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All sourcesNASA NTRSDOE OSTI
NASA NTRS2011

Visual SLAM Using Variance Grid Maps

An algorithm denoted Gamma-SLAM performs further processing, in real time, of preprocessed digitized images acquired by a stereoscopic pair of electronic cameras aboard an off-road robotic ground vehicle to build accurate maps of the terrain and determine the location of the vehicle with respect to the maps. Part of the name of the algorithm reflects the fact that the process of building the maps and determining the location with respect to them is denoted simultaneous localization and mapping (SLAM). Most prior real-time SLAM algorithms have been limited in applicability to (1) systems equipped with scanning laser range finders as the primary sensors in (2) indoor environments (or relatively simply structured outdoor environments). The few prior vision-based SLAM algorithms have been feature-based and not suitable for real-time applications and, hence, not suitable for autonomous navigation on irregularly structured terrain. The Gamma-SLAM algorithm incorporates two key innovations: Visual odometry (in contradistinction to wheel odometry) is used to estimate the motion of the vehicle. An elevation variance map (in contradistinction to an occupancy or an elevation map) is used to represent the terrain. The Gamma-SLAM algorithm makes use of a Rao-Blackwellized particle filter (RBPF) from Bayesian estimation theory for maintaining a distribution over poses and maps. The core idea of the RBPF approach is that the SLAM problem can be factored into two parts: (1) finding the distribution over robot trajectories, and (2) finding the map conditioned on any given trajectory. The factorization involves the use of a particle filter in which each particle encodes both a possible trajectory and a map conditioned on that trajectory. The base estimate of the trajectory is derived from visual odometry, and the map conditioned on that trajectory is a Cartesian grid of elevation variances. In comparison with traditional occupancy or elevation grid maps, the grid elevation variance maps are much better for representing the structure of vegetated or rocky terrain.

Howard, Andrew B.↗
DOE OSTI2025

Evaluation of normalization strategies for mass spectrometry-based multi-omics datasets

Introduction Data normalization is crucial for multi-omics integration, reducing systematic errors and maximizing the likelihood of discovering true biological variation. Most studies assess normalization for a single omics type or use datasets from separate experiments. Few address time-course data, where normalization might bias temporal differentiation. In this study, we compared common normalization methods and a machine learning approach, Systematical Error Removal using Random Forest (SERRF), using multi-omics datasets generated from the same experiment—even from the same cell lysate. Objectives To develop a straightforward process to assess normalization effects and identify the most robust methods across multi-omics datasets. Methods We analyzed metabolomics, lipidomics, and proteomics datasets from primary human cardiomyocytes and motor neurons exposed to acetylcholine-active compounds over time. Normalization effectiveness was evaluated based on improvement in QC features consistency and observing the change in treatment and time-related variance. Results Probabilistic Quotient Normalization (PQN) and Locally Estimated Scatterplot Smoothing (LOESS) QC were identified as optimal for metabolomics and lipidomics, while PQN, Median, and LOESS normalization excelled for proteomics. These methods consistently enhanced QC feature consistency in metabolomics and lipidomics, and preserved time-related variance or treatment-related variance in proteomics, demonstrating their effectiveness and robustness. SERRF normalization, applied only to metabolomics in this study, outperformed other methods in some datasets but inadvertently masked treatment-related variance in others. Conclusion Our evaluation identified PQN and LoessQC as the top methods for metabolomics and lipidomics, and PQN, Median, and Loess normalization for proteomics, in multi-omics integration in a temporal study.

