Search Results (182)

Modern-day urban warehouses face exploding large inventory and tight spaces requiring fast, accurate, and safe stocktaking in a narrow aisle in a GPS-denied environment. This paper proposes a complete UAV-enabled framework performing real-time QR code scanning with inventory synchronization through a safety-aware trajectory generation for obtaining collision-free motion. A novel hybrid workflow integrating MATLAB/Simulink R2024b and Unreal Engine is used for dynamics and photorealistic rendering, alongside a real-time warehouse setup using drone cameras and 3D LiDAR coupled with a ground control station and live dashboard. The system in this paper was evaluated by testing with single and multi-UAV models across high-fidelity simulations and experiments. Results demonstrate simulated QR accuracy of approximately 95 to 96%, with experimental validation achieving between 86 and 90.5% due to real-world environmental factors. In experimental and simulation analysis, mean end-to-end latency remained under half a second, trajectory error range between 8 and 10 cm, and safety margins were consistently maintained throughout the test. It was further observed that multi-UAV coordination halved mission time compared to single-drone tests while keeping duplicate reads negligible, indicating a scalable and safe pipeline for industry application. Full article

Urban blue–green infrastructure (BGI), comprising vegetation and aquatic elements, is fundamental to city resilience and climate adaptation. Effective BGI management necessitates high-resolution, spatially accurate data for which Unmanned Aerial Vehicles (UAVs) have emerged as versatile monitoring tools. This study provides a critical synthesis and analytical evaluation of UAV-based technologies for BGI management from 2018 to 2025. Following a PRISMA-guided methodology, the review evaluates dominant research themes, sensor technologies (RGB, multispectral, thermal, LiDAR, and water and air quality sensors), and analytical methods. Departing from traditional descriptive reviews, this study appraises the operational maturity of these technologies using an adapted Technology Readiness Level (TRL) framework. The analysis identifies a significant “maturity gap” between standardized structural mapping (TRL 9) and experimental functional assessments of environmental conditions (TRL 4–6). Notably, the article includes a detailed analysis of specific UAV platforms and sensors, providing specifications of technological capabilities. By identifying critical technical, regulatory, and economic bottlenecks, this review provides a robust, evidence-based foundation for the deployment of drones in enhancing urban resilience and sustainable environmental governance. Full article

Climate change is a critical global challenge, and the building sector accounts for nearly 30% of global greenhouse gas (GHG) emissions, remaining a key target for mitigation. Indoor environments contribute significantly to GHG emissions, primarily through heating, cooling, lighting, and occupant-driven energy use. Indoor mapping, serving as the foundation for Digital Twins (DTs), provides a spatiotemporal framework that integrates sensor data with Building Information Modelling (BIM), Geographic Information Systems (GIS), and Internet of Things (IoT) to support energy-efficient, low-carbon building operations. This review examined the role of indoor mapping in understanding, modelling, and reducing GHG emissions in buildings. It synthesized current advancements in indoor spatial data acquisition, ranging from Light Detection And Ranging (LiDAR) and Simultaneous Localization and Mapping (SLAM) to deep learning-based floor plan extraction, and evaluated their contribution to improved indoor environmental analysis. The review highlighted emerging techniques, challenges, and gaps, particularly the limited integration of physical indoor spaces with virtual layers representing assets, occupants, and equipment. Addressing this gap requires embedding spatial modelling as an intermediate analytical layer that structures and contextualizes sensor data to support spatiotemporal decision-making. Overall, this review demonstrated that indoor mapping plays a critical role in transforming spatial information into actionable insights, enabling more accurate energy modelling, enhanced real-time building management, and stronger data-driven strategies for GHG mitigation in the built environment. Full article

Accurate environmental perception is fundamental to safe autonomous driving; however, most existing multimodal systems rely on fixed or heuristic sensor fusion strategies that cannot adapt to scene-dependent variations in sensor reliability. This paper proposes Cross-Modal Adaptive Attention (CMAA), a unified end-to-end Bird’s-Eye-View (BEV) perception framework that dynamically fuses camera, LiDAR, and RADAR information through learnable, context-aware modality gating. Unlike static fusion approaches, CMAA adaptively reweights sensor contributions based on global scene descriptors, enabling the robust integration of semantic, geometric, and motion cues without manual tuning. The proposed architecture jointly performs 3D object detection, multi-object tracking, and motion forecasting within a shared BEV representation, preserving spatial alignment across tasks and supporting efficient real-time deployment. Experiments conducted on the official nuScenes validation split demonstrate that CMAA achieves 0.528 mAP and 0.691 NDS, outperforming fixed-weight fusion baselines while maintaining a compact model size and efficient inference. Additional tracking evaluation using the official nuScenes tracking devkit reports improved tracking performance, while motion forecasting experiments show reduced trajectory displacement errors (minADE and minFDE). Ablation studies further confirm the complementary contributions of adaptive modality gating and bidirectional cross-modal refinement, and a stratified dynamic analysis reveals consistent reductions in velocity estimation error across object classes, motion regimes, and environmental conditions. These results demonstrate that adaptive multimodal fusion improves robustness, motion reasoning, and perception reliability in complex traffic environments while remaining computationally efficient for deployment in safety-critical autonomous driving systems. Full article

