Roderik Lindenbergh

Single and two epoch analysis of ICESat full waveform data over forested areas

Analysis of full‐waveform pulses from space‐based laser altimeter systems are expected to improve our ability of measuring forests globally. Moreover, with the increase in the number of waveform data sets, it is now possible to study temporal changes in waveform returns over the same spatial domain. ICESat full waveform data from two epochs, i.e. winter and summer (2003) along near‐coincident ground tracks, are studied. Data analysis methods are discussed, including normalization and matching of near‐coincident waveforms, Gaussian decomposition, and derivation of forest measurement and forest change parameters. We quantify differences between winter and summer waveforms, acquired over broad‐leaved, mixed‐wood, and needle‐leaved forests in Europe. The results indicate that, although maximum tree height barely changes over six months, i.e. <2.2% for all three cover types, the Height of Median Energy (HOME) changed most in broad‐leaved (a 148% change) and least for conifers (a 36% change, winter to summer). Ratios of ground energy to canopy energy of normalized waveforms also changed noticeably over time: 67% in broad‐leaved, 62% in mixed‐wood, and 47% in conifers. Attempts are made to differentiate and classify these three cover types on the basis of these and other canopy metrics. The initial results, with a coefficient κ of agreement between reference and classified data of 0.57, provide a baseline against which improvements in data and methodology can be gauged.

ICESat Full-Waveform Altimetry Compared to Airborne Laser Scanning Altimetry Over The Netherlands

Since 2003, the full-waveform laser altimetry system onboard NASAs Ice, Cloud and land Elevation Satellite (ICESat) has acquired a worldwide elevation database. ICESat data are widely applied for change detection of ice sheet mass balance, forest structure estimation, and digital terrain model generation of remote areas. ICESats measurements will be continued by a follow-up mission. To fully assess the application possibilities of the full-waveform products of these missions, this research analyzes the vertical accuracy of ICESat products over complex terrain with respect to land cover type. For remote areas, validation of individual laser shots is often beyond reach. For a country with extensive geo-infrastructure such as The Netherlands, excellent countrywide validation is possible. Therefore, the ICESat full-waveform product GLA01 and the land elevation product GLA14 are compared to data from the Dutch airborne laser altimetry archive Actual Height model of the Netherlands (AHN). For a total population of 3172 waveforms, differences between ICESat- and AHN-derived terrain heights are determined. The average differences are below 25 cm over bare land and urban areas. Over forests, differences are even smaller but with slightly larger standard deviations of about 60 cm. Moreover, a waveform-based feature height comparison resulted in feature height differences of 1.89 m over forest, 1.48 m over urban areas, and 29 cm over low vegetation. These results, in combination with the presented processing chain and individual waveform examples, show that state-of-the-art ICESat waveform processing is able to analyze waveforms at the individual shot level, particularly outside urban areas.

SkelTre - fast skeletonisation for imperfect point cloud data of botanic trees

Terrestrial laser scanners capture 3D geometry as a point cloud. This paper reports on a new algorithm aiming at the skeletonisation of a laser scanner point cloud, representing a botanical tree without leafs. The resulting skeleton can subsequently be applied to obtain tree parameters like length and diameter of branches for botanic applications. Scanner-produced point cloud data are not only subject to noise, but also to undersampling and varying point densities, making it challenging to extract a topologically correct skeleton. The skeletonisation algorithm proposed in this paper consists of three steps: (i) extraction of a graph from an octree organization, (ii) reduction of the graph to the skeleton and (iii) embedding of the skeleton into the point cloud. The results are validated on laser scanner point clouds representing botanic trees. On a reference tree, the mean and maximal distance of the point cloud points to the skeleton could be reduced from 1.8 to 1.5 cm for the mean and from 15.6 to 10.5 cm for the maximum, compared to results from a previously developed method.

