Search Results (288)

Sinkholes are significant geohazards in karst regions that pose risks to landscapes and infrastructure by disrupting geological stability. Usually, sinkholes are mapped by field surveys, which is very cost-intensive with regard to vast coverages. One possible solution to derive sinkholes without entering the area is the use of high-resolution digital terrain models, which are also expensive with respect to remote areas. Therefore, this study focusses on the mapping of sinkholes in arid regions from open-access remote sensing data. The case study involves data from the Sentinel missions over the Mangystau region in Kazakhstan provided by the European Space Agency free of cost. The core of the technique is a multi-scale curvature filter bank that highlights sinkholes (and takyrs) by their very special illumination pattern in Sentinel-2 images. Marginal confusions with vegetation shadows are excluded by consulting the newly developed Combined Vegetation Doline Index based on Sentinel-1 and Sentinel-2. The geospatial analysis reveals distinct spatial correlations among sinkholes, takyrs, vegetation, and possible surface discharge. The generic and, therefore, transferable approach reached an accuracy of 92%. However, extensive reference data or comparable methods are not currently available. Full article

The search for mineral resources presents an enduring challenge as these demands consistently surge, and the utilization of geophysics is undeniably intertwined with the pursuit of novel prospects. Technological advancements over recent decades have facilitated access to 2D and 3D visualization software, enabling robust data integrations. Consequently, interpreters possess the latitude to harness their ingenuity and technical acumen in conducting multifarious analyses. Mineral exploration in greenfield areas, a particularly challenging endeavor, often commences with regional surveys and circumscribed information about the terrain. Notwithstanding limited preliminary data, the judicious deployment of filtering, modeling, and inversion techniques with geophysical data holds sway in catalyzing discoveries. This study, with its comprehensive amalgamation of diverse copper occurrence indicators and the novel procedural framework it establishes for processing and integrating airborne gamma-ray spectrometry and magnetometry geophysical and geological data, exemplifies the complexity and depth of our field. Elaborate litho-geophysical profiles, linked with data concerning mineral occurrences and geochemistry, pinpoint potential copper deposits in the area. This multidisciplinary approach and inversion mode provide detailed insights into probable mineralized body continuity and regional structural frameworks, offering valuable guidance for future regional mineral exploration efforts. Full article

For change detection in synthetic aperture radar (SAR) imagery, amplitude change detection (ACD) and coherent change detection (CCD) are widely employed. However, time-series SAR data often contain noise and variability introduced by system and environmental factors, requiring mitigation. Additionally, the stability of SAR signals is preserved when calibration accounts for temporal and environmental variations. Although ACD and CCD techniques can detect changes, spatial variability outside the primary target area introduces complexity into the analysis. This study presents a robust change detection methodology designed to identify urban changes using KOMPSAT-5 time-series data. A comprehensive preprocessing framework—including coregistration, radiometric terrain correction, normalization, and speckle filtering—was implemented to ensure data consistency and accuracy. Statistical homogeneous pixels (SHPs) were extracted to identify stable targets, and coherence-based analysis was employed to quantify temporal decorrelation and detect changes. Adaptive thresholding and morphological operations refined the detected changes, while small-segment removal mitigated noise effects. Experimental results demonstrated high reliability, with an overall accuracy of 92%, validated using confusion matrix analysis. The methodology effectively identified urban changes, highlighting the potential of KOMPSAT-5 data for post-disaster monitoring and urban change detection. Future improvements are suggested, focusing on the stability of InSAR orbits to further enhance detection precision. The findings underscore the potential for broader applications of the developed SAR time-series change detection technology, promoting increased utilization of KOMPSAT SAR data for both domestic and international research and monitoring initiatives. Full article

The INterpolated FLOod Surface (INFLOS) tool was developed to meet the operational needs of the Copernicus Emergency Management Service (CEMS) Rapid Mapping (RM) component, which delivers critical crisis information within hours during and after disasters. With increasing demand for accurate and real-time flood depth estimates, INFLOS provides a rapid, adaptable solution for estimating floodwater depth across diverse flood scenarios, using remotely sensed data and high-resolution Digital Terrain Models (DTMs). INFLOS calculates flood depth by interpolating water surface elevation from sample points along flooded area boundaries, derived from satellite imagery. This tool is capable of delivering flood depth estimates in a rapid mapping context, leveraging a multistep interpolation and filtering process for improved accuracy. Tested across fourteen regions in Europe and South America, INFLOS has been successfully integrated into CEMS RM operations. The tool’s computational optimisations further enhance efficiency, improving computation times by up to 15-fold, compared to similar techniques. Indeed, it is able to process areas of up to 6000 ha in a median time of 5.2 min, and up to 30 min at most. In conclusion, INFLOS is currently operational and consistently generates flood depth products quickly, supporting real-time emergency management and reinforcing the CEMS RM portfolio. Full article

