Engineering Papers⌕ Search

SEARCH · Engineering Papers

Results for “point clouds”

Search indexed NASA NTRS and DOE OSTI research on propulsion, heat transfer, battery materials and energy systems. Follow report and document links to the original sources.

Quote a phrase for an exact phrase match. Source license links do not imply unrestricted reuse.

At least 127 records · Page 7
All sourcesNASA NTRSDOE OSTI
DOE OSTI2024

Data from "A Bayesian Record Linkage Approach to Applications in Tree Demography Using Overlapping LiDAR Scans"

Processed LiDAR data and environmental covariates from 2015 and 2019 LiDAR scans in the Vicinity of Snodgrass Mountain (Western Colorado, USA), in a geographic subset used in primary analysis for the research paper.This package contains LiDAR-derived canopy height maps for 2015 and 2019, crown polygons derived from the height maps using a segmentation algorithm, and environmental covariates supporting the model of forest growth. Source datasets include August 2015 and August 2019 discrete-return LiDAR point clouds collected by Quantum Geospatial for terrain mapping purposes on behalf of the Colorado Hazard Mapping Program and the Colorado Water Conservation Board. Both datasets adhere to the USGS QL2 quality standard. The point cloud data were processed using the R package lidR to generate a canopy height model representing maximum vegetation height above the ground surface, using a pit-free algorithm.This dataset was compiled to assess how spatial patterns of tree growth in montane and subalpine forests are influenced by water and energy availability. Understanding these growth patterns can provide insight into forest dynamics in the Southern Rocky Mountains under changing climatic conditions.This dataset contains .tif, .csv, and .txt files. This dataset additionally includes a file-level metadata (flmd.csv) file that lists each file contained in the dataset with associated metadata; and a data dictionary (dd.csv) file that contains column/row headers used throughout the files along with a definition, units, and data type.

54 ENVIRONMENTAL SCIENCES↗
DOE OSTI2021

Detection of Outliers in LiDAR Data Acquired by Multiple Platforms over Sorghum and Maize

High-resolution point cloud data acquired with a laser scanner from any platform contain random noise and outliers. Therefore, outlier detection in LiDAR data is often necessary prior to analysis. Applications in agriculture are particularly challenging, as there is typically no prior knowledge of the statistical distribution of points, plant complexity, and local point densities, which are crop-dependent. The goals of this study were first to investigate approaches to minimize the impact of outliers on LiDAR acquired over agricultural row crops, and specifically for sorghum and maize breeding experiments, by an unmanned aerial vehicle (UAV) and a wheel-based ground platform; second, to evaluate the impact of existing outliers in the datasets on leaf area index (LAI) prediction using LiDAR data. Two methods were investigated to detect and remove the outliers from the plant datasets. The first was based on surface fitting to noisy point cloud data via normal and curvature estimation in a local neighborhood. The second utilized the PointCleanNet deep learning framework. Both methods were applied to individual plants and field-based datasets. To evaluate the method, an F-score was calculated for synthetic data in the controlled conditions, and LAI, the variable being predicted, was computed both before and after outlier removal for both scenarios. Results indicate that the deep learning method for outlier detection is more robust than the geometric approach to changes in point densities, level of noise, and shapes. The prediction of LAI was also improved for the wheel-based vehicle data based on the coefficient of determination (R2) and the root mean squared error (RMSE) of the residuals before and after the removal of outliers.

36 MATERIALS SCIENCE↗
DOE OSTI2020

Overset meshes for incompressible flows: On preserving accuracy of underlying discretizations

This study on overset meshes for incompressible-flow simulations is motivated by accurate prediction of wind farm aerodynamics involving large motions and deformations of components with complex geometry. Specifically, using first-order hyperbolic and elliptic equation proxies for the incompressible Navier-Stokes (NS) equations, we investigate the influence of information exchange between overset meshes on numerical performance where the underlying discretization is second-order accurate. The first aspect of information exchange surrounds interpolation of solution where we examine Lagrange and point-cloud-based interpolation for creating constraint equations between overset meshes. To maintain overall second-order accuracy, higher-order interpolation is required for elliptic problems, but linear interpolation is sufficient for hyperbolic problems in first-order form. Higher-order point-cloud-based interpolation provides a pathway to maintaining accuracy in unstructured meshes, but at higher complexity. The second aspect of information exchange focuses on comparing the approaches of overset single system (OSS) and overset Additive Schwarz (OAS) for coupling the linear systems of the overlapping meshes. While the former involves a single linear system, in the latter the discrete linear systems are solved separately, and solving the global system is accomplished through outer iterations and sequential information exchange in a Jacobi fashion. For the test cases studied, accuracy for hyperbolic problems is maintained by performing two outer iterations, whereas many outer iterations are required for elliptic systems. The order-of-accuracy studies explored here are critical for verifying the overset-mesh coupling algorithms used in engineering simulations. Accuracy of these simulations themselves is, however, quantified using engineering quantities of interest such as drag, power, etc. Consequently, we conclude with numerical experiments using NS equations for incompressible flows where we show that linear interpolation and few outer iterations are sufficient for achieving asymptotic convergence of engineering quantities of interest.