60 APPLIED LIFE SCIENCES↗
DOE OSTI2014

TH-E-18A-01: Developments in Monte Carlo Methods for Medical Imaging

Monte Carlo simulation methods are widely used in medical physics research and are starting to be implemented in clinical applications such as radiation therapy planning systems. Monte Carlo simulations offer the capability to accurately estimate quantities of interest that are challenging to measure experimentally while taking into account the realistic anatomy of an individual patient. Traditionally, practical application of Monte Carlo simulation codes in diagnostic imaging was limited by the need for large computational resources or long execution times. However, recent advancements in high-performance computing hardware, combined with a new generation of Monte Carlo simulation algorithms and novel postprocessing methods, are allowing for the computation of relevant imaging parameters of interest such as patient organ doses and scatter-to-primaryratios in radiographic projections in just a few seconds using affordable computational resources. Programmable Graphics Processing Units (GPUs), for example, provide a convenient, affordable platform for parallelized Monte Carlo executions that yield simulation times on the order of 10{sup 7} xray/ s. Even with GPU acceleration, however, Monte Carlo simulation times can be prohibitive for routine clinical practice. To reduce simulation times further, variance reduction techniques can be used to alter the probabilistic models underlying the x-ray tracking process, resulting in lower variance in the results without biasing the estimates. Other complementary strategies for further reductions in computation time are denoising of the Monte Carlo estimates and estimating (scoring) the quantity of interest at a sparse set of sampling locations (e.g. at a small number of detector pixels in a scatter simulation) followed by interpolation. Beyond reduction of the computational resources required for performing Monte Carlo simulations in medical imaging, the use of accurate representations of patient anatomy is crucial to the virtual generation of medical images and accurate estimation of radiation dose and other imaging parameters. For this, detailed computational phantoms of the patient anatomy must be utilized and implemented within the radiation transport code. Computational phantoms presently come in one of three format types, and in one of four morphometric categories. Format types include stylized (mathematical equation-based), voxel (segmented CT/MR images), and hybrid (NURBS and polygon mesh surfaces). Morphometric categories include reference (small library of phantoms by age at 50th height/weight percentile), patient-dependent (larger library of phantoms at various combinations of height/weight percentiles), patient-sculpted (phantoms altered to match the patient's unique outer body contour), and finally, patient-specific (an exact representation of the patient with respect to both body contour and internal anatomy). The existence and availability of these phantoms represents a very important advance for the simulation of realistic medical imaging applications using Monte Carlo methods. New Monte Carlo simulation codes need to be thoroughly validated before they can be used to perform novel research. Ideally, the validation process would involve comparison of results with those of an experimental measurement, but accurate replication of experimental conditions can be very challenging. It is very common to validate new Monte Carlo simulations by replicating previously published simulation results of similar experiments. This process, however, is commonly problematic due to the lack of sufficient information in the published reports of previous work so as to be able to replicate the simulation in detail. To aid in this process, the AAPM Task Group 195 prepared a report in which six different imaging research experiments commonly performed using Monte Carlo simulations are described and their results provided. The simulation conditions of all six cases are provided in full detail, with all necessary data on material composition, source, geometry, scoring and other parameters provided. The results of these simulations when performed with the four most common publicly available Monte Carlo packages are also provided in tabular form. The Task Group 195 Report will be useful for researchers needing to validate their Monte Carlo work, and for trainees needing to learn Monte Carlo simulation methods. In this symposium we will review the recent advancements in highperformance computing hardware enabling the reduction in computational resources needed for Monte Carlo simulations in medical imaging. We will review variance reduction techniques commonly applied in Monte Carlo simulations of medical imaging systems and present implementation strategies for efficient combination of these techniques with GPU acceleration. Trade-offs involved in Monte Carlo acceleration by means of denoising and “sparse sampling” will be discussed. A method for rapid scatter correction in cone-beam CT (<5 min/scan) will be presented as an illustration of the simulation speeds achievable with optimized Monte Carlo simulations. We will also discuss the development, availability, and capability of the various combinations of computational phantoms for Monte Carlo simulation of medical imaging systems. Finally, we will review some examples of experimental validation of Monte Carlo simulations and will present the AAPM Task Group 195 Report. Learning Objectives: Describe the advances in hardware available for performing Monte Carlo simulations in high performance computing environments. Explain variance reduction, denoising and sparse sampling techniques available for reduction of computational time needed for Monte Carlo simulations of medical imaging. List and compare the computational anthropomorphic phantoms currently available for more accurate assessment of medical imaging parameters in Monte Carlo simulations. Describe experimental methods used for validation of Monte Carlo simulations in medical imaging. Describe the AAPM Task Group 195 Report and its use for validation and teaching of Monte Carlo simulations in medical imaging.

