Traffic signal control plays a key role in managing urban traffic flow, enhancing safety, and minimizing congestion and conflicts. Effective green time allocation is a critical element of this control process. This research explores the utilization of LiDAR sensor technology in the optimization of green time allocation for one phase of a traffic signal at a signalized intersection. LiDAR sensors provide precise and real-time data on vehicle presence and traffic patterns, enabling a data-driven approach to traffic signal control. The study begins with an analysis of the limitations of traditional traffic signal control strategies, which often rely on fixed-time plans or rudimentary vehicle detection systems. These approaches can lead to suboptimal green time allocation, resulting in inefficient traffic management and increased vehicle delays.The integration of LiDAR sensors provides detailed information on vehicle queues, arrival rates, and vehicle types. The research presents a practical framework for green time allocation optimization, considering factors such as intersection geometry, traffic volumes, and signal coordination. An intelligent control algorithm was developed that uses LiDAR data to determine the optimal green time for a specific phase, thereby reducing unnecessary waiting times and enhancing intersection efficiency. The effectiveness of the proposed LiDAR-based green time allocation strategy is demonstrated through extensive field tests. The results indicate significant improvements in intersection throughput, reduced delays, and enhanced traffic safety. In conclusion, this research highlights the transformative potential of LiDAR sensor technology in traffic signal control, specifically in the context of optimizing green time allocation. The findings support the notion that adaptive and data-driven strategies, when integrated with LiDAR sensors, can contribute to more efficient, sustainable, and safe urban traffic management. This research aims to provide valuable insights for transportation engineers, policymakers, and researchers seeking innovative solutions for modern urban traffic control.

Due to the energetic transition at course, new geological exploration technologies are needed to discover mineral deposits containing critical materials such as lithium (Li). The vast majority of European Li deposits are related to Li–Cs–Ta (LCT) pegmatites. Literature review indicates that conventional exploration campaigns are dominated by geochemical surveys and related exploration tools. However, other exploration techniques must be evaluated namely remote sensing (RS) and geophysics. This work presents the results of the INOVMINERAL4.0 project obtained through alternative approaches to traditional geochemistry that were gathered and integrated into a webGIS application. The specific objectives were to: (i) assess the potential of high-resolution elevation data; (ii) evaluate geophysical methods, particularly radiometry; (iii) establish a methodology for spectral data acquisition and build a spectral library; (iv) compare obtained spectra with Landsat 9 data for pegmatite identification; and (v) implement a user-friendly webGIS for data integration and visualization. Radiometric data acquisition using geophysical techniques effectively discriminated pegmatites from host rocks. The developed spectral library provided valuable insights for space-based exploration. Landsat 9 data accurately identified known LCT pegmatite targets, compared to Landsat 8. The user-friendly webGIS facilitated data integration, visualization, and sharing, supporting potential users in similar exploration approaches.

Archaeological topography identification from high-resolution DEMs is a current method that is used with high success in archaeological prospecting of wide areas. I present a methodology trough which burial mounds (tumuli) from LiDAR DEMS can be identified. This methodology uses geomorphometric and statistical methods to identify with high accuracy burial mound candidates. Peaks, defined as local elevation maxima are found as a first step. In the second step, local convexity watershed segments and their seeds are compared with positions of local peaks and the peaks that correspond or have in vicinity local convexity segments seeds are selected. The local convexity segments that correspond to these selected peaks are further feed to a Random Forest algorithm together with shape descriptors and descriptive statistics of geomorphometric variables in order to build a model for the classification. Multiple approaches to tune and selected the proper training dataset, settings and variables were tested. The validation of the model was performed on the full dataset where the training was performed and on an external dataset in order to test the usability of the method for other areas in a similar geomorphological and archaeological setting. The validation was performed against manually mapped and field checked burial mounds from two neighbor study areas of 100 km² each. The results show that by training the Random Forest on a dataset composed of between 75% to 100% of the segments corresponding to burial mounds and ten times more non-burial mounds segments selected using latin hypercube sampling, 93% of the burial mound segments from the external dataset are identified. There are 42 false positive cases that need to be checked, and there are two burial mound segments missed. The method shows great promise to be used for burial mound detection on wider areas by delineating a certain number of tumuli mounds for model training.

For multi-sensor integrated systems, such as a mobile mapping system (MMS), data fusion at sensor-level, i.e., the 2D-3D registration between optical camera and LiDAR, is a prerequisite for higher level fusion and further applications. This paper proposes a line-based registration method for panoramic images and LiDAR point cloud collected by a MMS. We first introduce the system configuration and specification, including the coordinate systems of the MMS, the 3D LiDAR scanners, and the two panoramic camera models. We then establish the line-based transformation model for panoramic camera. Finally, the proposed registration method is evaluated for two types of camera models by visual inspection and quantitative comparison. The results demonstrate that the line-based registration method can significantly improve the alignment of the panoramic image and LiDAR datasets under either the ideal spherical or the rigorous panoramic camera model, though the latter is more reliable.

The retrieval of tree height percentiles with satellite lidar waveforms over the mountainous ar-eas is greatly challenged due to slanted and rugged topographic relief of underlying ground. A novel algorithm is proposed to extract the height percentiles based on the target response waveform (TRW) that is resolved by using a Richardson–Lucy deconvolution algorithm with an adaptive iterative time. The height metrics of the energy percentiles of 25%, 50%, 75% and 95% for the cumulative TRW distribution are determined by their vertical distances relative to the ground elevation in this study. To validate the proposed algorithm, we select the received waveforms of the Global Ecosystem Dynamics Investigation (GEDI) lidar over the Pahvant Mountains of central Utah, USA. The results reveal that the resolved TRWs resemble closely to the actual target response waveforms from the coincident airborne lidar data, with the mean values of the coefficient of correlation, total bias and root mean square error (RMSE) taking val-ue of 0.92, 0.0813 and 0.0016. In addition, the accuracies of the derived height percentiles from the proposed algorithm have been greatly improved compared with the conventional Gaussian de-composition method and the slope-adaptive waveform metrics method. The RMSE values de-crease by the mean values of 1.96 m and 2.72 m, respectively. It demonstrates that the proposed algorithm has good potential in the extraction of forest structure parameter over rugged moun-tainous areas.