97 MATHEMATICS AND COMPUTING↗
NASA NTRS2014

An Efficient, Multi-Layered Crown Delineation Algorithm for Mapping Individual Tree Structure Across Multiple Ecosystems

Deriving individual tree information from discrete return, small footprint LiDAR data may improve forest above ground biomass estimates, and provide tree-level information that is important in many ecological studies. Several crown delineation algorithms have been developed to extract individual tree information from LiDAR point clouds or rasterized canopy height models (CHM), but many of these algorithms have difficulty discriminating between overlapping crowns, and also may fail to detect understory trees. Our approach uses a watershed based delineation of a CHM, which is subsequently refined using the LiDAR point cloud. Individual tree detection was validated with stem mapped field data from the Smithsonian Environmental Research Center (SERC), Maryland, and on a plot and stand level through comparisons of stem density and basal area to delineated metrics at both SERC and a study area in the Sierra Nevada, California. For individual tree detection, the algorithm correctly identified 70% of dominant trees, 58% of co-dominant trees, 35% of intermediate trees and 21% of suppressed trees at SERC. The algorithm had difficulty distinguishing between crowns of small, dense understory trees of approximately the same height. Delineated crown volume alone explained 53% and 84% of the variability in basal area at the SERC and Sierra Nevada sites, respectively. The algorithm produced crown area distributions comparable to diameter at breast height (DBH) size class distributions observed in the field in both study sites. The algorithm detected understory crowns better in the conifer-dominated Sierra Nevada site than in the closed-canopy deciduous site in Maryland. The ability for the algorithm to reproduce both accurate tree size distributions and individual crown geometries in two dissimilar and complex forests suggests great promise for applicability to a wide range of forest systems.

LiDAR↗
DOE OSTI2020

Biodiesel Ethers: Fatty Acid-Derived Alkyl Ether Fuels as Improved Bioblendstocks for Mixing-Controlled Compression Ignition Engines

In the last 20 years, biodiesel consumption in the United States has swiftly increased to ~2 billion gallons per year as a renewable supplement to fossil fuel. However, further expansion of biodiesel use is currently limited in part by poor cold weather performance, which prevents year-round blending and necessitates blend walls ≤5% v/v. In order to provide a diesel fuel blendstock with improved cold weather performance (cloud point, pour point, and cold filter plug point), while at the same time maintaining other required fuel performance specifications, several biodiesel redox analogues were synthesized and tested. The best performing candidate fuels from this class showed improvement in the derived cetane number (29.3% shorter ignition delay), lower heating value (+4.7 MJ/kg), relative sooting tendency (–7.4 YSI/MJ), and cloud point (15 °C lower) when compared to a B100 biodiesel composed of an identical fatty acid profile. It was observed as a general trend that the reduced form of biodiesel, fatty alkyl ethers (FAEs), shows performance improvements in all fuel property metrics. The suite of improved properties provided by FAEs gives biodiesel producers the opportunity to diversify their portfolio of products derived from lipid and alcohol feedstocks to include long-chain alkyl ethers, a biodiesel alternative with particular applicability for winter weather conditions across the US.

