A Marked Point Process for Modeling Lidar Waveforms

International audienceLidar waveforms are 1-D signals representing a train of echoes caused by reflections at different targets. Modeling these echoes with the appropriate parametric function is useful to retrieve information about the physical characteristics of the targets. This paper presents a new probabilistic model based upon a marked point process which reconstructs the echoes from recorded discrete waveforms as a sequence of parametric curves. Such an approach allows to fit each mode of a waveform with the most suitable function and to deal with both, symmetric and asymmetric, echoes. The model takes into account a data term, which measures the coherence between the models and the waveforms, and a regularization term, which introduces prior knowledge on the reconstructed signal. The exploration of the associated configuration space is performed by a reversible jump Markov chain Monte Carlo (RJMCMC) sampler coupled with simulated annealing. Experiments with different kinds of lidar signals, especially from urban scenes, show the high potential of the proposed approach. To further demonstrate the advantages of the suggested method, actual laser scans are classified and the results are reported

Ground elevation models and land cover classifers for decimetre resolution urban monitoring

This thesis presents methods that enable the generation of quantitative environmental indicators for remotely monitoring urban regions. Its contributions are a new morphological and surface fitting hybrid algorithm for the generation of ground elevation models, a vegetation classifier and significant research into Canonical Variate Analysis with Rational Polynomials (a feature extraction method that normalises the topographic illumination effect). These methods were tested on a 9600 square kilometre, 20cm resolution dataset covering Perth

Advances in Waveform and Photon Counting Lidar Processing for Forest Vegetation Applications

Full waveform (FW) and photon counting LiDAR (PCL) data have garnered greater attention due to increasing data availability, a wealth of information they contain and promising prospects for large scale vegetation mapping. However, many factors such as complex processing steps and scarce non-proprietary tools preclude extensive and practical uses of these data for vegetation characterization. Therefore, the overall goal of this study is to develop algorithms to process FW and PCL data and to explore their potential in real-world applications. Study I explored classical waveform decomposition methods such as the Gaussian decomposition, Richardson–Lucy (RL) deconvolution and a newly introduced optimized Gold deconvolution to process FW LiDAR data. Results demonstrated the advantages of the deconvolution and decomposition method, and the three approaches generated satisfactory results, while the best performances varied when different criteria were used. Built upon Study I, Study II applied the Bayesian non-linear modeling concepts for waveform decomposition and quantified the propagation of error and uncertainty along the processing steps. The performance evaluation and uncertainty analysis at the parameter, derived point cloud and surface model levels showed that the Bayesian decomposition could enhance the credibility of decomposition results in a probabilistic sense to capture the true error of estimates and trace the uncertainty propagation along the processing steps. In study III, we exploited FW LiDAR data to classify tree species through integrating machine learning methods (the Random forests (RF) and Conditional inference forests (CF)) and Bayesian inference method. Results of classification accuracy highlighted that the Bayesian method was a superior alternative to machine learning methods, and rendered users with more confidence for interpreting and applying classification results to real-world tasks such as forest inventory. Study IV focused on developing a framework to derive terrain elevation and vegetation canopy height from test-bed sensor data and to pre-validate the capacity of the upcoming Ice, Cloud and Land Elevation Satellite-2 (ICESat-2) mission. The methodology developed in this study illustrates plausible ways of processing the data that are structurally similar to expected ICESat-2 data and holds the potential to be a benchmark for further method adjustment once genuine ICESat-2 are available

Characterizing Dryland Ecosystems Using Remote Sensing and Dynamic Global Vegetation Modeling