This study investigates the application of Light Detection and Ranging (LiDAR) sensor technology for data collection at signalized intersections characterized by a high rate of traffic crashes. The research aims to provide valuable insights into the potential of LiDAR-based data analysis to enhance road safety and traffic management at signalized intersections. The research methodology involved the deployment of LiDAR sensors at Marlboro Pike & Brooks Dr. signalized intersection in Coral Hills, Maryland. Two LiDAR sensors installed in this intersection to collect high-resolution, three-dimensional data of the intersection area from June, 1^st to July, 7^th 2023. The data included information on vehicle trajectories, speeds, and behaviors, as well as pedestrian and cyclist movement patterns. Concurrently, historical traffic crashes recorded and traffic flow data were obtained for the same intersection.The analysis of LiDAR data involved several key aspects including LiDAR data allowed for a precise evaluation of traffic flow patterns, including congestion points, traffic volume fluctuations, and peak-hour behavior. This information provided insights into potential factors contributing to crashes. By analyzing LiDAR data, the study identified near-miss incidents, which are often precursors to actual crashes. This proactive approach could assist in identifying crash-prone areas within the intersection. The LiDAR data analysis also focused on pedestrian and cyclist movements, including jaywalking and bike lane usage. The aim was to identify areas where infrastructure improvements could enhance safety for vulnerable road users. LiDAR data was compared with historical crash data to identify specific locations within the intersection that exhibited a high frequency of crashes. This information can guide targeted safety interventions. Last but not least, the study explored opportunities to optimize traffic signal timings based on real-time traffic data from LiDAR. Adaptive signal control could help mitigate congestion and reduce the risk of crashes.The results of this study demonstrated the potential of LiDAR sensor technology in collecting detailed data for traffic analysis in signalized intersections. By combining LiDAR data with historical crash records and traffic flow data, traffic engineers and urban planners can develop evidence-based strategies to reduce the frequency and severity of crashes in high-risk areas. Ultimately, this research contributes to a comprehensive understanding of how LiDAR technology can be employed to enhance road safety and traffic management, providing valuable insights for traffic engineers, urban planners, and policymakers seeking to improve the safety and efficiency of signalized intersections with a history of high traffic crashes.

Traffic congestion is a persistent and challenging problem in urban areas, leading to increased travel times, fuel consumption, and environmental pollution. Signalized intersections play a pivotal role in regulating traffic flow, and their efficiency has a direct impact on the overall traffic performance of a city. This study investigates the effect of traffic signal in managing traffic volume and reducing congestion and delays at signalized intersections through a comprehensive analysis of existing research, data collection, and simulations.The research begins by analyzing the traffic characteristics by an installed LiDAR sensor at E Cold Spring Ln – Hillen Rd intersection in Baltimore City, MD. When the signal at this intersection stopped working for some hours during a working day in September 2023, the LiDAR recorded vehicle and pedestrian counts, vehicle-vehicle and vehicle-pedestrian conflicts, and jaywalking events conflicts. The research aims to assess the impact of traffic signal failures on traffic flow, congestion, safety (V2V and V2P conflicts), and the frequency of jaywalking events before, during, and after improper performance of the traffic signal. Furthermore, this study explores the factors influencing traffic signal performance, including traffic demand, geometric layout, pedestrian interactions, and the integration of emerging technologies. The analysis results highlighted the importance of signal control systems existence at this intersection that can adjust signal timing in response to changing the real-time traffic conditions.Reduced congestion, minimized delays, and enhanced traffic flow are observed outcomes, contributing to a more sustainable and efficient urban transportation system. However, it is crucial to consider the trade-offs and challenges associated with traffic signal optimization, such as the potential for increased travel times for certain modes of transportation and the need for ongoing maintenance and updates. In conclusion, this study underscores the pivotal role of traffic signals in managing traffic volume and reducing congestion and delays at signalized intersections. Through evidence-based analysis and innovative signal control strategies, urban planners and transportation authorities can work towards creating more efficient, sustainable, and less congested transportation networks. The insights derived from this research can inform policy decisions and guide the development of future traffic management solutions, ultimately leading to improved quality of life in urban areas.

The wind observations for multiple levels (40–200 m) have been conducted for a long time (2016–2020) on Jeju Island of South Korea. This study aims at understanding the vertical and temporal characteristics of lower atmosphere. Jeju Island is a region located at mid-latitude and is affected by seasonal monsoon wind. The maximum wind speed appears in the lower layer during day time and is delayed in the upper layer during latter time in diurnal cycle. In summer season, the surface layer increases up to 160 m during day time via dominant solar radiation effect, which is higher than those for other seasons. However, the maximum wind speed in winter season appears irregularly among altitudes, and the surface layer is ~100 m, which is lower than that in summer season. It can be attributed to the increase in the mean wind speed in diurnal cycle caused by the strong northwestern wind for winter season. These results imply that the relationship between near-surface and higher altitudes is primarily affected by solar radiation and seasonal monsoon winds. These results are expected to contribute to site selection criteria for wind farms and to the assessment concerning planetary boundary layer modeling.

Phenotypic characterization of crop genotypes is an essential yet challenging aspect of crop management and agriculture research. Digital sensing technologies are rapidly advancing plant phenotyping and speeding-up crop breeding outcomes. However, off-the-shelf sensors might not be fully applicable and suitable for agriculture research due to diversity in crop species and specific needs during plant breeding selections. Customized sensing systems with specialized sensor hardware and software architecture provide a powerful and low-cost solution. This study designed and developed a fully integrated Raspberry Pi-based LiDAR sensor named CropBioMass (CBM), enabled by internet of things to provide a complete end-to-end pipeline. The CBM is a low-cost sensor, provides high-throughput seamless data collection in field, small data footprint, injection of data onto the remote server, and automated data processing. Phenotypic traits of crop fresh biomass, dry biomass, and plant height estimated by CBM data had high correlation with ground truth manual measurements in wheat field trial. The CBM is readily applicable for high-throughput plant phenotyping, crop monitoring, and management for precision agricultural applications.

The accuracy of wind field simulation and prediction is one of the most significant parameters in the field of atmospheric science and wind energy. Limited by the observation data, there are few researches on wind energy development. A 3D Doppler wind lidar (DWL) providing the high-vertical-resolution wind data over the urban complex underlying surface in February 2018 was employed to evaluated the accuracy of vertical wind field simulation systematically for the first time. 11 PBL schemes of the Weather Research and Forecasting Model (WRF) were employed in simulation. The model results were evaluated in groups separated by weather (sunny days, haze days and windy days), observation height layers, and various observation wind speeds. The test results presented that the vertical layer altitude of the observation point position was the most important factor. The simulation is fairly well at a height of 1000-2000m, as most of the relative mean bias of wind speed and wind direction are less than 20% and 6% respectively. Below 1000 m, the wind speed and direction biases are about 30%-150% m.s-1 and 6%-30% respectively. Moreover, when the observed wind speed was lower than 5 m.s-1, the bias were usually large, and the wind speed relative mean bias is up to 50-300%. In addition, the accuracy of simulated wind profile is better in 10-15m.s-1 than other speed ranges, and is better up 1000m than below 1000m in the boundary layer. We see that the WRF boundary layer schemes have different applicability to different weather conditions. The WRF boundary layer schemes have significant differences in wind field simulation with larger error under the complex topography. A PBL scheme is not likely to maintain its advantages in the long term under different conditions including altitude and weather conditions.

In terrain analysis and hydrological modeling, surface depressions (or sinks) in a digital elevation model (DEM) are commonly treated as artifacts and thus filled and removed to create a depressionless DEM. Various algorithms have been developed to identify and fill depressions in DEMs during the past decades. However, few studies have attempted to delineate and quantify the nested hierarchy of actual depressions, which can provide crucial information for characterizing surface hydrologic connectivity and simulating the fill-merge-spill hydrological process. In this paper, we present an innovative and efficient algorithm for delineating and quantifying nested depressions in DEMs using the level-set method based on graph theory. The proposed level-set method emulates water level decreasing from the spill point along the depression boundary to the lowest point at the bottom of a depression. By tracing the dynamic topological changes (i.e., depression splitting/merging) within a compound depression, the level-set method can construct topological graphs and derive geometric properties of the nested depressions. The experimental results of two fine-resolution LiDAR-derived DEMs show that the raster-based level-set algorithm is much more efficient (~150 times faster) than the vector-based contour tree method. The proposed level-set algorithm has great potential for being applied to large-scale ecohydrological analysis and watershed modeling.