09 BIOMASS FUELS↗
DOE OSTI2023

UAS remote sensing (3DR SOLO platform): multispectral reflectance and normalized difference vegetation index, Seward Peninsula, Alaska, 2022

Airborne remote sensing data collected using a Parrot Sequoia+ multispectral sensor installed on a 3DR SOLO unoccupied aerial system (UAS) – operated by the Terrestrial Ecosystem Science & Technology group https://www.bnl.gov/envsci/testgroup/ at Brookhaven National Laboratory. This package includes data from 19 flights flown over the NGEE-Arctic, Kougarok Mile Marker (MM) 80, Kougarok Fire Complex (KFC) and Teller MM 27 sites in July 2022. Derived image products include point cloud, ortho-mosaiced multispectral image, a digital surface model (DSM) using the structure from motion (SfM) technique, and a normalized difference vegetation index (NDVI) map. Unprocessed and processed data products are included in this package (processing levels 0-2). Data and metadata are provided as text (*.txt, *.json, *hdr,), tabular (*.dat, *.csv), point cloud (*.laz), Cloud Optimized GeoTIFF (COG, *.tif), and image (*.jpg, *.tif, *png) formats.The Next-Generation Ecosystem Experiments: Arctic (NGEE Arctic), was a research effort to reduce uncertainty in Earth System Models by developing a predictive understanding of carbon-rich Arctic ecosystems and feedbacks to climate. NGEE Arctic was supported by the Department of Energy's Office of Biological and Environmental Research. The NGEE Arctic project had two field research sites: 1) located within the Arctic polygonal tundra coastal region on the Barrow Environmental Observatory (BEO) and the North Slope near Utqiagvik (Barrow), Alaska and 2) multiple areas on the discontinuous permafrost region of the Seward Peninsula north of Nome, Alaska. Through observations, experiments, and synthesis with existing datasets, NGEE Arctic provided an enhanced knowledge base for multi-scale modeling and contributed to improved process representation at global pan-Arctic scales within the Department of Energy's Earth system Model (the Energy Exascale Earth System Model, or E3SM), and specifically within the E3SM Land Model component (ELM).

54 ENVIRONMENTAL SCIENCES↗
DOE OSTI2022

UAS remote sensing (DJI Phantom 4 RTK platform): RGB orthomosaic, digital surface and canopy height models, plant functional type map, Seward Peninsula, Alaska, 2019

Airborne remote sensing data collected using a DJI Phantom 4 RTK unoccupied aerial system (UAS) ? operated by the University of Maine Wheatland Geospatial Lab (https://wheatlandlab.org/). This package includes data from 17 flights flown over the NGEE-Arctic Council, Kougarok, Kougarok Mile80, Teller, and Teller Mile32 sites in July 2019. The Phantom 4 RTK is a drone platform that collects very high spatial resolution optical red/green/blue (RGB) imagery. Derived image products include point cloud, ortho-mosaiced RGB, a digital surface model (DSM) using the structure from motion (SfM) technique, and a canopy height model (CHM). Unprocessed and processed data products (1,000+ files) are included in this package (processing levels 0-3). Data and metadata are provided as text (*.txt, *.json, *hdr,), ENVI image file (*.dat), point cloud (*.laz) and image (*.jpg, *.tif, *png) formats. The Next-Generation Ecosystem Experiments: Arctic (NGEE Arctic), was a research effort to reduce uncertainty in Earth System Models by developing a predictive understanding of carbon-rich Arctic ecosystems and feedbacks to climate. NGEE Arctic was supported by the Department of Energy's Office of Biological and Environmental Research. The NGEE Arctic project had two field research sites: 1) located within the Arctic polygonal tundra coastal region on the Barrow Environmental Observatory (BEO) and the North Slope near Utqiagvik (Barrow), Alaska and 2) multiple areas on the discontinuous permafrost region of the Seward Peninsula north of Nome, Alaska. Through observations, experiments, and synthesis with existing datasets, NGEE Arctic provided an enhanced knowledge base for multi-scale modeling and contributed to improved process representation at global pan-Arctic scales within the Department of Energy's Earth system Model (the Energy Exascale Earth System Model, or E3SM), and specifically within the E3SM Land Model component (ELM).

54 ENVIRONMENTAL SCIENCES↗
DOE OSTI2020

Fully Automated Profile-based Calibration Strategy for Airborne and Terrestrial Mobile LiDAR Systems with Spinning Multi-beam Laser Units

