Article
Chemistry, Analytical
Shilun Yin, Donghai Xie, Yibo Fu, Zhibo Wang, Ruofei Zhong
Summary: This study proposes a novel uncontrolled two-step iterative calibration algorithm that eliminates motion distortion and improves the accuracy of lidar-IMU systems. The algorithm corrects the distortion of rotational motion by matching the original inter-frame point cloud and then matches the point cloud with IMU after attitude prediction. The algorithm performs iterative motion distortion correction and rotation matrix calculation to obtain high-precision calibration results, demonstrating high accuracy, robustness, and efficiency compared to existing algorithms.
Article
Engineering, Mechanical
Hao Geng, Zhiyuan Gao, Guorun Fang, Yangmin Xie
Summary: This article introduces an effective solution for dense scanning, focusing on autonomous target recognition and accurate 3D localization in the process of geometrical modeling. By employing system calibration and fast outlier exclusion techniques, precise and clean data can be obtained, enabling the extraction of target objects and accurate estimation of their positions and orientations.
Article
Environmental Sciences
Yujia Zhang, Jungwon Kang, Gunho Sohn
Summary: The Mobile Mapping System (MMS) plays a crucial role in generating accurate 3D maps for various applications. However, traditional MMS with tilted LiDAR faces limitations in capturing comprehensive environmental data. To address these limitations, we propose the PVL-Cartographer SLAM approach for MMS, which incorporates multiple sensors for reliable and precise mapping and localization. The proposed system consists of two subsystems: early fusion and intermediate fusion, which simplify the integration of visual features and merge camera and LiDAR nodes using a pose graph, respectively. Comprehensive testing shows that the proposed SLAM system can generate trustworthy outcomes in feature-scarce environments.
Article
Robotics
Diego Tiozzo Fasiolo, Lorenzo Scalera, Eleonora Maset
Summary: In this paper, a comparison of open-source LiDAR and Inertial Measurement Unit (IMU)-based Simultaneous Localization and Mapping (SLAM) approaches for 3D robotic mapping is proposed. Experimental tests using different mobile platforms in indoor and outdoor scenarios were conducted. The results show the SLAM methods that are more suitable for 3D mapping and highlight the feasibility of mobile robotics in autonomous mapping.
Article
Chemistry, Analytical
Hasan Ismail, Rohit Roy, Long-Jye Sheu, Wei-Hua Chieng, Li-Chuan Tang
Summary: This paper presents a possible method for an indoor mobile robot to perform indoor exploration with SLAM using LiDAR. It introduces the e-SLAM technique which allows the robot to construct a map on unexplored floors and saves installation time. The experiment verifies the consistency between LiDAR and IMU in navigation.
Article
Agriculture, Multidisciplinary
Stefano Chiappini, Roberto Pierdicca, Francesco Malandra, Enrico Tonelli, Eva Savina Malinverni, Carlo Urbinati, Alessandro Vitali
Summary: This study compared the efficiency and accuracy of Mobile Laser Scanner (MLS) combined with Simultaneous Localization and Mapping (SLAM) technology and traditional field survey for measuring important forest dendrometric variables. The results showed that MLS had no bias in stem diameter estimates, but underestimated tree height and crown base height. Volume values also showed a bias. Despite the limitations, the method is suitable for operational applications in simple forest structures.
COMPUTERS AND ELECTRONICS IN AGRICULTURE
(2022)
Article
Computer Science, Information Systems
Yuan-Heng Huang, Chin-Te Lin
Summary: This study proposes a global localization approach to improve the localization of mobile robots using LiDAR and a dual AprilTag. The approach uses a spatial coordinate system constructed with two neighboring AprilTags as the reference basis for global localization, and generates precise initial particle distribution for AMCL based on the relative tag positions. The study contributes to faster and more accurate robot localization, solving issues of failure localization and limiting the error of global localization.
Article
Geochemistry & Geophysics
Yanfeng Gu, Chen Wang, Xian Li
Summary: This article proposes an intensity-independent stereo registration method for UAV platforms, which combines a physical model of the integrated system, sensor detection principles, position and orientation system, and ray tracing model to achieve stereo registration of hyperspectral images and LiDAR data. Experimental results show that the proposed method has better registration performance in different scenarios.