While lidar-based forest inventory methods have been widely demonstrated, prediction of tree diameters with lidar is not well understood. The performance metrics typically used in studies for prediction of diameters can be difficult to interpret and may not support comparative inferences between sampling designs or study areas. We evaluate a variety of lidar and k nearest neighbor (k-NN) strategies for prediction of tree diameter distributions using two indices which are easier to interpret and compare. The indices are based on the coefficient of determination (R²), and root mean square deviation (RMSD). These indices facilitate comparisons with alternative (non-lidar) inventory strategies, and with other project areas. We evaluate k nearest neighbors (k-NN) dbh density (relative frequency by dbh class) prediction strategies with lidar for 190 training plots distribute across the 800 km² Savannah River Site in South Carolina, USA. We evaluate the performance of k-NN with respect to distance metrics, number of neighbors, predictor sets, and response sets. Amongst the examined strategies we found Mahalanobis distance with k = 3 neighbors performed best according to a number of criteria.

Wetlands are recognized as one of the world’s most valuable natural resources. With the increasing world population, human demands on wetland resources for agricultural expansion and urban development continue to increase. In addition, global climate change has pronounced impacts on wetland ecosystems through alterations in hydrological regimes. To better manage and conserve wetland resources, we need to know the distribution and extent of wetlands and monitor their dynamic changes. Wetland maps and inventories can provide crucial information for wetland conservation, restoration, and management. Geographic Information System (GIS) and remote sensing technologies have proven to be useful for mapping and monitoring wetland resources. Recent advances in geospatial technologies have greatly increased the availability of remotely sensed imagery with better and finer spatial, temporal, and spectral resolution. This chapter presents an introduction to the uses of GIS and remote sensing technologies for wetland mapping and monitoring. A case study is presented to demonstrate the use of high-resolution light detection and ranging (LiDAR) data and aerial photographs for mapping prairie potholes and surface hydrologic flow pathways.

Light Detection and Ranging (LiDAR) technology, a cutting-edge advancement in mobile applications, presents a myriad of compelling use cases, including enhancing low-light photography, capturing and sharing 3D images of fascinating objects, and elevating the overall augmented reality (AR) experience. However, its widespread adoption has been hindered by the prohibitive costs and substantial power consumption associated with its implementation. To surmount these obstacles, this paper proposes a low-power, low-cost, SPAD-based system-on-chip (SoC) which packages the microlens arrays (MLA) and incorporates with a light-weight RGB-guided sparse depth imaging completion neural network for 3D LiDAR imaging. The proposed SoC integrates an 8x8 Single-Photon Avalanche Detectors (SPADs) macro pixel array with time-to-digital converters (TDC) and charge pump, fabricated using a 180nm bipolar-CMOS-DMOS (BCD) process. A random MLA-based homogenizing diffuser efficiently transforms Gaussian beams into flat-topped beams with a 45° field of view (FOV), enabling flash projection at the transmitter. To further enhance resolution and broaden application possibilities, a lightweight neural network employing RGB-guided sparse depth complementation is proposed, enabling a substantial expansion of image resolution from 8x8 to quarter video graphics array level (QVGA; 256x256). Experimental results demonstrate the effectiveness and stability of the hardware encompassing the SoC and optical system, as well as the lightweight features and accuracy of the algorithmic neural network. This integrated state-of-the-art hardware-software solution offers a promising and inspiring foundation for developing consumer-level 3D imaging applications.

Incident solar radiation (insolation) passing through the forest canopy to the ground surface is either absorbed or scattered. This phenomenon, known as radiation attenuation, is measured using the extinction coefficient (K). The amount of radiation at the ground surface of a given site is effectively controlled by the canopy’s surface and structure, determining its suitability for plant species.Menhinick’s and Simpson biodiversity indexes were selected as spatially explicit response variables for the regression equation using canopy structure metrics as predictors. Independent variables include modeled area solar radiation, LiDAR derived canopy height, effective leaf area index data derived from multi-spectral imagery, and canopy strata metrics derived from LiDAR point-cloud data. The results support the hypothesis that, 1.) canopy surface and strata variability may be associated with understory species diversity due to habitat partitioning and radiation attenuation, and that, 2.) such a model can predict both this relationship and biodiversity clustering.The study data yielded significant correlations between predictor and response variables and was used to produce a multiple-linear model comprising canopy relief, texture of heights, and vegetation density to predict understory plant diversity. When analyzed for spatial autocorrelation, the predicted biodiversity data exhibited non-random spatial continuity.

The market for autonomous vehicles (AV) is expected to experience significant growth over the coming decades and to revolutionize the future of transportation and mobility. The AV is a vehicle that is capable of perceiving its environment and perform driving tasks safely and efficiently with little or no human intervention and is anticipated to eventually replace conventional vehicles. Self-driving vehicles employ various sensors to sense and perceive their surroundings and, also rely on advances in 5G communication technology to achieve this objective. Sensors are fundamental to the perception of surroundings and the development of sensor technologies associated with AVs has advanced at a significant pace in recent years. Despite remarkable advancements, sensors can still fail to operate as required, due to for example, hardware defects, noise and environment conditions. Hence, it is not desirable to rely on a single sensor for any autonomous driving task. The practical approaches shown in recent research is to incorporate multiple, complementary sensors to overcome the shortcomings of individual sensors operating independently. This article reviews the technical performance and capabilities of sensors applicable to autonomous vehicles, mainly focusing on vision cameras, LiDAR and Radar sensors. The review also considers the compatibility of sensors with various software systems enabling the multi-sensor fusion approach for obstacle detection. This review article concludes by highlighting some of the challenges and possible future research directions.

In the coded pulse scanning light detection and ranging (LIDAR) system, the number of laser pulses used at a given measurement point changes depending on the modulation and the method of spreading used in optical code-division multiple access (OCDMA). The number of laser pulses determines the pulse width, output power, and duration of the pulse transmission of a measurement point. These parameters determine the maximum measurement distance of the laser and the number of measurement points that can be employed per second. In this paper, we evaluate the performance and characteristics of combinations of modulation and spreading technology that can be used for OCDMA, and study optimal combinations according to varying operating environments.

The result of the multidisciplinary collaboration of researchers from different areas of knowledge to validate a solar radiation model is presented. The MAPsol is a 3D local-scale adaptive solar radiation model that allows to estimate direct, diffuse and reflected irradiance for clear sky conditions. The model includes the adaptation of the mesh to complex orography and albedo, and considers the shadows cast by the terrain and buildings. The surface mesh generation is based on surface refinement, smoothing and parameterisation techniques and allows the generation of high quality adapted meshes with a reasonable number of elements. Another key aspect of the paper is the generation of a high-resolution digital elevation model (DEM). This high-resolution DEM is constructed from LiDAR data and its resolution if two times more accurate than the publicly available DEMs. The validation process uses direct and global solar irradiance data obtained from pyranometers at the University of Salamanca located in an urban area affected by systematic shading from nearby buildings. This work provides an efficient protocol for studying solar resources, with particular emphasis on areas of complex orography and dense buildings where shadows can potentially make solar energy production facilities less efficient.