LiDAR-based mobile mapping systems (MMS) are rapidly gaining popularity for a multitude of applications due to their ability to provide complete and accurate 3D point clouds for any and every scene of interest. However, an accurate calibration technique for such systems is needed in order to unleash their full potential. In this paper, we propose a fully automated profile-based strategy for the calibration of LiDAR-based MMS. The proposed technique is validated by comparing its accuracy against the expected point positioning accuracy for the point cloud based on the used sensors’ specifications. The proposed strategy was seen to reduce the misalignment between different tracks from approximately 2 to 3 m before calibration down to less than 2 cm after calibration for airborne as well as terrestrial mobile LiDAR mapping systems. In other words, the proposed calibration strategy can converge to correct estimates of mounting parameters, even in cases where the initial estimates are significantly different from the true values. Furthermore, the results from the proposed strategy are also verified by comparing them to those from an existing manually-assisted feature-based calibration strategy. The major contribution of the proposed strategy is its ability to conduct the calibration of airborne and wheel-based mobile systems without any requirement for specially designed targets or features in the surrounding environment. The above claims are validated using experimental results conducted for three different MMS – two airborne and one terrestrial – with one or more LiDAR unit.

47 OTHER INSTRUMENTATION↗
DOE OSTI2023

UAS remote sensing (3DR SOLO platform): multispectral reflectance, canopy height model, normalized difference vegetation index, Seward Peninsula, Alaska, 2021

Airborne remote sensing data collected using a Parrot Sequoia+ multispectral sensor installed on a 3DR SOLO unoccupied aerial system (UAS) - operated by the Terrestrial Ecosystem Science Technology group at Brookhaven National Laboratory. This package includes data from 10 flights flown over the NGEE-Arctic Council Mile Marker (MM) 71, Kougarok MM64, and Teller MM27 sites on the Seward Peninsula, Alaska, in August 2021. Derived image products include point cloud, ortho-mosaiced multispectral image, ortho-mosaiced RGB image, a digital surface model (DSM) using the structure from motion (SfM) technique, a canopy height model (CHM), and a normalized difference vegetation index (NDVI) map. Unprocessed and processed data products are included in this package (processing levels 0-2). Data and metadata are provided as text (*.txt, *.json, *hdr,), tabular (*.dat, *.csv), point cloud (*.laz), Cloud Optimized GeoTIFF (COG, *.tif), and image (*.jpg, *.tif, *png) formats. The Next-Generation Ecosystem Experiments: Arctic (NGEE Arctic), was a research effort to reduce uncertainty in Earth System Models by developing a predictive understanding of carbon-rich Arctic ecosystems and feedbacks to climate. NGEE Arctic was supported by the Department of Energy's Office of Biological and Environmental Research. The NGEE Arctic project had two field research sites: 1) located within the Arctic polygonal tundra coastal region on the Barrow Environmental Observatory (BEO) and the North Slope near Utqiagvik (Barrow), Alaska and 2) multiple areas on the discontinuous permafrost region of the Seward Peninsula north of Nome, Alaska. Through observations, experiments, and synthesis with existing datasets, NGEE Arctic provided an enhanced knowledge base for multi-scale modeling and contributed to improved process representation at global pan-Arctic scales within the Department of Energy's Earth system Model (the Energy Exascale Earth System Model, or E3SM), and specifically within the E3SM Land Model component (ELM).

54 ENVIRONMENTAL SCIENCES↗
NASA NTRS2018

Quantifying Boreal Forest Structure and Composition Using UAV Structure from Motion

The vast extent and inaccessibility of boreal forest ecosystems are barriers to routine monitoring of forest structure and composition. In this research, we bridge the scale gap between intensive but sparse plot measurements and extensive remote sensing studies by collecting forest inventory variables at the plot scale using an unmanned aerial vehicle (UAV) and a structure from motion (SfM) approach. At 20 Forest Inventory and Analysis (FIA) subplots in interior Alaska, we acquired overlapping imagery and generated dense, 3D, RGB (red, green, blue) point clouds. We used these data to model forest type at the individual crown scale as well as subplot-scale tree density (TD), basal area (BA), and aboveground biomass (AGB). We achieved 85% cross-validation accuracy for five species at the crown level. Classification accuracy was maximized using three variables representing crown height, form, and color. Consistent with previous UAV-based studies, SfM point cloud data generated robust models of TD (r(sup 2) = 0.91), BA (r(sup 2) = 0.79), and AGB (r(sup 2) = 0.92), using a mix of plot- and crown-scale information. Precise estimation of TD required either segment counts or species information to differentiate black spruce from mixed white spruce plots. The accuracy of species-specific estimates of TD, BA, and AGB at the plot scale was somewhat variable, ranging from accurate estimates of black spruce TD (+/−1%) and aspen BA (−2%) to misallocation of aspen AGB (+118%) and white spruce AGB (−50%). These results convey the potential utility of SfM data for forest type discrimination in FIA plots and the remaining challenges to develop classification approaches for species-specific estimates at the plot scale that are more robust to segmentation error.