60 APPLIED LIFE SCIENCES↗
DOE OSTI2016

Exploring Stratocumulus Cloud-Top Entrainment Processes and Parameterizations by Using Doppler Cloud Radar Observations

Observations from an upward-pointing Doppler cloud radar are used to examine cloud-top entrainment processes and parameterizations in a non-precipitating continental stratocumulus cloud deck maintained by time varying surface buoyancy fluxes and cloud-top radiative cooling. Radar and ancillary observations were made at the Atmospheric Radiation Measurement (ARM)’s Southern Great Plains (SGP) site located near Lamont, Oklahoma of unbroken, non-precipitating stratocumulus clouds observed for a 14-hour period starting 0900 Central Standard Time on 25 March 2005. The vertical velocity variance and energy dissipation rate (EDR) terms in a parameterized turbulence kinetic energy (TKE) budget of the entrainment zone are estimated using the radar vertical velocity and the radar spectrum width observations from the upward-pointing millimeter cloud radar (MMCR) operating at the SGP site. Hourly averages of the vertical velocity variance term in the TKE entrainment formulation correlates strongly (r=0.72) to the dissipation rate term in the entrainment zone. However, the ratio of the variance term to the dissipation decreases at night due to decoupling of the boundary layer. When the night -time decoupling is accounted for, the correlation between the variance and the EDR term increases (r=0.92). To obtain bulk coefficients for the entrainment parameterizations derived from the TKE budget, independent estimate of entrainment were obtained from an inversion height budget using ARM SGP observations of the local time derivative and the horizontal advection of the cloud-top height. The large-scale vertical velocity at the inversion needed for this budget from EMWF reanalysis. This budget gives a mean entrainment rate for the observing period of 0.76±0.15 cm/s. This mean value is applied to the TKE budget parameterizations to obtain the bulk coefficients needed in these parameterizations. These bulk coefficients are compared with those from previous and are used to in the parameterizations to give hourly estimates of the entrainment rates using the radar derived vertical velocity variance and dissipation rates. Hourly entrainment rates were estimated from a convective velocity w* parameterization depends on the local surface buoyancy fluxes and the calculated radiative flux divergence, parameterization using a bulk coefficient obtained from the mean inversion height budget. The hourly rates from the cloud turbulence estimates and the w* parameterization, which is independent of the radar observations, are compared with the hourly we values from the budget. All show rough agreement with each other and capture the entrainment variability associated with substantial changes in the surface flux and radiative divergence at cloud top. Major uncertainties in the hourly estimates from the height budget and w* are discussed. The results indicate a strong potential for making entrainment rate estimates directly from the radar vertical velocity variance and the EDR measurements—a technique that has distinct advantages over other methods for estimating entrainment rates. Calculations based on the EDR alone can provide high temporal resolution (for averaging intervals as small as 10 minutes) of the entrainment processes and do not require an estimate of the boundary layer depth, which can be difficult to define when the boundary layer is decoupled.

54 ENVIRONMENTAL SCIENCES↗
DOE OSTI2023

Quantification of Physical and Numerical Mixing in a Coastal Ocean Model Using Salinity Variance Budgets

Numerical mixing, the spurious mixing primarily generated by the discretization of advection, is often significant in estuarine and coastal models due to sharp, energetic fronts. In this study, we compare on- and offline estimates of numerical mixing in a submesoscale-resolving realistic simulation of the ocean state over the Texas-Louisiana continental shelf. While offline estimates of numerical mixing differ from online estimates, offline methods may be the only analysis available. This study offers insight into the differences between the on- and offline methods. We use two methods to estimate numerical mixing offline, based on salinity squared $s^2$ and volume-mean salinity variance $s^{\prime^2}$. Numerical mixing estimated from the $s^{\prime^2}$ budget is generally within 60\% of the magnitude for the online method but captures the temporal variability well. However, the $s^2$ budget compares poorly due to larger truncation errors associated with the tendency and advection terms, which can be reduced by increasing the model output frequency. We also investigate the effects of horizontal resolution on numerical mixing using a two-way nested grid. The volume-integrated numerical mixing constitutes 57\% of the bulk physical mixing -- the mixing prescribed by the turbulence closure scheme -- in the coarse model and may exceed the physical mixing by half an order of magnitude. We find that numerical mixing is reduced by 35\% on average in the nested model, less than expected based on scaling of the numerical mixing for an upwind advection scheme, likely due to new dynamical processes that emerge in the nested simulation.