This research is focused on two key areas. The first is mapping the 2022 flood in the Red River of the North near Grafton, North Dakota, US, and the second is evaluating the scour potential of the Grafton Bridge. Local scour of bridge piers can cause hydraulic structures such as bridge piers and abutments to fail during floods, making it a crucial area of investigation. To collect bathymetry and discharge data during low and high flow conditions, including a flood event with a 16.5-year return period in 2022, an Autonomous Surface Vehicle (ASV) incorporated with LiDAR DEM (Digital Elevation Model) data obtained from the US Geological Survey (USGS) National Map was used. Flood mapping and evaluation of local scour around the bridge pier were conducted using the HEC-RAS 6.0.0 software, which utilizes the Colorado State University method as a default equation. This research demonstrates the potential of ASVs in collecting critical data and LiDAR DEM data is an efficient method for flood mapping and determining scour potential, as it integrates bathymetry, flow velocity, and flood prediction.

Gardens play a key role in the definition of the cultural landscape since they reflect the culture, identity and history of a people. They also contribute to the ecological balance of the city. Despite gardens have an historic and social value, they are not protected as much as the rest of the existing heritage, like architecture and archaeological sites. While methods of built-heritage mapping and monitoring are increasing and constantly improving to reduce built-heritage loss and the severe impact of natural disasters, the documentation and survey techniques for gardens are often antiquated, inventories are typically made by non-updated/updatable reports, and rarely they are on digital format and in 3D. This paper presents the preliminary results of a study on latest technology for gardens laser scanning. We compared static Terrestrial Laser Scanning and Mobile Laser Scanning point clouds, to evaluate their quality for documentation and the estimation of the tree attributes. The evaluation is based on visual observation and graphic comparison of the two point clouds acquired in different instances. Both methods produced useful outcomes for the research scope within their limitations. Terrestrial Laser Scanning is still the method that offers more accurate point clouds with a higher point density and less noise level. However, the more recent Mobile Laser Scanning is able to survey in less time, significantly reducing the costs for site activities, data post-production and registration. Both methods have their own restrictions that are amplified by site features, mainly the lack of plans for the geometric alignment of scans and for the Simultaneous Location and Mapping (SLAM) process. We also offer the results of a comparison of the functional range of the two machines, as well as for a comparison of their terrain information extraction capabilities.

As a critical transmitter, the compact 532 nm lasers operating on high repetition and narrow pulse widths have been used widely for airborne or space-borne laser active remote sensing. We developed a free space pumped TEM₀₀ mode sub-nanosecond 532 nm laser that occupied a volume of less than 125 mm × 50 mm × 40 mm (0.25 liters). The fundamental 1064 nm laser consists of a passively Q-switched composite crystal microchip laser and an off-axis, two-pass power amplifier. The pump sources were two single-emitter semiconductor laser diodes (LD) of 808 nm with a maximum continuous wave (CW) power of 10 W each. The average power of fundamental 1064 nm laser was 1.26 W with the laser operating at 16 kHz repetition rates, and 857ps pulse widths. Since the beam distortion would be severe in microchip lasers in terms of the increase in heat load, for obtaining a high beam quality of 532 nm, the beam distortion was compensated by adjusting the distribution of pumping beam in our experiment of fundamental amplification. Furthermore, better than 0.6 W average power, 770 ps, beam quality of M² ＜1.2, and 16 kHz pulse output at 532 nm was obtained by a Type I LiB₃O₅ (LBO) crystal in the critical phase matching (CPM) regime for second harmonic generation (SHG).

The US pacific northwest recorded its highest temperature in late June 2021. The three-day stretch of scorching heat had a devastating effect on not only the residents of the state, but also on the crops thus impacting the food supply-chain. It is forecasted that streaks of 100-degree temperatures will become common. Farmers will have to adapt to the changing landscape to preserve their crop yield and profitability. A research collaborative consisting of researchers and academicians in Eastern Washington led by a pioneering startup has setup a 16.9-acre Honeycrisp Apple Smart Orchard in Grandview, WA as a laboratory to study the environmental and plant growth factors in real-time using modern computational tools and techniques like IoT (Internet of Things), Edge and Cloud Computing, and Drone and LiDAR (Light Detection and Ranging) imaging. The computational analysis is used to develop guidelines for precision agriculture for orchard blocks to address plant growth issues scientifically and in a timely fashion. The analysis also helps in creating risk-mitigation strategies for severe weather events while helping prepare farmers to maximize crop yield and profitability per acre. I was fortunate to gain access to the terabytes of farm data related to the weather, soil, water, tree, and canopy health, to analyze and formulate recommendations for the farmers that can be adopted nationwide for different crops and weather conditions. This paper discusses the different streams of farm data that were analyzed (ex. soil moisture, soil water potential, and sap flow) and the development of the framework to use data to convert insights into actionable steps. For example, the use of sensors can inform a farmer that their level of soil water potential is below threshold in a specific patch of the orchard, prompting them to turn on irrigation for the patch instead of the whole orchard. I estimate that using an IoT-sensor-based decision framework discussed in this paper, growers can save up to 55% of their water costs for the season. Using these insights, farmers can better manage their irrigation resources and labor, thus maximizing their crop yield and profits.

A national green planning strategy has recently been introduced in the Italian urban planning sector, aimed at making all local initiatives undertaken nationwide consistent with each other. At a regional level, Friuli Venezia-Giulia has recently implemented a Landscaping Plan, which is of an urban planning and ecological nature at an intermediate level between national and local. This article describes the local green plan of Latisana, which has been entitled Ecopolitana, given that it is represents the experimental phase, at a regional level, of the possibilities offered by landscape planning and design. Specifically, it outlines the multi-disciplinary approach used, demonstrating how landscape planning can be compared to the sustainable development of cities, with specific regard to the agricultural sector. Regarding the agricultural sector, a low-intensity cropping model is also suggested, based on the principles of agroecology and landscape ecology, which has already been implemented in the historical rural landscape of Plasencis (UD) and developed through GIS analysis and remote sensing processes. Its aim is to be the starting point for the achievement of the goals set in the 2030 Agenda, and especially Goals 13 (Climate action) and 15 (Life on land), given the current scarcity of agroecological infrastructures in the area of Latisana (UD) and the high percentage of soil used for intensive cropping.

