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Studies have indicated that the decrease in the extent of Arctic sea ice in recent years has had a significant impact on the Arctic ecosystem and global climate. In order to understand the evolution of sea ice, it is becoming increasingly imperative to have continuous observations of Arctic-wide sea ice with high spatial resolution. Passive microwave sensors have the benefit of being less susceptible to weather, wider coverage, and higher temporal resolution. However, it is challenging to retrieve accurate parameters of sea ice due to the low spatial resolution of passive microwave images. Therefore, improving the spatial resolution of passive microwave images is beneficial for reducing the uncertainty of sea ice parameters. In this paper, four competitive multi-image super-resolution (MISR) networks are selected to explore the applicability of the networks on multi-frequency Advanced Microwave Scanning Radiometer 2 (AMSR2) images of Arctic sea ice. The upsampling factor is set to 4 in the experiment. Firstly, the optimal input lengths of the image sequence for the four MISR networks are found, and then the best network on different frequency band images is further identified. Furthermore, some factors, including seasons, sea ice motion, and polarization mode of images, that may affect the super-resolution (SR) results are analyzed. The experimental results indicate that utilizing images from winter yields superior SR results. Conversely, SR results are the worst during summer across all four MISR networks, exhibiting the largest difference in PSNR of 4.48 dB. Additionally, the SR performance is observed to be better for images with smaller magnitudes of sea ice motion compared to those with larger motions, with the maximum PSNR difference of 2.04 dB. Finally, the SR results for vertically polarized images surpass those for horizontally polarized images, showcasing an average advantage of 4.02 dB in PSNR and 0.0061 in SSIM. In summary, valuable suggestions for selecting MISR models for passive microwave images of Arctic sea ice at different frequency bands are offered in this paper. Additionally, the quantification of the various impact factors on SR performance is also discussed in this paper, which provides insights into optimizing MISR algorithms for passive microwave sea ice imagery.

In multi-robot simultaneous localization and mapping (SLAM) systems, the system must create a consistent global map with multiple local maps and loop closures between robot poses. However, false-positive loop closures caused by perceptual aliasing can severely distort the global map, especially in GNSS-denied areas, where a good prior of relative poses between robots is unavailable. In addition, the performance of the consistency metric in existing map fusion methods relies on accurate odometry from each robot. However, in practice, cumulative noise is inevitably present in robot trajectories, which leads to poor map fusion with existing methods. Thus, in this paper, we propose a robust consistency-based inter-robot and intra-robot loop closure selection algorithm for map fusion. We consider both pairwise-loop consistency and loop-odometry consistency to improve robustness against false-positive loop closures and accumulative noise in the odometry. Specifically, we select a reliable inter-robot loop closure measurement with a consistency-based strategy to provide an initial prior of relative pose between two robot trajectories and update the pose variables of the robot trajectories. The loop closure selection problem is formulated as a maximum edge weight clique problem in graph theory. A performance evaluation of the proposed method was conducted on the ManhattanOlson3500, modified CSAIL and Bicocca datasets, and the experimental results demonstrate that the proposed method outperforms the pairwise consistency measurement set maximization method (PCM) under severe accumulative noise and can be integrated with M-estimation methods.

Subglacial water bodies are critical components in analyzing the instability of the Antarctic ice sheet. Their detection and identification normally rely on geophysical and remote sensing methods such as airborne radar echo sounding (RES), ground seismic, and satellite/airborne altimetry and gravity surveys. In particular, RES surveys are able to detect basal terrain with a relatively high accuracy that can assist with the mapping of subglacial hydrology systems. Traditional RES processing methods for the identification of subglacial water bodies mostly rely on their brightness in radargrams and hydraulic flatness. In this study, we propose an automatic method with the main objective to differentiate the basal materials by quantitatively evaluating the shape of the A-scope waveform near the basal interface in RES radargrams, which has been seldom investigated. We develop an automatic algorithm mainly based on the traditional short-time Fourier transform (STFT) to quantify the shape of the A-scope waveform in radargrams. Specifically, with an appropriate window width applied on the main peak of each A-scope waveform in the RES radargram, STFT shows distinct and contrasting frequency responses at the ice-water interface and ice-rock interface, which is largely dependent upon their different reflection characteristics at the basal interface. We apply this method on 882 RES radargrams collected in the Antarctic’s Gamburtsev Province (AGAP) in East Antarctica. There are 8822 identified A-scopes with the calculated detection value larger than the set threshold, out of the overall 1,515,065 valid A-scopes in these 882 RES radargrams. Although these identified A-scopes only takes 0.58% of the overall A-scope population, they show exceptionally continuous distribution to represent the subglacial water bodies. Through a comprehensive comparison with existing inventories of subglacial lakes, we successfully verify the validity and advantages of our method in identifying subglacial water bodies using the detection probability for other basal materials of theoretically the highest along-track resolution. The frequency signature obtained by the proposed joint time–frequency analysis provides a new corridor of investigation that can be further expanded to multivariable deep learning approaches for subglacial and englacial material characterization, as well as subglacial hydrology mapping.

Supervised classification is the commonly used method for extracting ground information from images. However, for supervised classification, the selection and labelling of training samples is an expensive and time-consuming task. Recently, automatic information indexes have achieved satisfactory results for indicating different land-cover classes, which makes it possible to develop an automatic method for labelling the training samples instead of manual interpretation. In this paper, we propose a method for the automatic selection and labelling of training samples for high-resolution image classification. In this way, the initial candidate training samples can be provided by the information indexes and open-source geographical information system (GIS) data, referring to the representative land-cover classes: buildings, roads, soil, water, shadow, and vegetation. Several operations are then applied to refine the initial samples, including removing overlaps, removing borders, and semantic constraints. The proposed sampling method is evaluated on a series of high-resolution remote sensing images over urban areas, and is compared to classification with manually labeled training samples. It is found that the proposed method is able to provide and label a large number of reliable samples, and can achieve satisfactory results for different classifiers. In addition, our experiments show that active learning can further enhance the classification performance, as active learning is used to choose the most informative samples from the automatically labeled samples.