Drylands include all terrestrial regions where the production of crops, forage, wood and other ecosystem services are limited by water. These ecosystems cover approximately 40% of the earth terrestrial surface and accommodate more than 2 billion people (Millennium Ecosystem Assessment, 2005). Moreover, the interannual variability of the global carbon budget is strongly regulated by vegetation dynamics in drylands. Understanding the dynamics of such ecosystems is significant for assessing the potential for and impacts of natural or anthropogenic disturbances and mitigation planning, and a necessary step toward enhancing the economic and social well-being of dryland communities in a sustainable manner (Global Drylands: A UN system-wide response, 2011). In this research, a combination of remote sensing, field data collection, and ecosystem modeling were used to establish an integrated framework for semi-arid ecosystems dynamics monitoring. Foliar nitrogen (N) plays an important role in vegetation processes such as photosynthesis and there is wide interest in retrieving this variable from hyperspectral remote sensing data. In this study, I used the theory of canopy spectral invariants (AKA p-theory) to understand the role of canopy structure and soil in the retrieval of foliar N from hyperspectral data and machine learning techniques. The results of this study showed the inconsistencies among different machine learning techniques used for estimating N. Using p-theory, I demonstrated that soil can contribute up to 95% to the total radiation budget of the canopy. I suggested an alternative approach to study photosynthesis is the use of dynamic global vegetation models (DGVMs). Gross primary production (GPP) is the apparent ecosystem scale photosynthesis that can be estimated using DGVMs. In this study, I performed a thorough sensitivity analysis and calibrated the Ecosystem Demography (EDv2.2) model along an elevation gradient in a dryland study area. I investigated the GPP capacity and activity by comparing the EDv2.2 GPP with flux towers and remote sensing products. The overall results showed that EDv2.2 performed well in capturing GPP capacity and its long term trend at lower elevation sites within the study area; whereas the model performed worse at higher elevations likely due to the change in vegetation community. I discussed that adding more heterogeneity and modifying ecosystem processes such as phenology and plant hydraulics in ED.v2.2 will improve its application to higher elevation ecosystems where there is more vegetation production. And finally, I developed an integrated hyperspectral-lidar framework for regional mapping of xeric and mesic vegetation in the study area. I showed that by considering spectral shape and magnitude, canopy structure and landscape features (riparian zone), we can develop a straightforward algorithm for vegetation mapping in drylands. This framework is simple, easy to interpret and consistent with our ecological understanding of vegetation distribution in drylands over large areas. Collectively, the results I present in this dissertation demonstrate the potential for advanced remote sensing and modeling to help us better understand ecosystem processes in drylands

Extraction of buildings from high-resolution satellite data and airborne Lidar

Automatic building extraction is a difficult object recognition problem due to a high complexity of the scene content and the object representation. There is a dilemma to select appropriate building models to be reconstructed; the models have to be generic in order to represent a variety of building shape, whereas they also have to be specific to differentiate buildings from other objects in the scene. Therefore, a scientific challenge of building extraction lies in constructing a framework for modelling building objects with appropriate balance between generic and specific models. This thesis investigates a synergy of IKONOS satellite imagery and airborne LIDAR data, which have recently emerged as powerful remote sensing tools, and aims to develop an automatic system, which delineates building outlines with more complex shape, but by less use of geometric constraints. The method described in this thesis is a two step procedure: building detection and building description. A method of automatic building detection that can separate individual buildings from surrounding features is presented. The process is realized in a hierarchical strategy, where terrain, trees, and building objects are sequentially detected. Major research efforts are made on the development of a LIDAR filtering technique, which automatically detects terrain surfaces from a cloud of 3D laser points. The thesis also proposes a method of building description to automatically reconstruct building boundaries. A building object is generally represented as a mosaic of convex polygons. The first stage is to generate polygonal cues by a recursive intersection of both datadriven and model-driven linear features extracted from IKONOS imagery and LIDAR data. The second stage is to collect relevant polygons comprising the building object and to merge them for reconstructing the building outlines. The developed LIDAR filter was tested in a range of different landforms, and showed good results to meet most of the requirements of DTM generation and building detection. Also, the implemented building extraction system was able to successfully reconstruct the building outlines, and the accuracy of the building extraction is good enough for mapping purposes