Nowadays, the research and development of on-chip LiDAR sensors for vehicle collision avoidance is growing very fast. Therefore, the assessment of the reliability in obstacle detection using the information provided by LiDAR sensors has become a key issue to be explored by the scientific community. This paper presents the design and implementation of a self-tuning method in order to maximize the reliability of an Internet-of-Things sensors network and to minimize the number of sensors to localize with the required accuracy obstacles by a detection threshold. In order to achieve this goal, models that predict accuracy (i.e., prediction error) for object localization using data collected by LIDAR sensors are designed and implemented in Webots Automobile 3D simulation tool. The approach is based on combining different techniques. Firstly, point-cloud clustering technique and an error prediction model library composed by a multilayer perceptron neural network with backpropagation, k-nearest neighbors and linear regression are explored. Secondly the above-mentioned techniques for modeling are also combined with a supervised and reinforcement machine learning technique, Q-learning in order to minimize the detection threshold. In addition, a IoT driving assistance simulated scenario with a LiDAR sensor network is designed in order to validate the prediction model and the optimal configuration of the sensor network to guarantee reliability in obstacle localization. The results demonstrate that the self-tuning method is appropriate to increase the reliability of the sensor network whereas minimizing the detection threshold

Collision avoidance is an important feature in advanced driver-assistance systems, aiming at providing correct, timely and reliable warnings before an imminent collision (objects, vehicles, pedestrians, etc.). A co-simulation framework is proposed in this paper to address the design and evaluation of collision avoidances in a cyber-physical system. The co-simulation framework is supported on the interaction between SCANeR and Matlab/Simulink. From the best of authors’ knowledge, two main contributions are reported in this paper. Firstly, the modelling and simulation of virtual on-chip LIDAR sensors in a cyber-physical system (CPS) considering traffic scenarios is presented. The CPS is designed and implemented in SCANeR. Secondly, an obstacle recognition library with three specific Artificial Intelligence-based methods is also designed based on sensory information database provided by SCANeR. Three methods for collision avoidance detection are considered, i.e.; a multi-layer perceptron neural network, a self-organization map and a support vector machine. Finally, a comparison among these methods for detecting obstacles before different weather conditions is done with very promising results in terms of accuracy. The best results are achieved using the multi-layer perceptron in sunny and fog conditions, the support vector machine in rainy and self-organized map in snowy conditions.

This paper describes the first results of an Image Recognition Based Location (IRBL) for mobile application focusing on the procedure to generate a Database of range images (RGB-D). In an indoor environment, to estimate the camera position and orientation, a prior spatial knowledge of the surrounding is needed. In order to achieve this objective a complete 3D survey of two different environment (Bangbae metro station of Seoul and E.T.R.I. building in Daejeon – Republic of Korea) was performed using LiDAR (Light Detection And Ranging) instrument and the obtained scans were processed in order to obtain a spatial model of the environments. From this, two databases of reference images were generated using a specific software realized by the Geomatics group of Politecnico di Torino (ScanToRGBDImage). This tool allow to generate synthetically different RGB-D images) centered in the each scan position in the environment. Later, the external parameters (X, Y, Z, ω, φ, κ) and the range information extracted from the DB images retrieved, are used as reference information for pose estimation of a set of acquired mobile pictures in the IRBL procedure. In this paper the survey operations, the approach for generating the RGB-D images and the IRB strategy are reported. Finally the analysis of the results and the validation test are described.

The importance of conflict analysis and safety considerations during work zone intervals at signalized intersections cannot be overstated, as these periods pose unique challenges and safety risks for both motorists and pedestrians. Work zones introduce temporary changes to traffic patterns, lane configurations, and signal timings, which can disrupt the flow of traffic and increase the likelihood of conflicts between vehicles and pedestrians. By conducting comprehensive conflict analysis, it is possible to identify potential conflict points, such as merging areas, pedestrian crossings, and lane transitions, and implement targeted safety measures to mitigate risks. Additionally, considering safety considerations during work zone intervals is paramount to safeguarding the well-being of road users and minimizing the occurrence of conflicts or collisions. Measures such as enhanced signage, temporary traffic control devices, and increased enforcement efforts can help promote compliance with traffic regulations and ensure the safe passage of vehicles and pedestrians through work zones. This study investigates the dynamics of traffic behavior and safety implications within work zones at signalized intersections, aiming to address key challenges and enhance intersection management strategies. Through comprehensive analysis, varying frequencies of Vehicle-to-Vehicle (V2V) conflicts were observed across different movement directions, with significant occurrences identified in specific phases of the traffic signal cycle. Specifically, 69 V2V conflicts in phase #1, 181 in phase #2, 31 in phase #3, 207 in phase #4, 1 in phase #5, 274 in phase #6, 93 in phase #7, and 186 in phase #8 were recorded. Furthermore, the examination of Vehicle-to-Pedestrian (V2P) conflicts underscored the importance of prioritizing pedestrian safety, with notable occurrences observed in phases associated with pedestrian crossing movements. Meanwhile, despite the closure of left-turn movements, instances of red light running persisted, with 69 red light running events in phase #1, 181 in phase #2, 31 in phase #3, 207 in phase #4, 1 in phase #5, 274 in phase #6, 93 in phase #7, and 186 in phase #8.To mitigate these safety concerns during work zone intervals, proactive measures are essential. Strategies include improving communication through clear signage and advanced warning systems, enhancing enforcement efforts with red light cameras and increased police presence, and investing in infrastructure improvements such as temporary pedestrian facilities. Integration of real-time data from sensors, particularly LiDAR technology, offers significant advantages in detecting conflicts and red light runners during work zone intervals. LiDAR's precise, real-time data on vehicle and pedestrian movements, combined with its 360-degree coverage and high spatial resolution, facilitates accurate detection and tracking of potential conflict scenarios, contributing to enhanced intersection safety and traffic management efficiency. This study endeavored to conduct a traffic safety analysis during work zone intervals at a signalized intersection in Baltimore City, known for its high rate of traffic crashes, utilizing LiDAR sensor technology.

Mobile Mapping System (MMS) plays a crucial role in generating high-precision 3D maps for various applications. However, the traditional MMS that uses tilted LiDAR (light detection and ranging) has limitations in capturing complete information of the environment. To overcome these limitations, we propose a panoramic vision-aided Cartographer simultaneous localization and mapping (SLAM) system for MMS, named "PVL-Cartographer". The proposed system integrates multiple sensors to achieve accurate and robust localization and mapping. It contains two sub-systems, early fusion and middle fusion. In the early fusion, range-maps are created from LiDAR points in a panoramic image space, facilitating the incorporation of visual features. The SLAM system works with both visual features with and without augmented ranges. In the middle fusion, a pose graph combines camera and LiDAR nodes, with IMU (Inertial Measurement Unit) data providing constraints between each node. Extensive experiments in challenging outdoor scenarios demonstrate the effectiveness of the proposed SLAM system in producing accurate results, even in conditions with limited features. Overall, our proposed PVL Cartographer system offers a robust and accurate solution for MMS localization and mapping.

The task of determining the distance from one object to another is one of the important tasks solved in robotics systems. Conventional algorithms rely on an iterative process of predicting distance estimates, which results in an increased computational burden. Algorithms used in robotic systems should require minimal time costs, as well as be resistant to the presence of noise. To solve these problems, the paper proposes an algorithm for Kalman combination filtering with a Goldschmidt divisor and a median filter. Software simulation showed an increase in the accuracy of predicting the estimate of the developed algorithm in comparison with the traditional filtering algorithm, as well as an increase in the speed of the algorithm. The results obtained can be effectively applied in various computer vision systems.