54 ENVIRONMENTAL SCIENCES↗
DOE OSTI2014

Estimation of the mixing layer height over a high altitude site in Central Himalayan region by using Doppler lidar

A Doppler lidar was installed at Manora Peak, Nainital (29.4 N; 79.2 E, 1958 amsl) to estimate mixing layer height for the first time by using vertical velocity variance as basic measurement parameter for the period September-November 2011. Mixing layer height is found to be located ~0.57 +/- 0.1and 0.45 +/- 0.05km AGL during day and nighttime, respectively. The estimation of mixing layer height shows good correlation (R>0.8) between different instruments and with different methods. Our results show that wavelet co-variance transform is a robust method for mixing layer height estimation.

Shukla, K. K.↗
NASA NTRS1972

Vestibular adaptation in man - Effects of increased acceleration during different phases of adaptation.

The purpose of this study was to investigate the course of vestibular adaptation following a temporary increase in angular acceleration (A). Eight normal subjects, who were rotated in a precision rotation device, gave periodic magnitude estimates of their perceived velocity throughout a prolonged 1 deg per sec per sec acceleration, which was briefly increased to either 2 or 3 deg per sec per sec at four points in the adaptation cycle. The data, tested with analysis of variance, showed that the size of the magnitude estimates was influenced by the magnitude and position of the altered A. The duration of subjective response was affected only by the position of the altered A.

Luster, T.↗
DOE OSTI2025

Personalized and uncertainty-aware coronary hemodynamics simulations: From Bayesian estimation to improved multi-fidelity uncertainty quantification

Non-invasive simulations of coronary hemodynamics have improved clinical risk stratification and treatment outcomes for coronary artery disease, compared to relying on anatomical imaging alone. However, simulations typically use empirical approaches to distribute total coronary flow amongst the arteries in the coronary tree, which ignores patient variability, the presence of disease, and other clinical factors. Further, uncertainty in the clinical data often remains unaccounted for in the modeling pipeline. We present an end-to-end uncertainty-aware pipeline to (1) personalize coronary flow simulations by incorporating vessel-specific coronary flows as well as cardiac function; and (2) predict clinical and biomechanical quantities of interest with improved precision, while accounting for uncertainty in the clinical data. We assimilate patient-specific measurements of myocardial blood flow from clinical CT myocardial perfusion imaging to estimate branch-specific coronary artery flows. Simulated noise in the clinical data is used to estimate the joint posterior distributions of the model parameters using adaptive Markov Chain Monte Carlo sampling. Additionally, the posterior predictive distribution for the relevant quantities of interest is determined using a new approach combining multi-fidelity Monte Carlo estimation with non-linear, data-driven dimensionality reduction. This leads to improved correlations between high- and low-fidelity model outputs. Our framework accurately recapitulates clinically measured cardiac function as well as branch-specific coronary flows under measurement noise uncertainty. We observe substantial reductions in confidence intervals for estimated quantities of interest compared to single-fidelity Monte Carlo estimation and state-of-the-art multi-fidelity Monte Carlo methods. This holds especially true for quantities of interest that showed limited correlation between the low- and high-fidelity model predictions. In addition, the proposed multi-fidelity Monte Carlo estimators are significantly cheaper to compute than traditional estimators, under a specified confidence level or variance. The proposed pipeline for personalized and uncertainty-aware predictions of coronary hemodynamics is based on routine clinical measurements and recently developed techniques for CT myocardial perfusion imaging. The proposed pipeline offers significant improvements in precision and reduction in computational cost.

