Automated Quality Assessment of Interferometric Ring Laser Data

In seismology, an increased effort to observe all 12 degrees of freedom of seismic ground motion by complementing translational ground motion observations with measurements of strain and rotational motions could be witnessed in recent decades, aiming at an enhanced probing and understanding of Earth and other planetary bodies. The evolution of optical instrumentation, in particular large-scale ring laser installations, such as G-ring and ROMY (ROtational Motion in seismologY), and their geoscientific application have contributed significantly to the emergence of this scientific field. The currently most advanced, large-scale ring laser array is ROMY, which is unprecedented in scale and design. As a heterolithic structure, ROMY’s ring laser components are subject to optical frequency drifts. Such Sagnac interferometers require new considerations and approaches concerning data acquisition, processing and quality assessment, compared to conventional, mechanical instrumentation. We present an automated approach to assess the data quality and the performance of a ring laser, based on characteristics of the interferometric Sagnac signal. The developed scheme is applied to ROMY data to detect compromised operation states and assign quality flags. When ROMY’s database becomes publicly accessible, this assessment will be employed to provide a quality control feature for data requests.

Laser-Based People Detection and Obstacle Avoidance for a Hospital Transport Robot

This paper describes the development of a laser-based people detection and obstacle avoidance algorithm for a differential-drive robot, which is used for transporting materials along a reference path in hospital domains. Detecting humans from laser data is an important functionality for the safety of navigation in the shared workspace with people. Nevertheless, traditional methods normally utilize machine learning techniques on hand-crafted geometrical features extracted from individual clusters. Moreover, the datasets used to train the models are usually small and need to manually label every laser scan, increasing the difficulty and cost of deploying people detection algorithms in new environments. To tackle these problems, (1) we propose a novel deep learning-based method, which uses the deep neural network in a sliding window fashion to effectively classify every single point of a laser scan. (2) To increase the speed of inference without losing performance, we use a jump distance clustering method to decrease the number of points needed to be evaluated. (3) To reduce the workload of labeling data, we also propose an approach to automatically annotate datasets collected in real scenarios. In general, the proposed approach runs in real-time, performs much better than traditional methods, and can be straightforwardly extended to 3D laser data. Secondly, conventional pure reactive obstacle avoidance algorithms can produce inefficient and oscillatory behaviors in dynamic environments, making pedestrians confused and possibly leading to dangerous reactions. To improve the legibility and naturalness of obstacle avoidance in human crowded environments, we introduce a sampling-based local path planner, similar to the method used in autonomous driving cars. The key idea is to avoid obstacles by switching lanes. We also adopt a simple rule to decrease the number of unnecessary deviations from the reference path. Experiments carried out in real-world environments confirmed the effectiveness of the proposed algorithms.

Color and Laser Data as a Complementary Approach for Heritage Documentation

Heritage recording has received much attention and benefits from recent developments in the field of range and imaging sensors. While these methods have often been viewed as two different methodologies, data integration can achieve different products, which are not always found in a single technique. Data integration in this paper can be divided into two levels: laser scanner data aided by photogrammetry and photogrammetry aided by scanner data. At the first level, superior radiometric information, mobility and accessibility of imagery can be actively used to add texture information and allow for new possibilities in terms of data interpretation and completeness of complex site documentation. In the second level, true orthophoto is generated based on laser data, the results are rectified images with a uniform scale representing all objects at their planimetric position. The proposed approaches enable flexible data fusion and allow images to be taken at an optimum time and position for radiometric information. Data fusion usually involves serious distortions in the form of a double mapping of occluded objects that affect the product quality. In order to enhance the efficiency of visibility analysis in complex structures, a proposed visibility algorithm is implemented into the developed methods of texture mapping and true orthophoto generation. The algorithm filters occluded areas based on a patch processing using a grid square unit set around the projected vertices. The depth of the mapped triangular vertices within the patch neighborhood is calculated to assign the visible one. In this contribution, experimental results from different historical sites in Jordan are presented as a validation of the proposed algorithms. Algorithms show satisfactory performance in terms of completeness and correctness of occlusion detection and spectral information mapping. The results indicate that hybrid methods could be used efficiently in the representation of heritage structures.

UAS Imagery-Based Mapping of Coarse Wood Debris in a Natural Deciduous Forest in Central Germany (Hainich National Park)

Dead wood such as coarse dead wood debris (CWD) is an important component in natural forests since it increases the diversity of plants, fungi, and animals. It serves as habitat, provides nutrients and is conducive to forest regeneration, ecosystem stabilization and soil protection. In commercially operated forests, dead wood is often unwanted as it can act as an originator of calamities. Accordingly, efficient CWD monitoring approaches are needed. However, due to the small size of CWD objects satellite data-based approaches cannot be used to gather the needed information and conventional ground-based methods are expensive. Unmanned aerial systems (UAS) are becoming increasingly important in the forestry sector since structural and spectral features of forest stands can be extracted from the high geometric resolution data they produce. As such, they have great potential in supporting regular forest monitoring and inventory. Consequently, the potential of UAS imagery to map CWD is investigated in this study. The study area is located in the center of the Hainich National Park (HNP) in the federal state of Thuringia, Germany. The HNP features natural and unmanaged forest comprising deciduous tree species such as Fagus sylvatica (beech), Fraxinus excelsior (ash), Acer pseudoplatanus (sycamore maple), and Carpinus betulus (hornbeam). The flight campaign was controlled from the Hainich eddy covariance flux tower located at the Eastern edge of the test site. Red-green-blue (RGB) image data were captured in March 2019 during leaf-off conditions using off-the-shelf hardware. Agisoft Metashape Pro was used for the delineation of a three-dimensional (3D) point cloud, which formed the basis for creating a canopy-free RGB orthomosaic and mapping CWD. As heavily decomposed CWD hardly stands out from the ground due to its low height, it might not be detectable by means of 3D geometric information. For this reason, solely RGB data were used for the classification of CWD. The mapping task was accomplished using a line extraction approach developed within the object-based image analysis (OBIA) software eCognition. The achieved CWD detection accuracy can compete with results of studies utilizing high-density airborne light detection and ranging (LiDAR)-based point clouds. Out of 180 CWD objects, 135 objects were successfully delineated while 76 false alarms occurred. Although the developed OBIA approach only utilizes spectral information, it is important to understand that the 3D information extracted from our UAS data is a key requirement for successful CWD mapping as it provides the foundation for the canopy-free orthomosaic created in an earlier step. We conclude that UAS imagery is an alternative to laser data in particular if rapid update and quick response is required. We conclude that UAS imagery is an alternative to laser data for CWD mapping, especially when a rapid response and quick reaction, e.g., after a storm event, is required.