This article proposes the use of a multi-scale and multi-sensor approach to collect and modelling 3D data concerning wide and complex areas in order to obtain a variety of metric information in the same 3D archive, based on a single coordinate system. The employment of these 3D georeferenced products is multifaceted and the fusion or integration among different sensors data, scales and resolutions is promising and could be useful for the generation of a model that could be defined as hybrid. The correct geometry, accuracy, radiometry and weight of the data models are hereby evaluated comparing integrated processes and results from Terrestrial Laser Scanner (TLS), Mobile Mapping System (MMS), Unmanned Aerial Vehicle (UAV), terrestrial photogrammetry, using Total Station (TS) and Global Navigation Satellite System (GNSS) as topographic survey. The entire analysis underlines the potentiality of the integration and fusion of different solutions and is a crucial part of the “Torino 1911” project whose main purpose is mapping and virtually reconstructing the 1911 Great Exhibition settled in the Valentino Park in Turin (Italy).

In this paper, an intelligent blind guide system based on 2D LiDAR and RGB-D camera sensing is proposed, and the system is mounted on the smart cane. The intelligent guide system relies on 2D LiDAR, RGB-D camera, IMU, GPS, Jetson nano B01, STM32 and other hardware. The main advantage of the intelligent guide system proposed by us is that the distance between the smart cane and obstacles can be measured by 2D LiDAR based on Cartographer algorithm, thus achieving Simultaneous localization and mapping (SLAM). At the same time, through the improved yolov5 algorithm, pedestrians, vehicles, pedestrian crosswalks, traffic lights, warning posts, stone piers, tactile paving and other objects in front of the visually impaired can be quickly and effectively identified. Laser SLAM and improved yolov5 obstacle identification tests were carried out inside a teaching building on the campus of Hainan Normal University and on a pedestrian crossing on Longkun South Road in Haikou City, Hainan Province. The results show that the intelligent guide system developed by us can drive the wheels and omnidirectional wheels at the bottom of the smart cane, and give the smart cane a self-leading blind guide function like a "guide dog", which can effectively guide the visually impaired to avoid obstacles and reach the predetermined destination, and can quickly and effectively identify the obstacles on the way out. The laser SLAM speed of this system is 25~31FPS, which can realize the short-distance obstacle avoidance and navigation function both in indoor and outdoor envionments. The improved yolov5 helps to identify 86 types of objects, the recognition rate for pedestrian crosswalks and for vehicles are 84.6% and 71.8%, respectively; the overall recognition rate for 86 types of objects is 61.2%, and the obstacle recognition rate of the intelligent guide system is 25-26FPS.

Multiple social and environmental justice concerns are linked to urban form such as the distribution of socioeconomic class populations, healthcare spending, air pollution exposure, and human mobility. This study used 1m resolved LIDAR data to characterize land use in Salt Lake County, Utah and associate it with sociodemographic and air quality data at the census block group and zip code levels. We found that increasing tree cover was associated with higher per capita income and lower minority populations while increasing built cover was linked to lower per capita income and higher minority populations. Air quality showed less strong correlations, however, decreased non irrigated cover, increased built cover, and higher amounts of households living under poverty was related to higher long-term PM2.5 exposure. Several policy efforts have been undertaken to improve air quality and reduce negative health outcomes in Utah which are being informed by regulatory and research grade air quality sensors.

The Greenland Ice Sheet is now the largest land ice contributor to global sea level rise, largely driven by increased surface meltwater runoff from the ablation zone, i.e. areas of the ice sheet where annual mass losses exceed gains. This small but critically important area of the ice sheet has expanded in size by ~50% since the early 1960s, and satellite remote sensing is a powerful tool for monitoring the physical processes that influence its surface mass balance. This review synthesizes key remote sensing methods and scientific findings from satellite remote sensing of the Greenland Ice Sheet ablation zone, covering progress in 1) radar altimetry, 2) laser (lidar) altimetry, 3) gravimetry, 4) multispectral optical imagery and, 5) microwave and thermal imagery. Physical characteristics and quantities examined include surface elevation change, gravimetric mass balance, reflectance, albedo, and mapping of surface melt extent and glaciological facies and zones. The review concludes that future progress will benefit most from methods that combine multi-sensor, multi-wavelength, and cross-platform datasets designed to discriminate the widely varying surface processes in the ablation zone. Specific examples include fusing laser altimetry, radar altimetry, and optical stereophotogrammetry to enhance spatial measurement density, cross-validate surface elevation change, and diagnose radar elevation bias; fusing optical imagery, radar imagery, and microwave scatterometry to discriminate between snow, liquid water, refrozen meltwater, and bare ice near the equilibrium line altitude; combining optical reflectance with laser altimetry to map supraglacial lake, stream, and crevasse bathymetry; and monitoring the inland migration of snowlines, surface melt extent, and supraglacial hydrologic features.

This study explores the intricate relationship between the angle of vehicle-to-vehicle (V2V) conflicts and the severity of conflicts at signalized intersections during traffic signal failures, leveraging the advanced capabilities of LiDAR sensor technology. The research delves into the impact of conflict angles on collision outcomes and introduces LiDAR as a novel and precise tool for capturing spatial dynamics during unregulated traffic movements. Findings reveal that as the angle of V2V conflicts increases, indicating a wider approach between vehicles, the severity of conflicts tends to decrease. This reduction in severity is attributed to the detailed spatial data provided by LiDAR, enabling the identification of glancing impacts rather than direct head-on collisions. The mitigation of forces involved in collisions at increased angles contributes to a decreased likelihood of severe consequences, such as extensive vehicle damage and serious injuries to occupants.Conversely, as the angle of V2V conflicts decreases, signifying a narrower approach between vehicles, the potential for severe collisions tends to increase. LiDAR technology facilitates precise measurements of spatial coordinates and temporal dynamics, revealing that collisions occurring at smaller angles involve more direct and concentrated impact forces. This heightened risk of extensive damage to vehicles and increased injury severity is crucially captured by LiDAR, providing valuable insights into the relationship between conflict angles and collision outcomes during traffic signal failures. This study underscores the efficacy of LiDAR sensor technology in understanding the nuanced dynamics of V2V conflicts and highlights its role in developing targeted safety interventions. The integration of LiDAR data into traffic safety analyses offers a sophisticated approach to mitigating the impact of conflicts and enhancing overall safety at signalized intersections during signal failures. The research also highlighted that as the angle of V2P conflicts widens, PET experiences a proportional increase. A larger conflict angle signifies a more complex interaction between vehicles and pedestrians, leading to prolonged PET values. Conversely, a decrease in the angle of V2P conflicts is associated with a reduction in PET during traffic signal failures.The study commences with an examination of traffic characteristics at the E Cold Spring Ln – Hillen Rd intersection in Baltimore City, MD, utilizing a deployed LiDAR sensor. When the signal at this intersection experienced a temporary malfunction on a regular working day in September 2023, the LiDAR captured data related to vehicle and pedestrian volumes, as well as V2V and V2P conflicts. The primary objective of the research is to evaluate the repercussions of traffic signal failures on both traffic flow and safety, specifically V2V and V2P conflicts, occurring during periods of improper signal functionality. Additionally, this investigation delves into various factors that impact traffic signal performance, encompassing traffic demand, geometric layout, pedestrian interactions, and the incorporation of emerging technologies.