The high-definition map (HD-map) of road structures is crucial for the safe planning and control of autonomous vehicles. However, generating and updating such maps requires intensive manual work. Simultaneous localization and mapping (SLAM) is able to automatically build and update a map of the environment. Nevertheless, there is still a lack of SLAM method for generating vector-based road structure maps. In this paper, we propose a vector-based SLAM method for the road structure mapping using vehicle-mounted multibeam LiDAR. We propose using polylines as the primary mapping element instead of grid maps or point clouds because the vector-based representation is lightweight and precise. We explored the following: (1) the extraction and vectorization of road structures based on multiframe probabilistic fusion; (2) the efficient vector-based matching between frames of road structures; (3) the loop closure and optimization based on the pose-graph; and (4) the global reconstruction of the vector map. One specific road structure, the road boundary, is taken as an example. We applied the proposed mapping method to three road scenes, ranging from hundreds of meters to over ten kilometers and the results are automatically generated vector-based road boundary maps. The average absolute pose error of the trajectory in the mapping is 1.83 m without the aid of high-precision GPS.

This paper presents an integrated approach to landslide research based on remote sensing and sensor networks. This approach is composed of three important parts: (i) landslide susceptibility mapping using remote-sensing techniques for susceptible determination of landslide spots; (ii) scaled-down landslide simulation experiments for validation of sensor network for landslide monitoring, and (iii) in situ sensor network deployment for intensified landslide monitoring. The study site is the Taziping landslide located in Hongkou Town (Sichuan, China). The landslide features generated by landslides triggered by the 2008 Wenchuan Earthquake were first extracted by means of object-oriented methods from the remote-sensing images before and after the landslides events. On the basis of correlations derived between spatial distribution of landslides and control factors, the landslide susceptibility mapping was carried out using the Artificial Neural Network (ANN) technique. Then the Taziping landslide, located in the above mentioned study area, was taken as an example to design and implement a scaled-down landslide simulation platform in Tongji University (Shanghai, China). The landslide monitoring sensors were carefully investigated and deployed for rainfall induced landslide simulation experiments. Finally, outcomes from the simulation experiments were adopted and employed to design the future in situ sensor network in Taziping landslide site where the sensor deployment is being implemented.

Landslides are one of the most destructive geo-hazards that can bring about great threats to both human lives and infrastructures. Landslide monitoring has been always a research hotspot. In particular, landslide simulation experimentation is an effective tool in landslide research to obtain critical parameters that help understand the mechanism and evaluate the triggering and controlling factors of slope failure. Compared with other traditional geotechnical monitoring approaches, the close-range photogrammetry technique shows potential in tracking and recording the 3D surface deformation and failure processes. In such cases, image matching usually plays a critical role in stereo image processing for the 3D geometric reconstruction. However, the complex imaging conditions such as rainfall, mass movement, illumination, and ponding will reduce the texture quality of the stereo images, bringing about difficulties in the image matching process and resulting in very sparse matches. To address this problem, this paper presents a multiple-constraints based robust image matching approach for poor-texture close-range images particularly useful in monitoring a simulated landslide. The Scale Invariant Feature Transform (SIFT) algorithm was first applied to the stereo images for generation of scale-invariate feature points, followed by a two-step matching process: feature-based image matching and area-based image matching. In the first feature-based matching step, the triangulation process was performed based on the SIFT matches filtered by the Fundamental Matrix (FM) and a robust checking procedure, to serve as the basic constraints for feature-based iterated matching of all the non-matched SIFT-derived feature points inside each triangle. In the following area-based image-matching step, the corresponding points of the non-matched features in each triangle of the master image were predicted in the homologous triangle of the searching image by using geometric constraints, followed by a refinement course with similarity constraint and robust checking. A series of temporal Single-Lens Reflex (SLR) and High-Speed Camera (HSC) stereo images captured during the simulated landslide experiment performed on the campus of Tongji University, Shanghai, were employed to illustrate the proposed method, and the dense and reliable image matching results were obtained. Finally, a series of temporal Digital Surface Models (DSM) in the landslide process were constructed using the close-range photogrammetry technique, followed by the discussion of the landslide volume changes and surface elevation changes during the simulation experiment.

This paper presents an integrated approach to landslide research based on remote sensing and sensor networks. This approach is composed of three important parts: (i) landslide susceptibility mapping using remote-sensing techniques for susceptible determination of landslide spots; (ii) scaled-down landslide simulation experiments for validation of sensor network for landslide monitoring, and (iii) in situ sensor network deployment for intensified landslide monitoring. The study site is the Taziping landslide located in Hongkou Town (Sichuan, China). The landslide features generated by landslides triggered by the 2008 Wenchuan Earthquake were first extracted by means of object-oriented methods from the remote-sensing images before and after the landslides events. On the basis of correlations derived between spatial distribution of landslides and control factors, the landslide susceptibility mapping was carried out using the Artificial Neural Network (ANN) technique. Then the Taziping landslide, located in the above mentioned study area, was taken as an example to design and implement a scaled-down landslide simulation platform in Tongji University (Shanghai, China). The landslide monitoring sensors were carefully investigated and deployed for rainfall induced landslide simulation experiments. Finally, outcomes from the simulation experiments were adopted and employed to design the future in situ sensor network in Taziping landslide site where the sensor deployment is being implemented. [ABSTRACT FROM AUTHOR]