Filtering Airborne LiDAR Data Through Complementary Cloth Simulation and Progressive TIN Densification Filters

Separating point clouds into ground and non-ground points is a preliminary and essential step in various applications of airborne light detection and ranging (LiDAR) data, and many filtering algorithms have been proposed to automatically filter ground points. Among them, the progressive triangulated irregular network (TIN) densification filtering (PTDF) algorithm is widely employed due to its robustness and effectiveness. However, the performance of this algorithm usually depends on the detailed initial terrain and the cautious tuning of parameters to cope with various terrains. Consequently, many approaches have been proposed to provide as much detailed initial terrain as possible. However, most of them require many user-defined parameters. Moreover, these parameters are difficult to determine for users. Recently, the cloth simulation filtering (CSF) algorithm has gradually drawn attention because its parameters are few and easy-to-set. CSF can obtain a fine initial terrain, which simultaneously provides a good foundation for parameter threshold estimation of progressive TIN densification (PTD). However, it easily causes misclassification when further refining the initial terrain. To achieve the complementary advantages of CSF and PTDF, a novel filtering algorithm that combines cloth simulation (CS) and PTD is proposed in this study. In the proposed algorithm, a high-quality initial provisional digital terrain model (DTM) is obtained by CS, and the parameter thresholds of PTD are estimated from the initial provisional DTM based on statistical analysis theory. Finally, PTD with adaptive parameter thresholds is used to refine the initial provisional DTM. These contributions of the implementation details achieve accuracy enhancement and resilience to parameter tuning. The experimental results indicate that the proposed algorithm improves performance over their direct predecessors. Furthermore, compared with the publicized improved PTDF algorithms, our algorithm is not only superior in accuracy but also practicality. The fact that the proposed algorithm is of high accuracy and easy-to-use is desirable for users

A Progressive Plane Detection Filtering Method for Airborne LiDAR Data in Forested Landscapes

Ground filtering is necessary in processing airborne light detection and ranging (LiDAR) point clouds for forestry applications. This study proposes a progressive plane detection filtering (PPDF) method. First, the method uses multi-scale planes to characterize terrain, i.e., the local terrain with large slope variations is represented by small-scale planes, and vice versa. The planes are detected in local point clouds by the random sample consensus method with decreasing plane sizes. The reliability of the planes to represent local terrain is evaluated and the planes with optimal sizes are selected according to evaluation results. Then, ground seeds are identified by selecting the interior points of the planes. Finally, ground points are iteratively extracted based on the reference terrain, which is constructed using evenly distributed neighbor ground points. These neighbor points are identified by selecting the nearest neighbor points of multiple subspaces, which are divided from the local space with an unclassified point as center point. PPDF was tested in six sites with various terrain and vegetation characteristics. Results showed that PPDF was more accurate and robust compared to the classic filtering methods including maximum slope, progressive morphology, cloth simulation, and progressive triangulated irregular network densification filtering methods, with the smallest average total error and standard deviation of 3.42% and 2.45% across all sites. Moreover, the sensitivity of PPDF to parameters was low and these parameters can be set as fixed values. Therefore, PPDF is effective and easy-to-use for filtering airborne LiDAR data

Hyperspectral Image Visualization Using Double And Multiple Layers

This dissertation develops new approaches for hyperspectral image visualization. Double and multiple layers are proposed to effectively convey the abundant information contained in the original high-dimensional data for practical decision-making support. The contributions of this dissertation are as follows. 1.Development of new visualization algorithms for hyperspectral imagery. Double-layer technique can display mixed pixel composition and global material distribution simultaneously. The pie-chart layer, taking advantage of the properties of non-negativity and sum-to-one abundances from linear mixture analysis of hyperspectral pixels, can be fully integrated with the background layer. Such a synergy enhances the presentation at both macro and micro scales. 2.Design of an effective visual exploration tool. The developed visualization techniques are implemented in a visualization system, which can automatically preprocess and visualize hyperspectral imagery. The interactive tool with a userriendly interface will enable viewers to display an image with any desired level of details. 3.Design of effective user studies to validate and improve visualization methods. The double-layer technique is evaluated by well designed user studies. The traditional approaches, including gray-scale side-by-side classification maps, color hard classification maps, and color soft classification maps, are compared with the proposed double-layer technique. The results of the user studies indicate that the double-layer algorithm provides the best performance in displaying mixed pixel composition in several aspects and that it has the competitive capability of displaying the global material distribution. Based on these results, a multi-layer algorithm is proposed to improve global information display