Topography estimation is essential for autonomous off-road navigation. Common methods rely on point cloud data from, e.g., Light Detection and Ranging sensors (LIDARs) and stereo cameras. Stereo cameras produce dense point clouds with larger coverage but lower accuracy. LIDARs, on the other hand, have higher accuracy and longer range but much less coverage. LIDARs are also more expensive. The research question examines whether incorporating LIDARs can significantly improve stereo camera accuracy. Current sensor fusion methods use LIDARs’ raw measurements directly; thus, the improvement in estimation accuracy is limited to only LIDAR-scanned locations The main contribution of our new method is to construct a reference ground plane through the interpolation of LIDAR data so that the interpolated maps have similar coverage as the stereo camera’s point cloud. The interpolated maps are fused with the stereo camera point cloud via Kalman filters to improve a larger section of the topography map. The method is tested in three environments: controlled indoor, semi-controlled outdoor, and unstructured terrain. Compared to the existing method without LIDAR interpolation, the proposed approach reduces average error by 40% in the controlled environment and 67% in the semi-controlled environment, while maintaining large coverage. The unstructured environment evaluation confirms its corrective impact. Full article

In the active–passive fusion-based bathymetry inversion method using single-temporal images, image data often suffer from errors due to inadequate atmospheric correction and interference from neighboring land and water pixels. This results in the generation of noise, making high-quality data difficult to obtain. To address this problem, this paper introduces a multi-temporal image fusion method. First, a median filter is applied to separate land and water pixels, eliminating the influence of adjacent land and water pixels. Next, multiple images captured at different times are fused to remove noise caused by water surface fluctuations and surface vessels. Finally, ICESat-2 laser altimeter data are fused with multi-temporal Sentinel-2 satellite data to construct a machine learning framework for coastal bathymetry. The bathymetric control points are extracted from ICESat-2 ATL03 products rather than from field measurements. A backpropagation (BP) neural network model is then used to incorporate the initial multispectral information of Sentinel-2 data at each bathymetric point and its surrounding area during the training process. Bathymetric maps of the study areas are generated based on the trained model. In the three study areas selected in the South China Sea (SCS), the validation is performed by comparing with the measurement data obtained using shipborne single-beam or multi-beam and airborne laser bathymetry systems. The root mean square errors (RMSEs) of the model using the band information after image fusion and median filter processing are better than 1.82 m, and the mean absolute errors (MAEs) are better than 1.63 m. The results show that the proposed method achieves good performance and can be applied for shallow-water terrain inversion. Full article

This paper presents a comprehensive approach to evaluating the ability of multi-legged robots to traverse confined and geometrically complex unstructured environments. The proposed approach utilizes advanced point cloud processing techniques integrating voxel-filtered cloud, boundary and mesh generation, and dynamic traversability analysis to enhance the robot’s terrain perception and navigation. The proposed framework was validated through rigorous simulation and experimental testing with humanoid robots, showcasing the potential of the proposed approach for use in applications/environments characterized by complex environmental features (navigation inside collapsed buildings). The results demonstrate that the proposed framework provides the robot with an enhanced capability to perceive and interpret its environment and adapt to dynamic environment changes. This paper contributes to the advancement of robotic navigation and path-planning systems by providing a scalable and efficient framework for environment analysis. The integration of various point cloud processing techniques into a single architecture not only improves computational efficiency but also enhances the robot’s interaction with its environment, making it more capable of operating in complex, hazardous, unstructured settings. Full article

In this paper, the application is investigated of fast Fourier transform filtering (FFT-FR) to high spatial resolution digital terrain models (HR-DTM) derived from LiDAR sensors, assessing its efficacy in identifying genuine relief elements, including both natural geological features and anthropogenic landforms. The suitability of the derived filtered geomorphic references (FGRs) is evaluated through spatial correlation with ground truths (GTs) extracted from the topographical and geological geodatabases of Santander Bay, Northern Spain. In this study, it is revealed that existing artefacts, derived from vegetation or human infrastructures, pose challenges in the units’ construction, and large physiographic units are better represented using low-pass filters, whereas detailed units are more accurately depicted with high-pass filters. The results indicate a propensity of high-frequency filters to detect anthropogenic elements within the DTM. The quality of GTs used for validation proves more critical than the geodatabase scale. Additionally, in this study, it is demonstrated that the footprint of buildings remains uneliminated, indicating that the model is a poorly refined digital surface model (DSM) rather than a true digital terrain model (DTM). Experiments validate the DTM’s capability to highlight contacts and constructions, with water detection showing high precision (≥60%) and varying precision for buildings. Large units are better captured with low filters, whilst high filters effectively detect anthropogenic elements and more detailed units. This facilitates the design of validation and correction procedures for DEMs derived from LiDAR point clouds, enhancing the potential for more accurate and objective Earth surface representation. Full article