Bayesian parameter estimation↗
DOE OSTI2019

Assessing the mechanisms governing the daytime evolution of marine stratocumulus using large‐eddy simulation

Large‐eddy simulation (LES) output for a case of thin stratocumulus off the coast of California is examined in a mixed‐layer analysis framework to identify the specific mechanisms responsible for governing the evolution of the cloud system. An equation for cloud‐base height tendency isolates the individual cloud‐modulating mechanisms that control the evolution of boundary‐layer liquid‐water static energy ( S l ) and total water mixing ratio ( q T ). With a suitable spin‐up procedure, the control simulation performs admirably compared with observed estimates of liquid water content, vertical velocity variance, and radiative fluxes sampled during an aircraft field campaign. Investigation of the cloud response to various environmental forcing scenarios was addressed through a suite of sensitivity simulations, including variations in subsidence velocity, surface fluxes, wind shear near the inversion, and radiative forcing. In the control simulation, rising cloud‐base tendencies are associated with entrainment warming/drying and short‐wave absorption, whereas lowering cloud‐base tendencies are driven by long‐wave cooling. Even in the presence of substantial afternoon solar heating, entrainment fluxes remained active. The thin cloud demonstrated unexpected resiliency, with mixed‐layer analysis indicating that, as the short‐wave flux decreases later in the afternoon, the relative contribution of long‐wave cooling often becomes large enough to offset entrainment warming/drying and result in a reversal of cloud‐base tendency. The evolution of cloud‐base tendency is found to be insensitive to the net radiative flux divergence for most of the simulations (liquid water path ranging from ~10–50 g/m 2 ). Error analysis in comparison with LES S l and q T budgets suggests that our method of entrainment flux calculation could be improved by a more complete understanding of entrainment‐layer physics.

McMichael, Lucas A.↗
DOE OSTI2017

Data-optimized source modeling with the Backwards Liouville Test–Kinetic method

In the standard practice of neutron multiplicity counting , the first three sampled factorial moments of the event triggered neutron count distribution were used to quantify the three main neutron source terms: the spontaneous fissile material effective mass, the relative (α,n) production and the induced fission source responsible for multiplication. Our study compares three methods to quantify the statistical uncertainty of the estimated mass: the bootstrap method, propagation of variance through moments, and statistical analysis of cycle data method. Each of the three methods was implemented on a set of four different NMC measurements, held at the JRC-laboratory in Ispra, Italy, sampling four different Pu samples in a standard Plutonium Scrap Multiplicity Counter (PSMC) well counter.

46 INSTRUMENTATION RELATED TO NUCLEAR SCIENCE AND ↗
DOE OSTI2024

Uncertainty quantification for molecular property predictions with graph neural architecture search

Graph Neural Networks (GNNs) have emerged as a prominent class of data-driven methods for molecular property prediction. However, a key limitation of typical GNN models is their inability to quantify uncertainties in the predictions. This capability is crucial for ensuring the trustworthy use and deployment of models in downstream tasks. To that end, we introduce AutoGNNUQ, an automated uncertainty quantification (UQ) approach for molecular property prediction. AutoGNNUQ leverages architecture search to generate an ensemble of high-performing GNNs, enabling the estimation of predictive uncertainties. Our approach employs variance decomposition to separate data (aleatoric) and model (epistemic) uncertainties, providing valuable insights for reducing them. In our computational experiments, we demonstrate that AutoGNNUQ outperforms existing UQ methods in terms of both prediction accuracy and UQ performance on multiple benchmark datasets, and generalizes well to out-of-distribution datasets. Additionally, we utilize t-SNE visualization to explore correlations between molecular features and uncertainty, offering insight for dataset improvement. AutoGNNUQ has broad applicability in domains such as drug discovery and materials science, where accurate uncertainty quantification is crucial for decision-making.