Imaging lidars are one of the hottest topics in the optronics industry. The need to sense the surroundings of every autonomous vehicle has pushed forward a career to decide the final solution to be implemented. The diversity of state-of-the art approaches to the solution brings, however, a large uncertainty towards such decision. This results often in contradictory claims from different manufacturers and developers. Within this paper we intend to provide an introductory overview of the technology linked to imaging lidars for autonomous vehicles. We start with the main single-point measurement principles, and then present the different imaging strategies implemented 8 in the different solutions. An overview of the main components most frequently used in practice is also presented. Finally, a brief section on pending issues for lidar development has been included, 10 in order to discuss some of the problems which still need to be solved before an efficient final implementation.Beyond this introduction, the reader is provided with a detailed bibliography containing both relevant books and state of the art papers.

Historical forest management practices in the southwestern US have left forests prone to high intensity, stand-replacement fires. Effective management to reduce the cost and impact of forest-fire management and allow fires to burn freely without negative impact depends on detailed knowledge of stand composition, in particular, above-ground biomass (AGB). Lidar-based modeling techniques provide opportunities to reduce costs and increase ability of managers to monitor AGB and other forest metrics. Using Bayesian Model Averaging (BMA), we develop a regionally applicable lidar-based statistical model for Ponderosa pine and mixed conifer forest systems of the southwestern USA, using previously collected field data. The selected regional model includes a mid and low canopy height metric, a canopy cover, and height distribution term. It explains 72% of the variability in field estimates of AGB, and the RMSE of the two independent validation data sets are 23.25 and 32.82 Mg/ha. The regional model developed is structured in accordance with previously described models fit to local data, and performs equivalently to models designed for smaller scale application. Developing regional models for broad scale application provides a cost-effective, robust approach for managers to monitor and plan adaptively at the landscape scale.

Abstract: The Micro-Electro-Mechanical System (MEMS) LiDAR point cloud in autonomous vehicles has a large deflection range, which results in slow registration speed and poor applicability. To maximize speed, an improved NDT (Normal Distribution Transform) method that integrates point cloud density features has been proposed. First, the point cloud is reduced using a modified voxel filter and a pass-through filter. Next, the ISS (Intrinsic Shape Signature) algorithm is utilized to analyze the point cloud features and extract keypoints, the 4PCS (4-Point Congruent Sets) algorithm is then employed to calculate the initial pose under the constraints of the keypoint set to complete the coarse registration. Finally, the self-adaptive segmentation model is constructed by using KD-tree to obtain the density features of keypoints, and the NDT algorithm is combined with this model to form an SSM-NDT algorithm, which is used for fine registration. Each algorithm was compared on the autonomous vehicle dataset PandaSet and actual collected data sets, the results show that the novel method increases the speed by at least 60% and takes into account good registration accuracy and strong anti-interference.

Digital Twin Cities (DTCs) play a fundamental role in city planning and management. They allow three-dimensional modeling and simulation of cities. 3D semantic segmentation is the foundation for automatically creating enriched DTCs, as well as their updates. Past studies indicate that prior level fusion approaches demonstrate more promising precisions in 3D semantic segmentation compared to point level fusion, features level fusion, and decision level fusion families. In order to improve point cloud enriched semantic segmentation outcomes, this article proposes a new approach for 3D point cloud semantic segmentation through developing and benchmarking three prior level fusion scenarios. A reference approach based on point clouds and aerial images was proposed to compare it with the different developed scenarios. In each scenario, we inject a specific prior knowledge (geometric features,classified images ,etc) and aerial images as attributes of point clouds into the neural network’s learning pipeline. The objective is to find the one that integrates the most significant prior knowledge and enhances neural network knowledge more profoundly, which we have named the "smart fusion approach". The advanced Deep Learning algorithm "RandLaNet" was adopted to implement the different proposed scenarios and the reference approach, due to its excellent performance demonstrated in the literature. The introduction of some significant features associated with the label classes facilitated the learning process and improved the semantic segmentation results that can be achievable with the same neural network alone. Overall, our contribution provides a promising solution for addressing some challenges, in particular more accurate extraction of semantically rich objects from the urban fabric. An assessment of the semantic segmentation results obtained by the different scenarios is performed based on metrics computation and visual investigations. Finally,the smart fusion approach was derived based on the obtained qualitative and quantitative results.

Drought-induced plant mortality has increased globally during the last decades and is forecasted to influence global vegetation dynamics. Timely information on plant water dynamics is essential for understanding and anticipating drought-induced plant mortality. The most common metric that has been used for decades for measuring water stress is leaf water potential (Ψ_L), which is measured destructively. To obtain information on water dynamics from trees and forested landscapes, remote sensing methods have been developed. However, the spatial and temporal resolution of the existing methods have limited our understanding of water dynamics and diurnal variation of Ψ_L within single trees. Thus, we investigated the capability of terrestrial laser scanning (TLS) intensity in observing diurnal variation in Ψ_L during a 50 hour monitoring period and aimed to improve understanding on how large part of the diurnal variation in Ψ_L can be captured using intensity observations. We found that TLS intensity at 905 nm wavelength was able to explain 78% of the variation in Ψ_L for three trees of two tree species with a root-mean square error of 0.137 MPa. Based on our experiment with three trees, time-series of TLS intensity measurements can be used in detecting changes in Ψ_L, and thus it is worthwhile to expand the investigations to cover a wider range of tree species and forests and further increase our understanding of plant water dynamics at wider spatial and temporal scales.

This research paper investigates ultra-wideband (UWB) localization systems by focusing on the use of average filter (AVG), Kalman filter (KF), and extended Kalman filter (EKF) algorithms, as well as a novel integrated filtering method that incorporates low-pass filter (LPF) into AVG, KF, and EKF. The study aims to improve localization loss in indoor environments using a TurtleBot robot equipped with a camera to observe ground truth positions. To evaluate the effectiveness of the proposed algorithms, a comprehensive comparison of the raw and filtered data with the camera-based ground truth observations is performed. Quantitative analyses of the results, including max, min, max-min, and mean error, are performed to evaluate the localization performance of the algorithms and the integrated filtering method. The results reveal that the integrated filtering method has performed better accuracy in comparison with existing methods.

In this article, we combine datasets from multiple research projects and remote sensing tech-nologies to evaluate the conservation conditions of La Fortaleza de Kuelap, a pre-Hispanic monument in Peru’s northeastern Andes that suffered significant damage during historically high seasonal rains in April 2022. Our analyses seek to identify the main causes of the collapse and locate places where the monument is likely at risk of further deterioration. To do so, we model surface hydrology using a digital elevation model (DEM) derived from drone LiDAR data, re-construct a history of previous collapses, and calculate the volume of the most recent by fusing terrestrial LiDAR and photogrammetric datasets. In addition, we examine subsurface water ac-cumulation through electrical resistivity data, reconstruct the stratification of the monument from seismic refraction data, and analyze vegetation loss and ground moisture accumulation using high resolution satellite imagery. Our results point to water accumulation as the most significant source of risk for La Fortaleza’s perimeter walls. Combined with adverse contemporary conser-vation interventions and natural conditions, this led to the collapse of April 2022. This integration of analytical results demonstrates how multi-scalar and multi-instrumental approaches provide comprehensive and timely assessments of conservation needs.