Separating bathymetric data representing multiscale rhythmic bed forms : a geostatistical and spectral method compared

The superimposition of rhythmic bed forms of different spatial scales is a common and natural phenomenon on sandy seabeds. The dynamics of such seabeds may interfere with different offshore activities and are therefore of interest to both scientists and offshore developers. State-of-the-art echo sounding accuracy allows for the analysis of bed form dynamics on unprecedented spatial and temporal scales. However, the superimposition of bed forms complicates the automated determination of morphodynamic parameters of individual bed form components. In this research we present the extension and comparison of two well-known, automated signal-processing methods for the 1-D and 2-D separation of bathymetric data derived from multibeam echo soundings into different components that each represents a bed form of a particular length scale. One method uses geostatistical filtering, and the other uses a Fourier decomposition of the bathymetric data. The application of both methods in two case studies of the North Sea shows that both methods are successful and that results correspond well. For example, megaripples up to 0.83 m height could be separated from 1.49–2.28 m high sand waves, and regionally averaged lengths and heights of sand waves, as calculated in either method, differ only 0.42–8.2% between methods. The obtained sand wave migration rates differ 7–11% between methods. The resulting morphometric and morphodynamic bed form quantification contributes to studies of empirical behavior and morphodynamic model validation and is valuable in risk assessments of offshore human activities.

Breast Height Diameter Estimation From High-Density Airborne LiDAR Data

High-density airborne light detection and ranging (LiDAR) data with point densities over 50 points/ m2 provide new opportunities, because previously inaccessible quantities of an individual tree can be derived directly from the data. We introduce a skeleton measurement methodology to extract the diameter at breast height (DBH) from airborne point clouds of trees. The estimates for the DBH are derived by analyzing the point distances to a suitable tree skeleton. The method is validated in three scenarios: 1) on a synthetic point cloud, simulating the point cloud acquisition over a forest; 2) on examples of free-standing and partly occluded trees; and 3) on automatically extracted trees from a sampled forest. The proposed diameter estimation performed well in all three scenarios, although influences of the tree extraction method and the field validation could not be fully excluded.

Automatic estimation of excavation volume from laser mobile mapping data for mountain road widening

Roads play an indispensable role as part of the infrastructure of society. In recent years, society has witnessed the rapid development of laser mobile mapping systems (LMMS) which, at high measurement rates, acquire dense and accurate point cloud data. This paper presents a way to automatically estimate the required excavation volume when widening a road from point cloud data acquired by an LMMS. Firstly, the input point cloud is down-sampled to a uniform grid and outliers are removed. For each of the resulting grid points, both on and off the road, the local surface normal and 2D slope are estimated. Normals and slopes are consecutively used to separate road from off-road points which enables the estimation of the road centerline and road boundaries. In the final step, the left and right side of the road points are sliced in 1-m slices up to a distance of 4 m, perpendicular to the roadside. Determining and summing each sliced volume enables the estimation of the required excavation for a widening of the road on the left or on the right side. The procedure, including a quality analysis, is demonstrated on a stretch of a mountain road that is approximately 132 m long as sampled by a Lynx LMMS. The results in this particular case show that the required excavation volume on the left side is 8% more than that on the right side. In addition, the error in the results is assessed in two ways. First, by adding up estimated local errors, and second, by comparing results from two different datasets sampling the same piece of road both acquired by the Lynx LMMS. Results of both approaches indicate that the error in the estimated volume is below 4%. The proposed method is relatively easy to implement and runs smoothly on a desktop PC. The whole workflow of the LMMS data acquisition and subsequent volume computation can be completed in one or two days and provides road engineers with much more detail than traditional single-point surveying methods such as Total Station or GPS profiling. A drawback is that an LMMS system can only sample what is within the view of the system from the road.