37 INORGANIC, ORGANIC, PHYSICAL, AND ANALYTICAL CH↗
DOE OSTI2022

Accurate predictions from small boxes: variance suppression via the Zel'dovich approximation

Simulations have become an indispensable tool for accurate modelling of observables measured in galaxy surveys, but can be expensive if very large dynamic range in scale is required. We describe how to combine Lagrangian perturbation theory models with N-body simulations to reduce the effects of finite computational volume in the prediction of ensemble average properties in the simulations within the context of control variates. In particular we use the fact that Zel'dovich displacements, computed during initial condition generation for any simulation, correlate strongly with the final density field. Since all the correlators of biased tracers can be computed with arbitrary precision for these displacements, pairing the Zel'dovich `simulation' with the N-body realization allows hundredfold reductions in sample variance for power spectrum or correlation function estimation. Additionally, Zel'dovich control variates can accurately extend matter or tracer field emulators to larger scales than previously possible, as well as improving measurements of statistics in simulations which are inherently limited to small volumes, such as hydrodynamical simulations of galaxy formation and reionization.

79 ASTRONOMY AND ASTROPHYSICS↗
DOE OSTI2024

Human activities shape global patterns of decomposition rates in rivers

Rivers and streams contribute to global carbon cycling by decomposing immense quantities of terrestrial plant matter. However, decomposition rates are highly variable and large-scale patterns and drivers of this process remain poorly understood. Using a cellulose-based assay to reflect the primary constituent of plant detritus, we generated a predictive model (81% variance explained) for cellulose decomposition rates across 514 globally distributed streams. A large number of variables were important for predicting decomposition, highlighting the complexity of this process at the global scale. Predicted cellulose decomposition rates, when combined with genus-level litter quality attributes, explain published leaf litter decomposition rates with high accuracy (70% variance explained). Finally, our global map provides estimates of rates across vast understudied areas of Earth and reveals rapid decomposition across continental-scale areas dominated by human activities.

54 ENVIRONMENTAL SCIENCES↗
DOE OSTI2019

Analysis of the genetic basis of height in large Jewish nuclear families

Despite intensive study, most of the specific genetic factors that contribute to variation in human height remain undiscovered. We conducted a family-based linkage study of height in a unique cohort of very large nuclear families from a founder (Jewish) population. This design allowed for increased power to detect linkage, compared to previous family-based studies. Loci we identified in discovery families could explain an estimated lower bound of 6% of the variance in height in validation families. We showed that these loci are not tagging known common variants associated with height. Rather, we suggest that the observed signals arise from variants with large effects that are rare globally but elevated in frequency in the Jewish population.

59 BASIC BIOLOGICAL SCIENCES↗
DOE OSTI2015

GPU Acceleration of Mean Free Path Based Kernel Density Estimators for Monte Carlo Neutronics Simulations

Kernel Density Estimators (KDEs) are a non-parametric density estimation technique that has recently been applied to Monte Carlo radiation transport simulations. Kernel density estimators are an alternative to histogram tallies for obtaining global solutions in Monte Carlo tallies. With KDEs, a single event, either a collision or particle track, can contribute to the score at multiple tally points with the uncertainty at those points being independent of the desired resolution of the solution. Thus, KDEs show potential for obtaining estimates of a global solution with reduced variance when compared to a histogram. Previously, KDEs have been applied to neutronics for one-group reactor physics problems and fixed source shielding applications. However, little work was done to obtain reaction rates using KDEs. This paper introduces a new form of the MFP KDE that is capable of handling general geometries. Furthermore, extending the MFP KDE to 2-D problems in continuous energy introduces inaccuracies to the solution. An ad-hoc solution to these inaccuracies is introduced that produces errors smaller than 4% at material interfaces.