IEEE TRANSACTIONS ON GEOSCIENCE AND REMOTE SENSING
(2022)
Article
Engineering, Multidisciplinary
Zhenbin Liu, Zengke Li, Ao Liu, Yaowen Sun, Shiyi Jing
Summary: Emergent fields like Internet of Things applications, driverless cars, and indoor mobile robots have created a growing demand for simultaneous localization and mapping (SLAM) technology. This study introduces BVLI-SLAM, a SLAM scheme that utilizes binocular vision, 2D lidar, and an inertial measurement unit (IMU) sensor. By combining vision and IMU pose estimation, BVLI-SLAM improves the initial values for the 2D lidar mapping algorithm, resulting in better mapping effects. In weak texture areas, lidar assists vision by providing improved plane and yaw angle constraints, leading to higher precision 6-degree of freedom pose estimation. BVLI-SLAM uses graph optimization to integrate data from IMU, binocular camera, and laser. It employs IMU pre-integration to calculate pose in real time through a sliding window-based bundle adjustment optimization that combines visual reprojection error and laser matching error. Outdoor and indoor experiments demonstrate that BVLI-SLAM outperforms VINS-Fusion and Cartographer in terms of mapping effect, positioning accuracy, and robustness, addressing the challenges of positioning and plane mapping in complex indoor scenes.
MEASUREMENT SCIENCE AND TECHNOLOGY
(2023)
Article
Robotics
Sheng Bao, Wenzhong Shi, Pengxin Chen, Haodong Xiang
Summary: A mobile mapping system (MMS) requires sensor calibration to ensure data quality, and global navigation satellite system (GNSS) and light detection and ranging (LiDAR) are important components of an MMS. We propose two calibration methods for sole GNSS sensors, which show good repeatability in experimental results.
IEEE ROBOTICS AND AUTOMATION LETTERS
(2022)
Review
Chemistry, Multidisciplinary
Jun Sheng Kwok, Kate Fox, Cees Bil, Francesca Langenberg, Anna H. Balabanski, Angela Dos Santos, Andrew Bivard, Fergus Gardiner, Christopher Bladin, Mark Parsons, Henry Zhao, Skye Coote, Christopher Levi, Henry De Aizpurua, Bruce Campbell, Stephen M. Davis, Geoffrey A. Donnan, Damien Easton, Toh Yen Pang
Summary: Stroke, as the second leading cause of death globally, requires early treatment for improved patient outcomes. The concept of a mobile stroke unit (MSU) has been implemented to provide diagnosis and treatment during the ultra-early time window in the pre-hospital setting. However, most rural communities face challenges in accessing specialized stroke facilities. The aircraft counterpart (Air-MSU) offers a potential solution by expanding the catchment area in Australia.
APPLIED SCIENCES-BASEL
(2022)
Article
Chemistry, Analytical
Rohit Roy, You-Peng Tu, Long-Jye Sheu, Wei-Hua Chieng, Li-Chuan Tang, Hasan Ismail
Summary: This research proposes the motion control of an indoor mobile robot (IMR) using e-SLAM techniques with limited sensors, specifically only LiDAR. The path is generated from simple floor plans constructed by the IMR exploration. The IMR recognizes its location and environment gradually from the LiDAR data.
Article
Chemistry, Multidisciplinary
Kui Xiao, Wentao Yu, Weirong Liu, Feng Qu, Zhenyan Ma
Summary: This paper proposes a new tightly coupled dual lidar inertial odometry SLAM framework, which effectively addresses the problems of poor positioning accuracy, single use of mapping scene, and unclear structural characteristics by fusing horizontal and vertical lidar data and jointly optimizing IMU state values.
APPLIED SCIENCES-BASEL
(2022)
Article
Engineering, Multidisciplinary
Anton Nunez-Seoane, Joaquin Martinez-Sanchez, Erik Rua, Pedro Arias
Summary: This article compares the use of Mobile Laser Scanners (MLS) and Aerial Laser Scanners (ALS) for digitizing the road environment and detecting road slopes. The study found that ALS data and its corresponding algorithm achieved better detection and delimitation results compared to MLS. Measuring the road from a terrestrial perspective negatively impacted the detection process, while an aerial perspective allowed for scanning of the entire slope structure.