Skeleton-based botanic tree diameter estimation from dense LiDAR data

New airborne LiDAR (Light Detection and Ranging) measurement systems, like the FLI-MAP 400 System, make it possible to obtain high density data containing far more information about single objects, like trees, than traditional airborne laser systems. Therefore, it becomes feasible to analyze geometric properties of trees on the individual object level. In this paper a new 3-step strategy is presented to calculate the stem diameter of individual natural trees at 1.3m height, the so-called breast height diameter, which is an important parameter for forest inventory and flooding simulations. Currently, breast height diameter estimates are not obtained from direct measurements, but are derived using species dependent allometric constraints. Our strategy involves three independent steps: 1. Delineation of the individual trees as represented by the LiDAR data, 2. Skeletonization of the single trees, and 3. Determination of the breast height diameter computing the distance of a suited subset of LiDAR points to the local skeleton. The use of a recently developed skeletonization algorithm based on graph-reduction is the key to the breast height measurement. A set of four relevant test cases is presented and validated against hand measurements. It is shown that the new 3-step approach automatically derives breast height diameters deviating only 10% from hand measurements in four test cases. The potential of the introduced method in practice is demonstrated on the fully automatic analysis of a LiDAR data set representing a patch of forest consisting of 49 individual trees.

Distinguishing features from outliers in automatic Kriging-based filtering of MBES data: a comparative study

Multi beam echo sounding is the state of the art way for surveying sea bottoms. The sea floor elevation is obtained strip wise by measuring the time it takes for sound signals, emitted simultaneously in different directions, to travel to the sea bottom and back. We compare various ways of filtering erroneous soundings from MBES data sets, all based on Kriging. This research was initiated because of the problems a classic 1D cross validation method had with distinguishing blunders from features, like pipelines. We show that part of the problems can be solved by extending the 1D method to 2D and that most problems are solved by a robust, iterative filter method.

Multiscale curvatures for identifying channel locations from DEMs

Abstract Curvature based methods are suitable for channel identification in digital elevation models. One obstacle in using these methods is the fact that channels generally occur at multiple scales in the landscape, from small creeks to large rivers. In this paper, we show how likely channel pixels can be identified simultaneously at a range of scales using multiscale curvature operators applied to digital elevation models. Our proposed Hyperscale Channel Extraction (HCE) method localizes channels at the smallest scale while simultaneously tracking the shape of the channel at a full interval of scales (the hyperscale). We test the method using two different types of curvature, and apply and validate it to a catchment representing terrain with a high slope sampled by airborne laser altimetry. The test results demonstrate that by explicitly employing the extra dimension of scale to localize channels, (a) we are able to robustly identify channel pixels, as possible channel locations are tracked through a full interval of scales, (b) no more a priori determination of the relevant scale is necessary, and (c) only one parameter remains to be set: a threshold on the curvature value that has a clear physical interpretation.

Parameterization of Surface Roughness Based on ICESat/GLAS Full Waveforms: A Case Study on the Tibetan Plateau

Glaciers in the Tibetan mountains are expected to be sensitive to turbulent sensible and latent heat fluxes. One of the most significant factors of the energy exchange between the atmospheric boundary layer and the glacier is the roughness of the glacier surface. However, methods to parameterize this roughness for glacier surfaces in remote regions are not well known. In this paper, the authors use the data acquired by Ice, Cloud, and Land Elevation Satellite (ICESat)/Geoscience Laser Altimeter System (GLAS) laser altimetry from February 2003 to November 2004 along several tracks over glaciers of the Nyainqentanglha range in central Tibet. The authors make a study of the waveforms measured by the ICESat/GLAS laser system over mountainous and glacial areas. The surface characteristics are evaluated within laser footprints over the glacier outlines based on the glaciological inventory of the Tibetan Plateau constructed by the Cold and Arid Regions Environmental and Engineering Research Institute (CAREERI), Chinese Academy of Sciences. For this purpose, the authors extract waveform parameters: the waveform width, the number of modes, and the RMS width of the waveform. These parameters are compared with surface slope and roughness obtained from the Advanced Spaceborne Thermal Emission and Reflection Radar (ASTER) Global Digital Elevation Model (GDEM). Through this analysis, the impact of morphology on the returned laser waveform is shown for the Nyainq^entanglha range. The roughness and the slope of the surface can be quite significant and may contribute from several meters to tens of meters to the pulse extent. The waveform analysis results indicate that the received waveforms are capable representations of surface relief within the GLAS footprints.