Sediment management is defined as the strategic monitoring and control of erosion, transport, and deposition processes to maintain environmental and infrastructural stability. Terrestrial laser scanning (TLS) has emerged as a critical high-precision technology for monitoring sediment dynamics, erosion processes, and geomorphic change detection across diverse environments, including riverine, coastal, watershed, and infrastructure-related landscapes. While the field of TLS technology has seen significant advancements in recent years, including improvements in data accuracy, enhanced operational performance, artificial intelligence (AI), machine learning-based processing, and integration with other remote sensing tools such as unmanned aerial vehicles (UAVs) and satellite light detection and ranging (LiDAR), the study has focused on these developments. These advancements have further extended the application prospects of TLS technology. Despite these advancements, there remains a crucial need to systematically identify global research trends to identify the effectiveness, limitations, and knowledge gaps of TLS in sediment management. The methodological advantages and challenges of TLS applications provide insights into its gradual development role in enhancing sediment monitoring and environmental resilience. The objective of this study is to synthesize the current state of sediment management by conducting a systematic review of 108 peer-reviewed research papers retrieved from academic databases, including Google Scholar, ResearchGate, ScienceDirect, Scopus, and Web of Science, from 28 countries, published between 2000 and 2025. The study will evaluate the effectiveness of TLS methodologies in comparison to conventional techniques and management procedures, following the PRISMA 2020 guidelines. It will examine their capacity to enhance measurement accuracy, reduce error margins, and improve structural guidelines, particularly by advancing TLS technology through the integration of AI and machine learning (ML) algorithms. The findings of the study indicate that TLS and Iterative Closest Point (ICP) techniques can enhance the analysis of 3D models of dam deformation, ensuring improved structural monitoring and safety. The findings offer insights into the evolving role of TLS in sediment monitoring, emphasizing its potential for enhancing environmental management and climate resilience strategies. Furthermore, this review identifies future research directions to optimize TLS applications in sediment management through interdisciplinary approaches. Full article

Shallow water bathymetry data underpins maritime shipping and marine resource survey/protection, but its accuracy is constrained by water heterogeneity and spectral interference. To address this, this study proposes a Spatio-Temporal Coupling and Correlation Adaptive Spectral (STCCAS) inversion method, integrating four machine learning models: Random Forest (RF), XGBoost, Support Vector Regression (SVR), and Multi-Layer Perceptron (MLP). Experiments were conducted in Tampa Bay’s nearshore waters, using Sentinel-2 imagery and Airborne LiDAR Bathymetry (ALB) data. Core to STCCAS, the Temporal Stability Index (TSI) quantifies spectral temporal consistency, while the Normalized Difference Turbidity Index (NDTI) characterizes water turbidity, and the two indices synergistically form a dual-scale “spectral reliability-turbidity stability” evaluation system for pixel-level feature quality assessment—coupled with spectral fusion features and spatial location, they jointly realize pixel-level feature reliability weighting and dynamic filtering to build a water condition-adaptive input set. Comparative analysis of inversion performance under the original spectral features (OSFs) inversion method vs. STCCAS inversion method confirms STCCAS significantly boosts accuracy. XGBoost outperforms others, achieving a coefficient of determination (R²) of 0.93, root mean square error (RMSE) of 0.16 m, and mean absolute error (MAE) of 0.12 m. STCCAS breaks the limitations of traditional fixed feature combinations, effectively adapting to nearshore water heterogeneity. It provides a novel method for high-frequency, high-precision shallow water bathymetry inversion, with important practical value for marine environmental monitoring and resource management. Full article

