique was compared with other robust methods such as Danish and Random Sample Consensus methods based on the data set from a real laser scanning experiment.

A NEW APPROACH FOR SEGMENTATION-BASED TEXTURING OF LASER SCANNING DATA

Abstract. In recent years, laser scanning systems have been recognized as a fast and accurate technology for the acquisition of high density spatial data. The advent of these systems has reduced the cost and increased the availability of accurate 3D data for mapping, modelling, and monitoring applications. The original laser scanning data does not explicitly provide meaningful information about the characteristics of the scanned surfaces. Therefore, reliable processing procedures are applied for information extraction from these datasets. However, the derived surfaces through laser scanning data processing cannot be effectively interpreted due to the lack of spectral information. To resolve this problem, a new texturing procedure is introduced in this paper to improve the interpretability of laser scanning-derived surfaces using spectral information from overlapping imagery. In this texturing approach, individual planar regions, derived through a laser scanning data segmentation procedure, are textured using the available imagery. This texturing approach, which aims to overcome the computational inefficiency of the previously-developed point-based texturing techniques, is implemented in three steps. In the first step, the visibility of the segmented planar regions in the available imagery is checked and a list of appropriate images for texturing each planar region is established. An occlusion detection procedure is then performed to identify the parts of the segmented regions which are occluding/being occluded by other regions in the field of view of the utilized images. In the second step, visible parts of planar regions are decomposed into parts which should be textured using individual images. Finally, a rendering procedure is performed to texture these parts using available images. Experimental results from real laser scanning dataset and overlapping imagery demonstrate the feasibility of the proposed approach for texturing laser scanning-derived surfaces using images.

Outlier detection and robust normal-curvature estimation in mobile laser scanning 3D point cloud data

This paper proposes two robust statistical techniques for outlier detection and robust saliency features, such as surface normal and curvature, estimation in laser scanning 3D point cloud data. One is based on a robust z-score and the other uses a Mahalanobis type robust distance. The methods couple the ideas of point to plane orthogonal distance and local surface point consistency to get Maximum Consistency with Minimum Distance (MCMD). The methods estimate the best-fit-plane based on most probable outlier free, and most consistent, points set in a local neighbourhood. Then the normal and curvature from the best-fit-plane will be highly robust to noise and outliers. Experiments are performed to show the performance of the algorithms compared to several existing well-known methods (from computer vision, data mining, machine learning and statistics) using synthetic and real laser scanning datasets of complex (planar and non-planar) objects. Results for plane fitting, denoising, sharp feature preserving and segmentation are significantly improved. The algorithms are demonstrated to be significantly faster, more accurate and robust. Quantitatively, for a sample size of 50 with 20% outliers the proposed MCMD_Z is approximately 5, 15 and 98 times faster than the existing methods: uLSIF, RANSAC and RPCA, respectively. The proposed MCMD_MD method can tolerate 75% clustered outliers, whereas, RPCA and RANSAC can only tolerate 47% and 64% outliers, respectively. In terms of outlier detection, for the same dataset, MCMD_Z has an accuracy of 99.72%, 0.4% false positive rate and 0% false negative rate; for RPCA, RANSAC and uLSIF, the accuracies are 97.05%, 47.06% and 94.54%, respectively, and they have misclassification rates higher than the proposed methods. The new methods have potential for local surface reconstruction, fitting, and other point cloud processing tasks.

DIAGNOSTIC-ROBUST STATISTICAL ANALYSIS FOR LOCAL SURFACE FITTING IN 3D POINT CLOUD DATA

Abstract. This paper investigates the problem of local surface reconstruction and best fitting for planar surfaces from unorganized 3D point cloud data. Least Squares (LS), its equivalent Principal Component Analysis (PCA) and RANSAC are the three most popular techniques for fitting planar surfaces to 3D data. LS and PCA are sensitive to outliers and do not give reliable and robust parameter estimation. The RANSAC algorithm is robust but it is not completely free from the effect of outliers and is slow for large datasets. In this paper, we propose a diagnostic-robust statistical algorithm that uses both diagnostics and robust approaches in combination for fitting planar surfaces in the presence of outliers. Recently introduced high breakdown and fast Minimum Covariance Determinant (MCD) based location and scatter estimates are used for robust distance to identify outliers and a MCD based robust PCA approach is used as an outlier resistant technique for plane fitting. The benefits of the new diagnostic-robust algorithm are demonstrated with artificial and real laser scanning point cloud datasets. Results show that the proposed method is significantly better and more efficient than the other three methods for planar surface fitting. This method also has great potential for robust local normal estimation and for other surface shape fitting applications.

Simulation of earthquake caused building damages for the development of fast reconnaissance techniques

Abstract. Catastrophic events like strong earthquakes can cause big losses in life and economic values. An increase in the efficiency of reconnaissance techniques could help to reduce the losses in life as many victims die after and not during the event. A basic prerequisite to improve the rescue teams' work is an improved planning of the measures. This can only be done on the basis of reliable and detailed information about the actual situation in the affected regions. Therefore, a bundle of projects at Karlsruhe university aim at the development of a tool for fast information retrieval after strong earthquakes. The focus is on urban areas as the most losses occur there. In this paper the approach for a damage analysis of buildings will be presented. It consists of an automatic methodology to model buildings in three dimensions, a comparison of pre- and post-event models to detect changes and a subsequent classification of the changes into damage types. The process is based on information extraction from airborne laserscanning data, i.e. digital surface models (DSM) acquired through scanning of an area with pulsed laser light. To date, there are no laserscanning derived DSMs available to the authors that were taken of areas that suffered damages from earthquakes. Therefore, it was necessary to simulate such data for the development of the damage detection methodology. In this paper two different methodologies used for simulating the data will be presented. The first method is to create CAD models of undamaged buildings based on their construction plans and alter them artificially in such a way as if they had suffered serious damage. Then, a laserscanning data set is simulated based on these models which can be compared with real laserscanning data acquired of the buildings (in intact state). The other approach is to use measurements of actual damaged buildings and simulate their intact state. It is possible to model the geometrical structure of these damaged buildings based on digital photography taken after the event by evaluating the images with photogrammetrical methods. The intact state of the buildings is simulated based on on-site investigations, and finally laserscanning data are simulated for both states.