22 GENERAL STUDIES OF NUCLEAR REACTORS↗
DOE OSTI2020

Validation of SAS4A/SASSYS-1 for Steady-State Single-Phase Natural Circulation

The development of numerical software for engineering applications requires the validation of the code against experimental benchmark datasets. To support the validation of SAS4A/SASSYS-1 in simulating the single-phase natural circulation within nuclear reactor systems, high-precision steady-state experiments are performed to capture single-phase natural circulation phenomena on an existing scaled facility with comprehensive instrumentation. Forced convection tests are designed precisely capturing the facility’s critical thermal-hydraulic parameters required for one-dimensional modeling, and a comprehensive single-phase natural circulation dataset is obtained with well-documented experimental uncertainty and facility description. Analysis and discussion based on the finalized dataset confirm the dataset’s ability in capturing dominant phenomena and address important physical interpretation of parameters. The dataset reported in this project provides a valuable benchmark resource for the validation of system analysis codes under single-phase natural circulation inside nuclear reactors. Validation of SAS4A/SASSYS-1 is then performed against the obtained benchmark dataset to confirm the capability of its physics model in simulating the steady-state single-phase natural circulation. The experimental facility is modeled in the candidate code. Solution verification is performed using Richardson-extrapolation-based estimators to quantify and restrict numerical errors from discretization. Numerical uncertainty originating from finite maximum pseudo-transient time is also quantified and restricted. Input uncertainty provided by the benchmark dataset is forward propagated through the candidate code, directly quantifying the simulation output in a Monte Carlo approach. The composition of the output uncertainty is further determined by the estimators of Sobol’ indices through a variance-based sensitivity analysis. With uncertainty quantified for each individual condition, detailed comparison between the simulation results and experimental data is performed covering the whole dataset, which shows consistent agreement for all important quantities. The validation activity reported in this project demonstrates that SAS4A/SASSYS-1 can predict the primary parameters with satisfactorily accuracy under steady-state single-phase natural circulation.

22 GENERAL STUDIES OF NUCLEAR REACTORS↗
DOE OSTI2018

Bias Impact Analysis and Calibration of UAV-Based Mobile LiDAR System with Spinning Multi-Beam Laser Scanner

Light Detection and Ranging (LiDAR) is a technology that uses laser beams to measure ranges and generates precise 3D information about the scanned area. It is rapidly gaining popularity due to its contribution to a variety of applications such as Digital Building Model (DBM) generation, telecommunications, infrastructure monitoring, transportation corridor asset management and crash/accident scene reconstruction. To derive point clouds with high positional accuracy, estimation of mounting parameters relating the laser scanners to the onboard Global Navigation Satellite System/Inertial Navigation System (GNSS/INS) unit, i.e., the lever-arm and boresight angles, is the foremost and necessary step. This paper proposes a LiDAR system calibration strategy for a Unmanned Aerial Vehicle (UAV)-based mobile mapping system that can directly estimate the mounting parameters for spinning multi-beam laser scanners through an outdoor calibration procedure. This approach is based on the use of conjugate planar/linear features in overlapping point clouds derived from different flight lines. Designing an optimal configuration for calibration is the first and foremost step in order to ensure the most accurate estimates of mounting parameters. This is achieved by conducting a rigorous theoretical analysis of the potential impact of bias in mounting parameters of a LiDAR unit on the resultant point cloud. The dependency of the impact on the orientation of target primitives and relative flight line configuration would help in deducing the configuration that would maximize as well as decouple the impact of bias in each mounting parameter so as to ensure their accurate estimation. Finally, the proposed analysis and calibration strategy are validated by calibrating a UAV-based LiDAR system using two different datasets—one acquired with flight lines at a single flying height and the other with flight lines at two different flying heights. With this being said, the calibration performance is evaluated by analyzing correlation between the estimated system parameters, the a-posteriori variance factor of the Least Squares Adjustment (LSA) procedure and the quality of fit of the adjusted point cloud to planar/linear features before and after the calibration process.

3D point clouds↗
NASA NTRS1971

Bias and spread in EVT performance tests.

Performance tests (error probability measurements) of communications systems characterized by low bit rates and high reliability requirements frequently utilize classical extreme value theory (EVT) to avoid the excessive test times encountered with bit error rate (BER) tests. If the underlying noise is Gaussian or perturbed Gaussian, the EVT error estimates have either excessive bias or excessive variance if an insufficient number of test samples is used. EVT is examined to explain the cause of this bias and spread. Experimental verification is made by testing a known Gaussian source, and procedures that minimize these effects are described. It seems apparent that even under the best of conditions the EVT test results are not particularly better than those of BER tests.

Smith, J. G.↗