aboveground biomass↗
DOE OSTI2023

National Center for Airborne Laser Mapping (NCALM) LiDAR and DEM data from two NGEE Arctic Sites, Seward Peninsula, Alaska, Winter 2022

From April 3 through April 6 of 2022, airborne remote sensing data was collected by the National Center for Airborne Laser Mapping (NCALM) in collaboration with NGEE Arctic scientists. Snow-on data was collected around two NGEE Arctic study sites on the Seward Peninsula of Alaska: Teller mm 27 and Kougarok mm 64. A Robinson R44 II helicopter with a RIEGL VQ-580 II airborne laser scanner was used to collect the LiDAR point cloud data for each study site. This survey was conducted during expected peak snow cover at the end of the winter on the Seward Peninsula, and can be paired with data collected in 2021 during the snow-off campaign "National Center for Airborne Laser Mapping (NCALM) LiDAR, Imagery, and DEM data from five NGEE Arctic Sites, Seward Peninsula, Alaska, August 2021" (Singhania et al., 2023) (NGA270). This data package contains LiDAR point clouds (.las), Digital Elevation Models (.tif), and shapefiles of the .las tiling system (.shp). A project report detailing data collection details, GNSS stations and GNSS corrections, and processing steps is also included. The Next-Generation Ecosystem Experiments: Arctic (NGEE Arctic), was a research effort to reduce uncertainty in Earth System Models by developing a predictive understanding of carbon-rich Arctic ecosystems and feedbacks to climate. NGEE Arctic was supported by the Department of Energy's Office of Biological and Environmental Research. The NGEE Arctic project had two field research sites: 1) located within the Arctic polygonal tundra coastal region on the Barrow Environmental Observatory (BEO) and the North Slope near Utqiagvik (Barrow), Alaska and 2) multiple areas on the discontinuous permafrost region of the Seward Peninsula north of Nome, Alaska. Through observations, experiments, and synthesis with existing datasets, NGEE Arctic provided an enhanced knowledge base for multi-scale modeling and contributed to improved process representation at global pan-Arctic scales within the Department of Energy's Earth system Model (the Energy Exascale Earth System Model, or E3SM), and specifically within the E3SM Land Model component (ELM).

54 ENVIRONMENTAL SCIENCES↗
NASA NTRS2020

Mapping tall shrub biomass in Alaska at landscape scale using structure-from-motion photogrammetry and lidar

Warming in arctic and boreal regions is increasing shrub cover and biomass. In southcentral Alaska, willow (Salix spp.) and alder (Alnus spp.) shrubs grow taller than many tree species and account for a substantial proportion of aboveground biomass, yet they are not individually measured as part of the operational Forest Inventory and Analysis (FIA) Program. The goal of this research was to test methods for landscape-scale mapping of tall shrub biomass in upper montane and subalpine environments using FIA-type plot measurements (n = 51) and predictor variables from imagery-based structure-from-motion (SfM) and airborne lidar. Specifically, we compared biomass models constructed from imagery acquired by unmanned aerial vehicle (UAV; ~1.7 cm pixels), imagery from the NASA Goddard's Lidar, Hyperspectral, and Thermal Airborne Imager (G-LiHT; ~3.1 cm pixels), and concomitant G-LiHT small-footprint lidar. Tall shrub biomass was most accurately predicted at 5 m resolution (R^2 = 0.81, RMSE = 1.09 kg/sq. m) using G-LiHT SfM color and structure variables. Lidar-only models had lower precision (R^2 = 0.74, RMSE = 1.26 kg/sq. m), possibly due to reduced model information content from variable multicollinearity or lower data density. Separate models for upper montane zones with trees and shrubs and subalpine zones with only shrubs were always chosen over single models based on minimization of Akaike's Information Criterion, indicating the need for variable sets robust to overhanging tree canopy. Decreasing point density from UAV (5000–8000 pts./sq. m) to the G-LiHT SfM point cloud (500–2000 pts./sq. m) had little impact on model fit, suggesting that high-resolution airborne imagery can extend SfM approaches well beyond line-of-sight restrictions for UAV platforms. Overall, our results confirmed that SfM from high-resolution imagery is a viable approach to estimate shrub biomass in the boreal region, especially when an existing lidar terrain model and local field calibration data are available to quantify uncertainty in the SfM point cloud and landscape-scale estimates of shrub biomass.