This paper explores the application of Airborne Laser Scanning (ALS) technology in the investigation of the medieval Norman site of Castel Fenuculus, in the lower Calore Valley, Southern Italy. This research aims to assess the actual potential of the ALS dataset provided by the Italian Ministry of the Environment (MATTM) for the detection and visibility of archaeological features in a difficult environment characterised by dense vegetation and morphologically complex terrain. The study focuses on improving the detection and interpretation of archaeological features through a systematic approach that includes the acquisition of ALS point clouds, the implementation of classification algorithms, and the removal of vegetation layers to reveal the underlying terrain and ruined structures. Furthermore, the aim was to test different classification and filtering techniques to identify the best one to use in complex contexts, with the intention of providing a comprehensive and replicable methodological framework. Finally, the Digital Elevation Model (DTM), and various LiDAR-derived models (LDMs), were generated to visualise and highlight topographical features potentially related to archaeological remains. The results obtained demonstrate the significant potential of LiDAR in identifying and documenting archaeological features in densely vegetated and wooded landscapes. Full article

Interferometric Synthetic Aperture Radar (InSAR) is a widely used remote sensing technology for Earth observation, enabling the detection and measurement of ground deformation through the generation of interferograms. However, phase noise remains a critical factor that degrades interferogram quality. To address this issue, this study proposes MOMFNet, a deep learning approach for InSAR phase filtering based on multi-objective multi-kernel feature extraction that leverages multi-objective multi-kernel feature extraction. MOMFNet incorporates a multi-objective loss function that accounts for both the spatial and statistical characteristics of the denoising results, while its multi-kernel convolutional feature extraction module captures multi-scale information comprehensively. Furthermore, the introduction of weighted residual blocks allows the model to adaptively adjust the importance of features, improving its ability to accurately identify and suppress noise. To train the MOMFNet network, we developed an interferogram simulation strategy that uses randomly distorted 2D Gaussian surfaces to simulate terrain variations, Perlin noise to model atmospheric turbulence phases, and negative Gaussian noise to generate random training samples at different noise levels. Comparative experiments with traditional denoising methods and other deep learning approaches, through both qualitative and quantitative analyses, demonstrated that MOMFNet excels in noise suppression and phase recovery, particularly in scenarios involving large gradients and random noise. Empirical studies using Sentinel-1 satellite data from the Yanzhou coal mine validated the practical value of MOMFNet, showing that it effectively removes irrelevant noise while preserving critical phase details, significantly improving interferogram quality. This research provides important insights into the application of deep learning for InSAR denoising. Full article

The growing demand for high-accuracy mapping and 3D modeling using unmanned aerial vehicles (UAVs) has accelerated advancements in flight dynamics, positioning accuracy, and imaging technology. Structure from motion (SfM), a computer vision-based approach, is increasingly replacing traditional photogrammetry through facilitating the automation of processes such as aerial triangulation (AT), terrain modeling, and orthomosaic generation. This study examines methods to enhance the accuracy of SfM-based AT through real-time kinematic (RTK) UAV imagery, focusing on large-scale infrastructure applications, including a dam and its entire basin. The target area, primarily consisting of homogeneous water surfaces, poses considerable challenges for feature point extraction and image matching, which are crucial for effective SfM. To overcome these challenges and improve the AT accuracy, a constraint equation was applied, incorporating weighted 3D coordinates derived from RTK UAV data. Furthermore, oblique images were combined with nadir images to stabilize AT, and confidence-based filtering was applied to point clouds to enhance geometric quality. The results indicate that assigning appropriate weights to 3D coordinates and incorporating oblique imagery significantly improve the AT accuracy. This approach presents promising advancements for RTK UAV-based AT in SfM-challenging, large-scale environments, thus supporting more efficient and precise mapping applications. Full article