A Digital Twin is a virtual environment that simulates, predicts, and optimizes the performance of its physical counterpart. Digital Twin models hold great potential in wireless networking testing and development. This paper aims to envision our concept of simulating the operation of different sensors in vehicle test-track conditions. Vehicle parameters are embedded into the edge computing entity, which uses them to generate a test configuration for the Digital Twin. This configuration is then applied in simulated sensor-output prediction, ultimately producing event data for the vehicle entity. The sensor suite—comprising radar, cameras, GPS and LiDAR—is modeled to provide the multi-modal input required for generating simulated perception data in the Digital Twin. To ensure realistic perception behavior, the physical vehicle is represented within a digital environment that reproduces the actual test track. This allows LiDAR occlusions to be attributed to genuine environmental structures (e.g., trees, buildings, other vehicles) rather than simulation artifacts. Within the Digital Twin, the objective is to evaluate how sensor signals—such as radar waves and LiDAR light pulses—propagate through the environment and how real-world obstacles may weaken or distort them. Historical datasets are used to calibrate and validate the Digital Twin, ensuring that the simulated sensor behavior aligns with real-world observations; the data collected during previous test runs can be used for visualization and analysis. Weather conditions are modeled to evaluate how rain, fog and snow impact sensor performance within the Digital Twin environment, to learn about the effects and predict sensor operation in different weather conditions. In this article, we examine the Digital Twin of our test track as a development environment for designing, deploying and testing ITS-enhanced road-weather services and warnings. These services integrate real-world road-weather observations, forecast data, roadside sensors and on-board vehicle measurements to support safe driving and optimize vehicle trajectories for both passenger and autonomous vehicles. This research is expected to benefit stakeholders involved in automotive testing, simulation and road-weather service development. Full article

The fusion of Global Navigation Satellite System (GNSS) and Light Detection and Ranging (LiDAR) sensors has emerged as a critical research area for high-precision navigation and mapping applications. While GNSS provides absolute positioning, it is susceptible to multipath errors, signal occlusions, and atmospheric disturbances. LiDAR, on the other hand, offers high-resolution environmental perception but lacks absolute localization and is sensitive to sensor noise and drift over time. To address these limitations, robust sensor fusion architectures are necessary to improve positioning accuracy, reliability, and robustness in diverse environments. This research focuses on the systematic modeling of GNSS and LiDAR errors to enhance sensor fusion performance. A key aspect of this work is the design of fusion architectures that optimize trade-offs between accuracy, environmental-dependency, and robustness to sensor failures. To this end, this research investigates trajectory alignment, geometric similarity, and sensor signal dropouts. Various fusion strategies, including tightly coupled and loosely coupled approaches, are explored to evaluate their effectiveness under different operational conditions. Simulation-based evaluation is a core component of this study, enabling controlled analysis of sensor errors, fusion methodologies, and performance metrics. A custom Blender-based simulation framework has been developed to facilitate reproducible experiments and allow for the benchmarking of different fusion strategies. By systematically analyzing fusion performance in terms of accuracy, consistency, and computational cost, this work aims to provide valuable insights into the optimal integration of GNSS and LiDAR for real-world applications. The simulation framework generates a reusable output format in order to demonstrate the flexibility of this methodology by running a selected fusion approach on real data (Sim2Real). The proposed framework and findings contribute to the research community by providing tools and methodologies for evaluating sensor fusion strategies, fostering advancements in precise and resilient localization solutions for autonomous systems, robotics, and geospatial applications in challenging environments. Full article

Urbanization and climate change have intensified the need for advanced methods to simulate building energy performance within realistic urban environmental contexts. This study presents a microclimate-informed framework for developing representative building energy prototypes that enable the estimation of energy use for buildings sharing similar microclimatic conditions and building-level characteristics. The framework is demonstrated using Des Moines, Iowa, as a case study. The framework combines high-resolution microclimate modeling with geospatial analysis to quantify the influence of urban form and vegetation on building energy use. Localized weather files were generated using the Weather Research and Forecasting (WRF) model to capture spatial variations in microclimate across the city. Detailed three-dimensional models of buildings and trees were developed from Light Detection and Ranging (LiDAR) point cloud data and integrated with building attributes, including construction materials and heating and cooling systems, to generate representative building typologies use them to build a similarity-based lookup table. Urban energy simulations were conducted using the Urban Modeling Interface (UMI). To demonstrate the effectiveness of the framework, simulations were conducted for two building prototypes according to the framework. Results show that monthly energy use intensity (EUI) of a representative cluster compared to randomly selected buildings differs by 10% to 19%, with both positive and negative deviations observed depending on building template and month. Thus, the proposed framework shows great promise to capture comparable energy performance trends across buildings with similar construction characteristics and urban context and minimize computational demands for doing so. While evapotranspiration effects are not explicitly modeled in the current framework, they are recognized as an important microclimatic process and will be incorporated in future work. This study demonstrates that the proposed framework provides a scalable and computationally efficient approach for urban-scale energy analysis and can support data driven decision making for climate-responsive urban planning. Full article