Michael Alonzo↗
DOE OSTI2021

Evaluating Diesel/Biofuel Blends Using Artificial Neural Networks and Linear/Nonlinear Equations

Abstract The use of biomass-derived additives in diesel fuel mixtures has the potential to increase the fuel’s efficiency, decrease the formation of particulate matter during its combustion, and retain the fuel’s behavior in cold weather. To this end, identifying compounds that enable these behaviors is paramount. The present work utilizes a series of linear and non-linear equations in series with artificial neural networks to predict the cetane number, yield sooting index, kinematic viscosity, cloud point, and lower heating value of multi-component blends. Property values of pure components are predicted using artificial neural networks trained with existing experimental data, and these predictions and their expected errors are propagated through linear and non-linear equations to obtain property predictions for multi-component blends. Individual component property prediction errors, defined by blind prediction median absolute error, are 4.91 units, 7.84 units, 0.06 cSt, 4.00 °C, and 0.55 MJ/kg for cetane number, yield sooting index, kinematic viscosity, cloud point, and lower heating value respectively. On average, property predictions for blends are shown to be accurate to within 6% of the blends’ experimental values. Further, a multitude of compounds expected to be produced from catalytically upgrading products of fast pyrolysis are evaluated with respect to their behavior in diesel fuel blends.

09 BIOMASS FUELS↗
DOE OSTI2024

Light Detecting and Ranging (LIDAR) for in-situ heliostat optical error assessment

A system and method for optical assessment of a heliostat includes obtaining a point cloud data representing an image of the heliostat; isolating the data; filtering and fitting the filtered heliostat data to a bounding box; translating the heliostat data to a plane to aid in segmentation; segmenting a plurality of facets of the heliostat fitting each of the segmented facets to a respective plane; generating normal vectors characterizing each of the plurality of facets; and calculating a canting angle associated with each respective facet of the plurality of facets. A heliostat with mirrored facets and a scanner are provided. The scanner captures point cloud data representing the heliostat, which is segmented for each facet. Normal vectors characterize the facets and a canting angle is calculated for the respective facet.

Small, Daniel E.↗
NASA NTRS2018

Fusion of Multiple Low-Resolution NASA Airborne Snow Observatory (ASO) Lidar Data for Forest Vegetation Structure Characterization

Airborne lidar provides timely updated maps for monitoring forest change at high resolution but it has been little used for that purpose due to the scarcity of long-term time-series over a common area. The NASA Jet Propulsion Laboratory Airborne Snow Observatory (ASO) is a landscape-level monitoring system that provides ongoing multi-year remote sensing measurements over mountainous ecosystems to primary quantify snow volume and dynamics. It collects low-resolution lidar data (~1.5 pt/m2) with a nominal weekly frequency up to 12 times a year with measurements that span 2013-2017 over 12 mountain watersheds across the western US that currently face ecological threads. In this work, we present a method to automatically register ASO weekly low-resolution lidar point clouds in order to calculate spatially consistent datasets (~12 pt/m2) adapted to fine scale forestry studies. We test the method using 12 lidar datasets acquired over the Tuolumne River Basin (Sierra Nevada, California) in the spring and summer of 2014. On average, the ASO lidar system provides accurate measurements in terms of geolocation (0.38m and 0.12m for the horizontal and vertical dimension, respectively) but some datasets are biased up to 1.38m and 0.53m, respectively. Our registration method successfully corrected for systematic bias improving the 3D geometry of forest point clouds.

Painter, Thomas H.↗
DOE OSTI2024

AEPF: Attention-Enabled Point Fusion for 3D Object Detection

Current state-of-the-art (SOTA) LiDAR-only detectors perform well for 3D object detection tasks, but point cloud data are typically sparse and lacks semantic information. Detailed semantic information obtained from camera images can be added with existing LiDAR-based detectors to create a robust 3D detection pipeline. With two different data types, a major challenge in developing multi-modal sensor fusion networks is to achieve effective data fusion while managing computational resources. With separate 2D and 3D feature extraction backbones, feature fusion can become more challenging as these modes generate different gradients, leading to gradient conflicts and suboptimal convergence during network optimization. To this end, we propose a 3D object detection method, Attention-Enabled Point Fusion (AEPF). AEPF uses images and voxelized point cloud data as inputs and estimates the 3D bounding boxes of object locations as outputs. An attention mechanism is introduced to an existing feature fusion strategy to improve 3D detection accuracy and two variants are proposed. These two variants, AEPF-Small and AEPF-Large, address different needs. AEPF-Small, with a lightweight attention module and fewer parameters, offers fast inference. AEPF-Large, with a more complex attention module and increased parameters, provides higher accuracy than baseline models. Experimental results on the KITTI validation set show that AEPF-Small maintains SOTA 3D detection accuracy while inferencing at higher speeds. AEPF-Large achieves mean average precision scores of 91.13, 79.06, and 76.15 for the car class’s easy, medium, and hard targets, respectively, in the KITTI validation set. Results from ablation experiments are also presented to support the choice of model architecture.