A Novel Approach for the Detection of Standing Tree Stems from Plot-Level Terrestrial Laser Scanning Data

Tree stem detection is a key step toward retrieving detailed stem attributes from terrestrial laser scanning (TLS) data. Various point-based methods have been proposed for the stem point extraction at both individual tree and plot levels. The main limitation of the point-based methods is their high computing demand when dealing with plot-level TLS data. Although segment-based methods can reduce the computational burden and uncertainties of point cloud classification, its application is largely limited to urban scenes due to the complexity of the algorithm, as well as the conditions of natural forests. Here we propose a novel and simple segment-based method for efficient stem detection at the plot level, which is based on the curvature feature of the points and connected component segmentation. We tested our method using a public TLS dataset with six forest plots that were collected for the international TLS benchmarking project in Evo, Finland. Results showed that the mean accuracies of the stem point extraction were comparable to the state-of-art methods (>95%). The accuracies of the stem mappings were also comparable to the methods tested in the international TLS benchmarking project. Additionally, our method was applicable to a wide range of stem forms. In short, the proposed method is accurate and simple; it is a sensible solution for the stem detection of standing trees using TLS data

Improving the estimation of canopy cover from UAV-LiDAR data using a pit-free CHM-based method

Accurate and rapid estimation of canopy cover (CC) is crucial for many ecological and environmental models and for forest management. Unmanned aerial vehicle-light detecting and ranging (UAV-LiDAR) systems represent a promising tool for CC estimation due to their high mobility, low cost, and high point density. However, the CC values from UAV-LiDAR point clouds may be underestimated due to the presence of large quantities of within-crown gaps. To alleviate the negative effects of within-crown gaps, we proposed a pit-free CHM-based method for estimating CC, in which a cloth simulation method was used to fill the within-crown gaps. To evaluate the effect of CC values and within-crown gap proportions on the proposed method, the performance of the proposed method was tested on 18 samples with different CC values (40−70%) and 6 samples with different within-crown gap proportions (10−60%). The results showed that the CC accuracy of the proposed method was higher than that of the method without filling within-crown gaps (R2 = 0.99 vs 0.98; RMSE = 1.49% vs 2.2%). The proposed method was insensitive to within-crown gap proportions, although the CC accuracy decreased slightly with the increase in within-crown gap proportions

A Comparison of the Performances of Unmanned-Aerial-Vehicle (UAV) and Terrestrial Laser Scanning for Forest Plot Canopy Cover Estimation in Pinus massoniana Forests

Canopy cover is an important indicator and commonly used in forest management applications. Unmanned-Aerial-Vehicle (UAV)—Borne Laser Scanning (ULS) has drawn increasing attention as a new alternative source for forest field inventory due to its spatial resolution comparable to that of Terrestrial Laser Scanning (TLS). In this study, the performance of plot canopy cover estimations from ULS and TLS is investigated. The experiment was conducted in 16 plots from two Pinus massoniana forests with different stand conditions in Guangxi, China. Both the Canopy Height Model (CHM)-based and Individual Tree Delineation (ITD)-based methods were used to estimate the canopy cover. The influence of CHM pixel sizes on the estimations was also analyzed. Our results demonstrated that the accuracies of ULS (R2: 0.992–0.996, RMSE: 0.591–0.820%) were better than those of TLS (R2: 0.541–0.846, RMSE: 3.642–6.297%) when compared against the reference. The average difference between the ULS and TLS estimations was 6.91%, and the disagreement increased as the forest complexity increased. The reasonable CHM pixel sizes for the canopy cover estimations were 0.07–1.2 m for ULS and 0.07–1.5 m for TLS. This study can provide useful information for the selection of data sources and estimation methods in plot canopy cover mapping