Coral reefs provide immense ecosystem and economic value, supporting biodiversity, fisheries, tourism, and coastal protection worth billions annually. However, widespread degradation from thermal stress, storms, disease, and human impacts has caused significant coral cover and reef structure loss, increasing coastal vulnerability and economic risks. While coral loss is well-documented, degradation of underlying reef infrastructure and surrounding seafloor changes remain poorly understood. This study addresses this knowledge gap by quantifying seafloor elevation and volume changes across 234.2 km² of the Upper Florida Keys (UFK) reef tract using historical bathymetric and modern lidar (light detection and ranging) data collected from two periods with distinctly different disturbance regimes: 1935–2002 (frequent storms and major coral loss) and 2002–2016 (few storms and persistently low coral cover). Analysis of over 25,000 data points revealed substantial elevation and volume loss during 1935–2002 (−0.1 ± 0.8 m; 13.6 × 10⁶ m³ net loss), shifting to minimal gains by 2002–2016 (0.0 ± 0.3 m; 1.6 × 10⁶ m³ net gain). Despite this shift, benthic cover data showed continued declines in stony coral, with increases in macroalgae and octocorals, indicating that limited reef accretion persists even with reduced storm activity. Spatial analyses highlighted variable accretion and erosion patterns across habitats and subregions, underscoring the limitations of localized measurements for ecosystem-wide assessments. Our findings demonstrate the value of integrating historical and modern datasets for regional reef monitoring, establishing baselines for restoration planning, and emphasizing the need for continued high-resolution monitoring to guide adaptive management amid ongoing environmental change. Full article

In recent years, digital technologies have become increasingly prevalent in the field of heritage protection. In addition to geomatic techniques like laser scanning (LiDAR) and Structure-from-Motion (SfM), geophysical methods, especially Ground-Penetrating Radar (GPR), offer added value for investigating protected buildings and objects. Additionally, chemical analysis (e.g., X-ray fluorescence, XRF) and mineral magnetic methods can be utilized to investigate specific research topics. All these methods are completely non-invasive and leave the heritage site untouched. Furthermore, they are cost-efficient and fast to use. Within this paper, we want to present an integrated study of a medieval sarcophagus in Bamberg Cathedral. The geophysical surveys via GPR and magnetic susceptibility (MS) measurements should answer open questions regarding the construction and internal layout of the sandstone sarcophagus, dated to the Early or High Middle Ages. The susceptibility data indicated an inner lead coffin in the lower part behind the stone slabs due to an unusual diamagnetic response in these parts. In contrast, the GPR data gave no such indication and revealed that the interior is too small for a direct burial of the bishop. Hence, an additional XRF survey was conducted to help solve this contradiction. The latter data indicate that the lead could be due to remains of a former painting on the sarcophagus with colours containing lead white pigments. Due to the porous sandstone, the moist environmental conditions, and the high weight of the lead elements, these could have accumulated at the bottom of the sarcophagus, creating the diamagnetism detected by the magnetic susceptibility measurements. Full article

The growing availability of spatial data from remote sensing, laser scanning (LiDAR), and photogrammetric techniques stimulates the dynamic development of methods for the automatic detection and classification of topographic objects. In recent years, both classical machine learning (ML) algorithms and deep learning (DL) methods have found wide application in the analysis of large and complex data sets. Despite significant achievements, literature on the subject remains scattered, and a comprehensive review that systematically compares algorithm classes with respect to data modality, performance, and application context is still needed. The aim of this article is to provide a critical analysis of the current state of research on the use of ML and DL algorithms in the detection and classification of topographic objects. The theoretical foundations of selected methods, their applications to various data sources, and the accuracy and computational requirements reported in the literature are presented. Attention is paid to comparing classical ML algorithms (including SVM, RF, KNN) with modern deep architectures (CNN, U-Net, ResNet), with respect to different data types such as satellite imagery, aerial orthophotos, and LiDAR point clouds, indicating their effectiveness in the context of cartographic and elevation data. The article also discusses the main challenges related to data availability, model interpretability, and computational costs, and points to promising directions for further research. The summary of the results shows that DL methods are frequently reported to achieve several to over ten percentage points higher segmentation and classification accuracy than classical ML approaches, depending on data type and object complexity, particularly in the analysis of raster data and LiDAR point clouds. The conclusions emphasize the practical significance of these methods for spatial planning, infrastructure monitoring, and environmental management, as well as their potential in the automation of topographic analysis. Full article