Extraction of buildings from high-resolution satellite data and airborne LIDAR

Automatic building extraction is a difficult object recognition problem due to a high complexity of the scene content and the object representation. There is a dilemma to select appropriate building models to be reconstructed; the models have to be generic in order to represent a variety of building shape, whereas they also have to be specific to differentiate buildings from other objects in the scene. Therefore, a scientific challenge of building extraction lies in constructing a framework for modelling building objects with appropriate balance between generic and specific models. This thesis investigates a synergy of IKONOS satellite imagery and airborne LIDAR data, which have recently emerged as powerful remote sensing tools, and aims to develop an automatic system, which delineates building outlines with more complex shape, but by less use of geometric constraints. The method described in this thesis is a two step procedure: building detection and building description. A method of automatic building detection that can separate individual buildings from surrounding features is presented. The process is realized in a hierarchical strategy, where terrain, trees, and building objects are sequentially detected. Major research efforts are made on the development of a LIDAR filtering technique, which automatically detects terrain surfaces from a cloud of 3D laser points. The thesis also proposes a method of building description to automatically reconstruct building boundaries. A building object is generally represented as a mosaic of convex polygons. The first stage is to generate polygonal cues by a recursive intersection of both datadriven and model-driven linear features extracted from IKONOS imagery and LIDAR data. The second stage is to collect relevant polygons comprising the building object and to merge them for reconstructing the building outlines. The developed LIDAR filter was tested in a range of different landforms, and showed good results to meet most of the requirements of DTM generation and building detection. Also, the implemented building extraction system was able to successfully reconstruct the building outlines, and the accuracy of the building extraction is good enough for mapping purposes.EThOS - Electronic Theses Online ServiceGBUnited Kingdo

Probabilistic modeling for single-photon lidar

Lidar is an increasingly prevalent technology for depth sensing, with applications including scientific measurement and autonomous navigation systems. While conventional systems require hundreds or thousands of photon detections per pixel to form accurate depth and reflectivity images, recent results for single-photon lidar (SPL) systems using single-photon avalanche diode (SPAD) detectors have shown accurate images formed from as little as one photon detection per pixel, even when half of those detections are due to uninformative ambient light. The keys to such photon-efficient image formation are two-fold: (i) a precise model of the probability distribution of photon detection times, and (ii) prior beliefs about the structure of natural scenes. Reducing the number of photons needed for accurate image formation enables faster, farther, and safer acquisition. Still, such photon-efficient systems are often limited to laboratory conditions more favorable than the real-world settings in which they would be deployed. This thesis focuses on expanding the photon detection time models to address challenging imaging scenarios and the effects of non-ideal acquisition equipment. The processing derived from these enhanced models, sometimes modified jointly with the acquisition hardware, surpasses the performance of state-of-the-art photon counting systems. We first address the problem of high levels of ambient light, which causes traditional depth and reflectivity estimators to fail. We achieve robustness to strong ambient light through a rigorously derived window-based censoring method that separates signal and background light detections. Spatial correlations both within and between depth and reflectivity images are encoded in superpixel constructions, which fill in holes caused by the censoring. Accurate depth and reflectivity images can then be formed with an average of 2 signal photons and 50 background photons per pixel, outperforming methods previously demonstrated at a signal-to-background ratio of 1. We next approach the problem of coarse temporal resolution for photon detection time measurements, which limits the precision of depth estimates. To achieve sub-bin depth precision, we propose a subtractively-dithered lidar implementation, which uses changing synchronization delays to shift the time-quantization bin edges. We examine the generic noise model resulting from dithering Gaussian-distributed signals and introduce a generalized Gaussian approximation to the noise distribution and simple order statistics-based depth estimators that take advantage of this model. Additional analysis of the generalized Gaussian approximation yields rules of thumb for determining when and how to apply dither to quantized measurements. We implement a dithered SPL system and propose a modification for non-Gaussian pulse shapes that outperforms the Gaussian assumption in practical experiments. The resulting dithered-lidar architecture could be used to design SPAD array detectors that can form precise depth estimates despite relaxed temporal quantization constraints. Finally, SPAD dead time effects have been considered a major limitation for fast data acquisition in SPL, since a commonly adopted approach for dead time mitigation is to operate in the low-flux regime where dead time effects can be ignored. We show that the empirical distribution of detection times converges to the stationary distribution of a Markov chain and demonstrate improvements in depth estimation and histogram correction using our Markov chain model. An example simulation shows that correctly compensating for dead times in a high-flux measurement can yield a 20-times speed up of data acquisition. The resulting accuracy at high photon flux could enable real-time applications such as autonomous navigation