The use of minimalist shoes can lead to enhanced foot somatosensory activation and postural stability but can also increase the incidence of overuse injuries during high-impact or prolonged activities. Therefore, it appears useful to explore new strategies that employ minimalist shoes to effectively facilitate the somatosensory activation of the foot while minimizing acute and cumulative joint stress and risk of injury. To this purpose, this study introduces a novel exercise paradigm: walking for three minutes in ultra-minimalist shoes on artificial flat surfaces designed to mimic highly rugged natural terrains. The activity of foot muscles and lumbar multifidus, pain perception level, and stabilometric parameters were recorded and analyzed to characterize the novel exercise, comparing it to walking barefoot or in conventional shoes on the same rugged surface. Compared to being barefoot, ultra-minimalist shoes effectively filter nociceptive stimuli from the rugged surface, while compared to conventional shoes, they enhance the somatosensory input supporting static stability. Walking with ultra-minimalist and conventional shoes yielded higher gastrocnemius activity and lower tibialis anterior and multifidus activity compared to barefoot walking. This study highlights a practical and safe framework for enhancing foot somatosensory activation and postural stability. The new intervention is suitable for people of all ages, requires minimal time commitment, and can be performed in controlled environments such as homes, gyms, and healthcare facilities. Full article

For point cloud data compiled over larger spatial domains, the rasterization of features is effectively streamlined by means of structured query language (SQL). This comprises enhanced control with filtering data and implementing specific metrics for summarization to derive environmental covariates. LiDAR (light detection and ranging) point cloud data were analyzed via SQL to generate rasterized covariates of the digital terrain model (DTM), canopy height model (CHM), and a gap fraction for a boreal study region in Northern Ontario, Canada. These features, along with topographic covariates computed from the DTM, were later ascertained as important for subsequent tree species classification research. Full article

Understory terrain plays a multi-faceted role in ecosystems, biodiversity, and productivity in forests by influencing different major factors, such as hydrological processes, soils, climate, and light conditions. Strong illuminants (e.g., sunlight) from ground surfaces and atmosphere can introduce additional photons into the ATLAS system. These photons can, consequently, be mistakenly identified as laser photons reflected from ground surfaces. The presence of such ambient light, particularly under low-photon-count conditions, can significantly increase elevation measurement errors. In this context, this study aims to propose a method for extracting reliable understory elevation control points under varying forest conditions, based on the parameter attributes of ICESat-2/ATLAS data. The overall filtered data resulted in a coefficient of determination (R²), root mean square error (RMSE), and standard deviation (STD) of 0.99, 2.77 m, and 2.42 m, respectively. The greatest accuracy improvement was found in the Puerto Rico study area, showing decreases in the RMSE and STD values by 2.68 and 2.67 m, respectively. On the other hand, canopy heights and slopes exhibited relatively large impacts on noise interferences. In addition, there were decreases in the RMSE and STD values by 4.57 and 4.64 m, respectively, under the very tall canopy category, whereas under steep slope conditions, the RMSE and STD values of the filtering results decreased by 4.59 and 4.34 m, respectively. The proposed method can enhance the overall accuracy of elevation data, allowing for the significant extraction of understory elevation control points, ultimately optimizing forest management practices and improving ecological assessments. Full article

Quadruped robots possess significant mobility in complex and uneven terrains due to their outstanding stability and flexibility, making them highly suitable in rescue missions, environmental monitoring, and smart agriculture. With the increasing use of quadruped robots in more demanding scenarios, ensuring accurate and stable state estimation in complex environments has become particularly important. Existing state estimation algorithms relying on multi-sensor fusion, such as those using IMU, LiDAR, and visual data, often face challenges on non-stationary terrains due to issues like foot-end slippage or unstable contact, leading to significant state drift. To tackle this problem, this paper introduces a state estimation algorithm that integrates an invariant extended Kalman filter (InEKF) with a disturbance observer, aiming to estimate the motion state of quadruped robots on non-stationary terrains. Firstly, foot-end slippage is modeled as a deviation in body velocity and explicitly included in the state equations, allowing for a more precise representation of how slippage affects the state. Secondly, the state update process integrates both foot-end velocity and position observations to improve the overall accuracy and comprehensiveness of the estimation. Lastly, a foot-end contact probability model, coupled with an adaptive covariance adjustment strategy, is employed to dynamically modulate the influence of the observations. These enhancements significantly improve the filter’s robustness and the accuracy of state estimation in non-stationary terrain scenarios. Experiments conducted with the Jueying Mini quadruped robot on various non-stationary terrains show that the enhanced InEKF method offers notable advantages over traditional filters in compensating for foot-end slippage and adapting to different terrains. Full article