Modern port operations face increasing challenges from rapidly changing weather and environmental conditions, requiring accurate short-term forecasting to support safe and efficient maritime activities. This study presents a sensor fusion-based machine learning framework for real-time multi-target nowcasting of wind gust speed, sustained wind speed, and wind direction using heterogeneous data collected at the Port of Livorno from February to November 2025. Using an IoT architecture compliant with the oneM2M standard and deployed at the Port of Livorno, CNIT integrated heterogeneous data from environmental sensors (meteorological stations, anemometers) and vessel-mounted LiDAR systems through feature-level fusion to enhance situational awareness, with gust speed treated as the primary safety-critical variable due to its substantial impact on berthing and crane operations. In addition, a comparative performance analysis of Random Forest, XGBoost, LSTM, Temporal Convolutional Network, Ensemble Neural Network, Transformer models, and a Kalman filter was performed. The results show that XGBoost consistently achieved the highest accuracy across all targets, with near-perfect performance in both single-split testing (R² ≈ 0.999) and five-fold cross-validation (mean R² = 0.9976). Ensemble models exhibited greater robustness than deep learning approaches. The proposed multi-target fusion framework demonstrates strong potential for real-time deployment in Maritime Autonomous Surface Ship (MASS) systems and port decision-support platforms, enabling safer manoeuvring and operational continuity under rapidly varying environmental conditions. Full article

Tropical rainforests play a vital role in maintaining global ecological balance, carbon cycling, and biodiversity conservation, making research on their biomass dynamics scientifically significant. This study integrates multi-source remote sensing data, including canopy height derived from GEDI and ICESat-2 satellite-borne lidar, Landsat imagery, and environmental variables, to estimate forest biomass dynamics in Hainan’s tropical rainforests at a 30 m spatial resolution, involving a correlation analysis of factors influencing spatiotemporal changes in Hainan Tropical Rainforest biomass. The research aims to investigate the spatiotemporal variations in forest biomass and identify key environmental drivers influencing biomass accumulation. Four machine learning algorithms—Backpropagation Neural Network (BP), Convolutional Neural Network (CNN), Random Forest (RF), and Gradient Boosting Decision Tree (GBDT)—were applied to estimate biomass across five forest types from 2003 to 2023. Results indicate the Random Forest model achieved the highest accuracy (R² = 0.82). Forest biomass and carbon stocks in Hainan Tropical Rainforest National Park increased significantly, with total carbon stocks rising from 29.03 million tons of carbon to 42.47 million tons of carbon—a 46.36% increase over 20 years. These findings demonstrate that integrating multimodal remote sensing data with advanced machine learning provides an effective approach for accurately assessing biomass dynamics, supporting forest management and carbon sink evaluations in tropical rainforest ecosystems. Full article

Unmanned Aerial Spraying Systems (UASS) has rapidly advanced precision crop protection. However, the spray performance of UASSs is influenced by nozzle atomization, rotor-induced airflow, and external environmental conditions. These factors cause strong spatiotemporal coupling and high uncertainty. As a result, visualization-based monitoring techniques are now essential for understanding these dynamics and supporting spray modeling and drift-mitigation design. This review highlights developments in spray visualization technologies along the “droplet–airflow–target” chain mechanism in UASS spraying. We first outline the physical fundamentals of droplet formation, liquid-sheet breakup, droplet size distribution, and transport mechanisms in rotor-induced flow. Dominant processes are identified across near-field, mid-field, and far-field scales. Next, we summarize major visualization methods. These include optical imaging (PDPA/PDIA, HSI, DIH), laser-based scattering and ranging (LD, LiDAR), and flow-field visualization (PIV). We compare their spatial resolution, measurement range, 3D reconstruction capabilities, and possible sources of error. We then review wind-tunnel trials, field experiments, and point-cloud reconstruction studies. These studies show how downwash flow and tip vortices affect plume structure, canopy disturbance, and deposition patterns. Finally, we discuss emerging intelligent analysis for large-scale monitoring—such as image-based droplet recognition, multimodal data fusion, and data-driven modeling. We outline future directions, including unified feature systems, vortex-coupled models, and embedded closed-loop spray control. This review is a comprehensive reference for advancing UASS analysis, drift assessment, spray optimization, and smart support systems. Full article