Single Scanner BLS System for Forest Plot Mapping

International audienceThe 3-D information collected from sample plots is significant for forest inventories. Terrestrial laser scanning (TLS) has been demonstrated to be an effective device in data acquisition of forest plots. Although TLS is able to achieve precise measurements, multiple scans are usually necessary to collect more detailed data, which generally requires more time in scan preparation and field data acquisition. In contrast, mobile laser scanning (MLS) is being increasingly utilized in mapping due to its mobility. However, the geometrical peculiarity of forests introduces challenges. In this article, a test backpack-based MLS system, i.e., backpack laser scanning (BLS), is designed for forest plot mapping without a global navigation satellite system/inertial measurement unit (GNSS-IMU) system. To achieve accurate matching, this article proposes to combine the line and point features for calculating transformation, in which the line feature is derived from trunk skeletons. Then, a scan-to-map matching strategy is proposed for correcting positional drift. Finally, this article evaluates the effectiveness and the mapping accuracy of the proposed method in forest sample plots. The experimental results indicate that the proposed method achieves accurate forest plot mapping using the BLS; meanwhile, compared to the existing methods, the proposed method utilizes the geometric attributes of the trees and reaches a lower mapping error, in which the mean errors and the root square mean errors for the horizontal/vertical direction in plots are less than 3 cm

Automated markerless registration of point clouds from TLS and structured light scanner for heritage documentation

International audienceThree-dimensional (3D) model is a major form of cultural heritage documentation. Due to the acquisition methods and characteristic of point cloud, point cloud selection usually has an effect on 3D modeling of cultural heritage. In order to acquire a fine and complete point cloud, this paper chose two scanned instruments: Terrestrial Laser Scanning (TLS) and Structured Light Scanner (SLS). TLS can scan entire area with one scan, and the resolution of the LiDAR point cloud is millimeter-scale. The resolution of SLS point clouds is high, about sub-millimeter, which shows better capacity of detailed description than TLS, but the field of view is limited and registration of multiple point clouds easily produces accumulative error. To overcome above drawbacks, this paper combines these two complementary scanning data. The TLS point cloud represents the whole region, and each SLS point cloud cover a part of it with higher accuracy. After acquisition, it is necessary to register and blend the TLS and SLS point-clouds to produce a unique and detailed model for the whole scene. Existing registration systems mostly rely on manual post-processing or marker-based alignment. Manual registration is however time consuming and tedious, while markers increase the complexity of scanning and are not always acceptable in cultural site documentation. Therefore, we propose an automated markerless registration and fusion pipeline for point clouds. Firstly, we replace the marker-based coarse alignment by an automated registration of SLS and TLS point clouds; secondly, we refine the alignment of SLS point-clouds on TLS data using the Iterative Corresponding Point algorithm; finally, we seamless stitch the SLS and TLS point clouds by globally regularizing the registration error for the all the point clouds at once. Our experiments shows the efficiency of the proposed approach on two real-world cases, involving detailed point clouds correctly aligned without requiring markers or manual tuning. This paper provides an operational process reference for automated markerless registration of multi-source point clouds

A General and Effective Method for Wall and Protrusion Separation from Facade Point Clouds

As a critical prerequisite for semantic facade reconstruction, accurately separating wall and protrusion points from facade point clouds is required. The performance of traditional separation methods is severely limited by facade conditions, including wall shapes (e.g., nonplanar walls), wall compositions (e.g., walls composed of multiple noncoplanar point clusters), and protrusion structures (e.g., protrusions without regularity, repetitive, or self-symmetric features). This study proposes a more widely applicable wall and protrusion separation method. The major principle underlying the proposed method is to transform the wall and protrusion separation problem as a ground filtering problem and to separate walls and protrusions using ground filtering methods, since the 2 problems can be solved using the same prior knowledge, that is, protrusions (nonground objects) protrude from walls (ground). After transformation problem, cloth simulation filter was used as an example to separate walls and protrusions in 8 facade point clouds with various characteristics. The proposed method was robust to the facade conditions, with a mean intersection over union of 90.7%, and had substantially higher accuracy compared with the traditional separation methods, including region growing-, random sample consensus-, multipass random sample consensus-based, and hybrid methods, with mean intersection over union values of 69.53%, 49.52%, 63.93%, and 47.07%, respectively. Besides, the proposed method was general, since existing ground filtering methods (including the maximum slope, progressive morphology, and progressive triangular irregular network densification filters) can also perform well