Article
Engineering, Electrical & Electronic
Zhong Wang, Lin Zhang, Shengjie Zhao, Shaoming Zhang
Summary: Global localization is a key problem for single-line LiDAR based robot navigation. This study proposes a novel solution, D2S1R, which compresses the 2D search space by establishing a dense signature database and combining with fast retrieval technology. Experimental results show that D2S1R can achieve global localization in complex indoor scenes within 0.03s with high accuracy and success rate.
IEEE SENSORS JOURNAL
(2021)
Article
Engineering, Aerospace
Tiago De Oliveira Marques, Maija Makela, Leslie Montloin, Terhi Lehtola, Sarang Thombre, Ville Lehtola
Summary: This study explores a collaborative crowdsourcing-based method using a smartphone receiver network to obtain GNSS meteorology measurements of the troposphere water vapor distribution. The method has the potential to expand the use of GNSS meteorology techniques into areas not covered by high-end receiver networks.
ADVANCES IN SPACE RESEARCH
(2021)
Article
Computer Science, Information Systems
Juho-Pekka Virtanen, Kaisa Jaalama, Tuulia Puustinen, Arttu Julin, Juha Hyyppa, Hannu Hyyppa
Summary: 3D city models and browser-based applications are commonly used tools in urban areas, including analysis views and visibility for property valuation and evaluation of urban green infrastructure. A real-time semantic view analysis method based on a 3D city model is proposed, which can be applied to various purposes such as property valuation and evaluation of urban green infrastructure. Several potential development directions are identified, such as integrating the semantic view analysis with virtual reality immersive visualization or 3D city model application development platforms.
ISPRS INTERNATIONAL JOURNAL OF GEO-INFORMATION
(2021)
Review
Engineering, Civil
Sarang Thombre, Zheng Zhao, Henrik Ramm-Schmidt, Jose M. Vallet Garcia, Tuomo Malkamaki, Sergey Nikolskiy, Toni Hammarberg, Hiski Nuortie, M. Zahidul H. Bhuiyan, Simo Sarkka, Ville V. Lehtola
Summary: Autonomous ships, using perception systems and AI techniques, are expected to enhance safety and efficiency in maritime navigation. This article introduces the operational requirements for autonomous vessels and discusses suitable sensors and AI techniques for their perception systems. The integration of four sensor families and sources of auxiliary data are explained. The perception tasks involve problems that can be solved using AI techniques such as deep learning and Gaussian processes.
IEEE TRANSACTIONS ON INTELLIGENT TRANSPORTATION SYSTEMS
(2022)
Article
Geography, Physical
S. Karam, V Lehtola, G. Vosselman
Summary: The article introduces a loop-closing continuous-time LIDAR-IMU SLAM method for indoor environments based on planar features for local and global optimization. The method demonstrates excellent performance in mapping complex indoor environments, with the majority of absolute distances between point clouds generated by the proposed system and a commercial system being less than 3 cm.
ISPRS JOURNAL OF PHOTOGRAMMETRY AND REMOTE SENSING
(2021)
Article
Chemistry, Analytical
Pauli Putkiranta, Matti Kurkela, Matias Ingman, Aino Keitaanniemi, Aimad El Issaoui, Harri Kaartinen, Eija Honkavaara, Hannu Hyyppae, Juha Hyyppae, Matti T. Vaaja
Summary: To improve road maintenance, more efficient procedures are required, and the use of 3D mapping for data collection is recommended. High-resolution photogrammetry and TLS methods perform well, while handheld scanners show relatively inconsistent results.
Article
Environmental Sciences
Samuli Junttila, Roope Nasi, Niko Koivumaki, Mohammad Imangholiloo, Ninni Saarinen, Juha Raisio, Markus Holopainen, Hannu Hyyppa, Juha Hyyppa, Paeivi Lyytikainen-Saarenmaa, Mikko Vastaranta, Eija Honkavaara
Summary: Climate change is causing increased reproduction of pest insects, resulting in global tree mortality. It is therefore crucial to have early information on pest infestation to mitigate the damage. This study successfully classified trees in decline due to European spruce bark beetle infestation using multispectral unmanned aerial vehicle imagery. The results indicate that fall provides the most accurate classification results.