Advances in Waveform and Photon Counting Lidar Processing for Forest Vegetation Applications

Full waveform (FW) and photon counting LiDAR (PCL) data have garnered greater attention due to increasing data availability, a wealth of information they contain and promising prospects for large scale vegetation mapping. However, many factors such as complex processing steps and scarce non-proprietary tools preclude extensive and practical uses of these data for vegetation characterization. Therefore, the overall goal of this study is to develop algorithms to process FW and PCL data and to explore their potential in real-world applications. Study I explored classical waveform decomposition methods such as the Gaussian decomposition, Richardson–Lucy (RL) deconvolution and a newly introduced optimized Gold deconvolution to process FW LiDAR data. Results demonstrated the advantages of the deconvolution and decomposition method, and the three approaches generated satisfactory results, while the best performances varied when different criteria were used. Built upon Study I, Study II applied the Bayesian non-linear modeling concepts for waveform decomposition and quantified the propagation of error and uncertainty along the processing steps. The performance evaluation and uncertainty analysis at the parameter, derived point cloud and surface model levels showed that the Bayesian decomposition could enhance the credibility of decomposition results in a probabilistic sense to capture the true error of estimates and trace the uncertainty propagation along the processing steps. In study III, we exploited FW LiDAR data to classify tree species through integrating machine learning methods (the Random forests (RF) and Conditional inference forests (CF)) and Bayesian inference method. Results of classification accuracy highlighted that the Bayesian method was a superior alternative to machine learning methods, and rendered users with more confidence for interpreting and applying classification results to real-world tasks such as forest inventory. Study IV focused on developing a framework to derive terrain elevation and vegetation canopy height from test-bed sensor data and to pre-validate the capacity of the upcoming Ice, Cloud and Land Elevation Satellite-2 (ICESat-2) mission. The methodology developed in this study illustrates plausible ways of processing the data that are structurally similar to expected ICESat-2 data and holds the potential to be a benchmark for further method adjustment once genuine ICESat-2 are available

Building change detection from remotely sensed data using machine learning techniques

As remote sensing data plays an increasingly important role in many fields, many countries have established geographic information systems. However, such systems usually suffer from obsolete scene details, making the development of change detection technology critical. Building changes are important in practice, as they are valuable in urban planning and disaster rescue. This thesis focuses on building change detection from remotely sensed data using machine learning techniques. Supervised classification is a traditional method for pixel level change detection, and relies on a suitable training dataset. Since different training datasets may affect the learning performance differently, the effects of dataset characteristics on pixel level building change detection are first studied. The research is conducted from two angles, namely the imbalance and noise in the training dataset, and multiple correlations among different features. The robustness of some supervised learning algorithms to unbalanced and noisy training datasets is examined, and the results are interpreted from a theoretical perspective. A solution for handling multiple correlations is introduced, and its performance on and applicability to building change detection is investigated. Finally, an object-based post processing technique is proposed using prior knowledge to further suppress false alarms. A novel corner based Markov random field (MRF) method is then proposed for exploring spatial information and contextual relations in changed building outline detection. Corners are treated as vertices in the graph, and a new method is proposed for determining neighbourhood relations. Energy terms in the proposed method are constructed using spatial features to describe building characteristics. An optimal solution indicates spatial features belonging to changed buildings, and changed areas are revealed based on novel linking processes. Considering the individual advantages of pixel level, contextual and spatial features, an MRF based combinational method is proposed that exploits spectral, spatial and contextual features in building change detection. It consists of pixel level detection and corner based refinement. Pixel level detection is first conducted, which provides an initial indication of changed areas. Corner based refinement is then implemented to further refine the detection results. Experimental results and quantitative analysis demonstrate the capacity and effectiveness of the proposed methods

Remote Sensing

This dual conception of remote sensing brought us to the idea of preparing two different books; in addition to the first book which displays recent advances in remote sensing applications, this book is devoted to new techniques for data processing, sensors and platforms. We do not intend this book to cover all aspects of remote sensing techniques and platforms, since it would be an impossible task for a single volume. Instead, we have collected a number of high-quality, original and representative contributions in those areas