Tailings generated by mining account for the largest proportion of global waste from industrial activities. Copper is relatively uncommon world-wide, with low concentrations in sediments and waters, yet is very elevated around mining sites. On the Keweenaw Peninsula of Michigan, USA, jutting out into Lake Superior, 140 mines extracted native copper from the Portage Lake Volcanic Series, part of an intercontinental rift system. Between 1901-1932, two mills at Gay (Mohawk, Wolverine) sluiced 22.7 million metric tonnes (MMT) of copper-rich tailings (stamp sands) into Grand (Big) Traverse Bay. Here we examine: 1) 3D coastal elevation and reef bathymetry, 2) particle dispersal, 3) copper concentrations and leaching, plus 4) shoreline toxicity. About 10 MMT of tailings created a migrating coastal beach that stretches 7 km from the Gay pile to the Traverse River Seawall. Another 10 MMT are moving underwater on the coastal shelf, threatening Buffalo Reef, an important lake trout and whitefish breeding ground. Aerial photos, ALS (plane) LiDAR, and relatively inexpensive UAS (drone) surveys characterize shoreline structure and aid initial remediation. Because sands (natural beach quartz, stamp sand basalt) are silicates of similar density, particle dispersal is similar and challenging. However, stamp sand beaches contrast greatly with natural sand beaches in both physical profile and chemistry. Dispersing particles retain copper, and release toxic concentrations. Leaching is elevated by exposure to high DOC and low pH waters. Field experiments, shoreline seining, and benthic sampling confirm serious impacts on aquatic biota, supporting tailings removal.

The complexity of urban spatial configuration, which affects human-well being and landscape functioning, needs acquisition and 3d visualisation data to inform decision-making process better. One of the main challenges in sustainability research is to conceive spatial models which are capable of adapting to changes in scale and recalibrating the related indicators depending on the degree of detail and data availability. In this perspective, the inclusion of the third dimension into Urban Ecosystem Services (UES) assessment studies highlights the details of urban structure-function relationships, improves modelling and visualisation of data and impacts, aiding decision-makers to localise, assess and manage urban development strategies. The main goal of the proposed framework concerns mapping, evaluating and planning of the UES within a 3d-virtual environment to improve the visualisation of the spatial relationships among the services allocation and the urban fabric density.

Over a billion people around the world are disabled, among them, 253 million are visually impaired or blind, and this number is greatly increasing due to ageing, chronic diseases, poor environment, and health. Despite many proposals, the current devices and systems lack maturity and do not completely fulfill user requirements and satisfaction. Increased research activity in this field is required to encourage the development, commercialization, and widespread acceptance of low-cost and affordable assistive technologies for visual impairment and other disabilities. This paper proposes a novel approach using a LiDAR with a servo motor and an ultrasonic sensor to collect data and predict objects using deep learning for environment perception and navigation. We adopted this approach in a pair of smart glasses, called LidSonic V2.0, to enable the identification of obstacles for the visually impaired. The LidSonic system consists of an Arduino Uno edge computing device integrated into the smart glasses and a smartphone app that transmits data via Bluetooth. Arduino gathers data, operates the sensors on smart glasses, detects obstacles using simple data processing, and provides buzzer feedback to visually impaired users. The smartphone application collects data from Arduino, detects and classifies items in the spatial environment, and gives spoken feedback to the user on the detected objects. In comparison to image processing-based glasses, LidSonic uses far less processing time and energy to classify obstacles using simple LiDAR data, according to several integer measurements. We comprehensively describe the proposed system's hardware and software design, construct their prototype implementations, and test them in real-world environments. Using the open platforms, WEKA and TensorFlow, the entire LidSonic system is built with affordable off-the-shelf sensors and a microcontroller board costing less than $80. Essentially, we provide designs of an inexpensive, miniature, green device that can be built into, or mounted on, any pair of glasses or even a wheelchair to help the visually impaired. Our approach affords faster inference and decision-making using relatively low energy with smaller data sizes as well as faster communications for the edge, fog, and cloud computing.

The safe and reliable operation of autonomous vehicles in complex and dynamic environments is heavily dependent upon exteroceptive and proprioceptive sensors. A LiDAR system generates accurate 3D point clouds, which are crucial for the detection, classification, and tracking of multiple targets. LiDAR data, however, presents significant challenges due to its density, noise, and varying sampling rates. In this study, various clustering and MTT techniques for LiDAR point clouds will be identified and classified within the context of autonomous driving to assess the state-of-the-art methods’ key challenges and their performances. We have categorized clustering and MTT methods used in AV applications, identified research gaps and challenges and analyzed existing algorithms and their challenges in detail. Researchers and practitioners in the field of autonomous driving will find this review to be a valuable resource.

The vulnerability of alpine environments to climate change presses an urgent need to accurately model and understand these ecosystems. Popularity in use of digital elevation models (DEMs) to derive proxy environmental variables has increased over the past decade, particularly as DEMs are relatively cheaply acquired at very high resolutions (VHR; <1m spatial resolution). Here, we implement a multiscale framework and compare DEM-derived variables produced by Light Detection and Ranging (LiDAR) and stereo-photogrammetry (PHOTO) methods, with the aims of assessing their relevance and utility in species distribution modelling (SDM). Using a case study on the arctic-alpine plant Arabis alpina in two valleys in the western Swiss Alps, we show that both LiDAR and PHOTO technologies can be relevant for producing DEM-derived variables for use in SDMs. We demonstrate that PHOTO DEMs rivalled the accuracy of LiDAR, putting the current paradigm of LiDAR being the more accurate of the two methods into question. We obtained DEMs at spatial resolutions of 6.25cm-8m for PHOTO and 50cm-32m for LiDAR, where we determined that the optimal spatial resolutions of DEM-derived variables in SDM were between 1 and 32m, depending on the variable and site characteristics. We found that the reduced extent of PHOTO DEMs altered the calculations of all derived variables, which had particular consequences on their relevance at the site with heterogenous terrain. However, for the homogenous site, we found that SDMs based on PHOTO-derived variables generally had higher predictive powers than those derived from LiDAR at matching resolutions. From our results, we recommend carefully considering the required DEM extent to produce relevant derived variables. We also advocate implementing a multiscale framework to appropriately assess the ecological relevance of derived variables, where we caution against the use of VHR-DEMs finer than 50cm in such studies.

Monitoring crown closure evolution using multi-temporal Light Detection and Ranging (LiDAR) surveys is a method that we expect to be increasingly adopted given the availability of LiDAR sensors and the accumulating survey archives. However, little attention was devoted to comparing crown closure estimates from independent surveys. Although survey parameters cannot be modified after the data collection, we speculate that the error associated to crown closure estimates comparison can be reduced by selecting optimal post-survey parameters. In this study, we compared crown closure estimates of three airborne LiDAR surveys from 2018 (40 pt/m²) used as a reference, and two lower-density surveys from 2016 (4.5 pt/m²) and 2018 (2 pt/m²). We studied the effect of the height threshold used to separate canopy points and the grid resolution, using skewness and variance of lagged difference of crown closure. Crown closure estimates using low height thresholds were more different across surveys, resulting in higher root mean squared error (RMSE), bias and more different variograms. Results show that optimal height threshold was 3 m and grid resolution was 25 m, although there was room for decision (RMSE of 7% and 5%, and bias of 4% and 0% for 2016 and 2018 low-density surveys).