Chemistry↗
NASA NTRS2021

A Semi-Empirical Scheme for Bathymetric Mapping in Shallow Water by ICESat-2 and Sentinel-2: A Case Study in the South China Sea

To derive shallow water bathymetry for coastal areas, a common approach is to deploy a scanning airborne bathymetric light detection and ranging (LiDAR) system or a shipborne echosounder for ground surveys. However, recent advancements in satellite remote sensing, including the Ice, Cloud and land Elevation Satellite-2 (ICESat-2) offer new tools for generating satellite derived bathymetry (SDB). The key payload onboard ICESat-2 is the Advanced Topographic Laser Altimeter System (ATLAS), a micro-pulse, photon-counting LiDAR system, simultaneously emitting six separate 532 nm beams at 10 kHz pulse rate. However, despite its high resolution, the major limitation for bathymetry is that ICESat-2 only provides along-track height profiles, leaving observation gaps between the parallel ground tracks. Merging ICESat-2 observations with optical multispectral imagery, as demonstrated herein, provides an effective solution for deriving a full scene of water depth in light of the spectral attenuation behavior. This study aims to combine ICESat-2 and Sentinel-2 optical data to derive shallow water bathymetry (depth <20 m) at six islands and reefs in the South China Sea. ICESat-2 ATL03 point clouds of georeferenced photons are first filtered to determine the seafloor elevation along the ground track. Results indicate a root-mean-square error (RMSE) of 0.26–0.61 m as compared with independent observations from an airborne LiDAR campaign. Next, three semi-empirical functions, namely the Modified Linear/Polynomial/Exponential Ratio Models with its kernel formed by the log ratio between Sentinel-2′s green and blue bands, are used to fit the spectral data with ICESat-2 height profiles. After water depth mapping using the trained model, independent ICESat-2 point clouds are used to validate the Sentinel-2 derived bathymetry. The RMSE values of the three models using the weighted average of multiple images for these six islands are within 0.50–0.90 m in 0–15 m deep. We also demonstrate that a synthesis of satellite laser altimetry and optical remote sensing can produce SDB results that potentially meet the requirement of category C in Zones of Confidence (ZOC) of the Electronic Navigational Chart (ENC) in 0–8 m deep. It is foreseen that ICESat-2 will be a helpful tool for mapping coastal and shallow waters around the world especially where bathymetric data are unavailable.

Coastal Bathymetry↗
DOE OSTI2026

Allometric and Mobile Terrestrial LiDAR Modeling of Aboveground Woody Biomass of Populus in Coppice Production

Poplars ( Populus spp.) and their hybrids are increasingly being grown in coppice production to generate bioenergy feedstocks at frequent intervals. Allometric equations are re-quired to predict aboveground biomass (AGB) of coppiced individuals with minimal field measurements. Likewise, remote sensing tools like LiDAR (light detection and ranging) can be used if models are available to predict AGB from point cloud data. Therefore, this study sought to develop equations to predict dry woody AGB from field measurements and LiDAR data from coppiced poplar field trials containing eastern cottonwood ( P. del-toides ) and hybrid poplar taxa. We found that taxa-specific allometric models containing the summed basal area of the three largest stems in the coppice provided the best predictive model, with stem height and stem count failing to provide additional explanatory power. The best predictive LiDAR-based model was independent of taxa but had slightly lower adjusted R 2 and higher RMSE than the allometric model. It contained four parameters including crown volume, leaf area index, variance of height returns, and the top point density (i.e., density metric 9 or the proportion of points in the highest point interval when the point cloud is evenly divided into ten vertical intervals). In total, these models can be used to quickly and efficiently estimate dry woody AGB of Populus coppice systems for bioenergy feedstock production.

AGB↗