Article
Computer Science, Information Systems
Kaisa Jaalama, Heikki Kauhanen, Aino Keitaanniemi, Toni Rantanen, Juho-Pekka Virtanen, Arttu Julin, Matti Vaaja, Matias Ingman, Marika Ahlavuo, Hannu Hyyppa
Summary: This study used 3D technology to monitor elements of the green factor tool in a yard in Espoo, Finland, indicating that different means of point cloud generation have varying abilities to convey information on green elements, with elements having clear geometrical forms being more suitable for 3D measurement-based monitoring.
ISPRS INTERNATIONAL JOURNAL OF GEO-INFORMATION
(2021)
Article
Computer Science, Artificial Intelligence
Simone Borsci, Ville V. Lehtola, Francesco Nex, Michael Ying Yang, Ellen-Wien Augustijn, Leila Bagheriye, Christoph Brune, Ourania Kounadi, Jamy Li, Joao Moreira, Joanne Van der Nagel, Bernard Veldkamp, Duc Le, Mingshu Wang, Fons Wijnhoven, Jelmer M. Wolterink, Raul Zurita-Milla
Summary: The article reviews the EU Commission's whitepaper on Artificial Intelligence and highlights potential conflicts with current societal, technical, and methodological constraints. The lack of a coherent EU vision and methods to support sustainable AI diffusion are identified as main obstacles. The article recommends complementary rules and compensatory mechanisms to avoid market fragmentation, as well as research to address technical and methodological open questions for the sustainable development of human-AI co-action.
Article
Forestry
Samuli Junttila, Mariana Campos, Teemu Holtta, Lauri Lindfors, Aimad El Issaoui, Mikko Vastaranta, Hannu Hyyppa, Eetu Puttonen
Summary: In this study, the movement of tree branches was analyzed in a long-term drought experiment and at a circadian time scale. The results showed a strong correlation between branch movement and leaf water status, supporting the hypothesis that changes in leaf and branch water status can cause branch movements. These findings are important for monitoring and understanding the water relations of tree communities.
Article
Engineering, Aerospace
Ville V. Lehtola, Maija Makela, Tiago de Oliveira Marques, Leslie Montloin
Summary: Water vapor is the dominant greenhouse gas in the atmosphere, impacting weather forecasts and GNSS measurements. A new technique is proposed to estimate water vapor distribution using roving receivers, and even low-quality receiver data like from smartphones can be utilized to improve the estimates.
ADVANCES IN SPACE RESEARCH
(2022)
Proceedings Paper
Geography, Physical
V. V. Lehtola, H. Hyyti, T. Malkamaki
Summary: The question of using high-cost sensors in low-cost sensor research is paradoxical. This article explores the reason behind the usefulness and criticality of high-cost sensors in such research, offering examples and discussing limitations.
7TH INTERNATIONAL WORKSHOP LOWCOST 3D - SENSORS, ALGORITHMS, APPLICATIONS
(2022)
Article
Construction & Building Technology
Aino Keitaanniemi, Juho-Pekka Virtanen, Petri Ronnholm, Antero Kukko, Toni Rantanen, Matti T. Vaaja
Summary: This study proposes a novel indoor mapping strategy that uses SLAM laser scanner to support building-scale registration of non-overlapping TLS point clouds, improving efficiency and accuracy in measurements.
Article
Imaging Science & Photographic Technology
Matti Kurkela, Mikko Maksimainen, Arttu Julin, Toni Rantanen, Juho-Pekka Virtanen, Juha Hyyppa, Matti Tapio Vaaja, Hannu Hyyppa
Summary: This study introduces a method to measure 3D luminance point clouds using a terrestrial laser scanning instrument and high dynamic range panoramic camera system. The research demonstrates the accuracy and color measurement properties of luminance calibration in a laboratory setting, while also discussing the potential of contemporary TLS technology for luminance measuring. Through a case study, the process of 3D luminance measurement with a luminance-calibrated laser scanner is presented.
JOURNAL OF IMAGING
(2021)
Article
Geography
Shayan Nikoohemat, Abdoulaye A. Diakite, Ville Lehtola, Sisi Zlatanova, George Vosselman
Summary: This translation introduces the process of reconstructing indoor 3D models and the existing issues, proposing a conceptual framework based on formal grammars to check the consistency of the reconstructed 3D models. The method involves three steps to validate the model's correctness, including checking individual components, verifying interactions between instances, and conducting model consistency checks for specific applications.
TRANSACTIONS IN GIS
(2021)
