Accurate lane maps with semantics are crucial for various applications, such as high-definition maps (HD Maps), intelligent transportation systems (ITS), and digital twins. Manual annotation of lanes is labor-intensive and costly, prompting researchers to explore automatic lane extraction methods. This paper presents an end-to-end large-scale lane mapping method that considers both lane geometry and semantics. This study represents lane markings as polylines with uniformly sampled points and associated semantics, allowing for adaptation to varying lane shapes. Additionally, we propose an end-to-end network to extract lane polylines from mobile laser scanning (MLS) data, enabling the inference of vectorized lane instances without complex post-processing. The network consists of three components: a feature encoder, a column proposal generator, and a lane information decoder. The feature encoder encodes textual and structural information of lane markings to enhance the method’s robustness to data imperfections, such as varying lane intensity, uneven point density, and occlusion-induced incomplete data. The column proposal generator generates regions of interest for the subsequent decoder. Leveraging the embedded multi-scale features from the feature encoder, the lane decoder effectively predicts lane polylines and their associated semantics without requiring step-by-step conditional inference. Comprehensive experiments conducted on three lane datasets have demonstrated the performance of the proposed method, even in the presence of incomplete data and complex lane topology. Furthermore, the datasets used in this work, including source ground points, generated bird’s eye view (BEV) images, and annotations, will be publicly available with the publication of the paper.@en

Probabilistic registration algorithms [e.g., coherent point drift, (CPD)] provide effective solutions for point cloud alignment. However, using the original CPD algorithm for automatic registration of terrestrial laser scanner (TLS) point clouds is highly challenging because of density variations caused by scanning acquisition geometry. In this letter, we propose a new global registration method, introducing the use of the CPD framework for TLS point clouds. We first consider the measurement geometry and the intrinsic characteristics of the scene to simplify points. In addition to the Euclidean distance, we incorporate geometric information as well as structural constraints in the probabilistic model to optimize the so-called matching probability matrix. Among the structural constraints, we use a spectral graph to measure the structural similarity between matches at each iteration. The method is tested on three data sets collected by different TLS scanners. Experimental results demonstrate that the proposed method is robust to density variations and can decrease iterations effectively. The average registration errors of the three data sets are 0.05, 0.12, and 0.08 m, respectively. It is also shown that our registration framework is superior to the state-of-the-art methods in terms of both registration errors and efficiency. The experiments demonstrate the effectiveness and efficiency of the proposed probabilistic global registration.

@en

The geolocation of coherent radar scatterers, used for InSAR deformation analysis, is often not accurate enough to associate them to physical geo-objects. The imaging geometry of satellite InSAR results in (i) biases in the entire point field, and (ii) quite elongated and skewed confidence ellipsoids in the range, azimuth and cross-range direction. The metric defined by the covariance matrix of the InSAR results defines the optimal way to associate scatterers with geo-objects. Laser scanning point clouds, stemming from aerial or terrestrial laser surveys, yield very dense geometry of geo-objects and topography. Here we combine InSAR and laser point clouds, taking the covariance metrics of the InSAR data into account. This enables us to correct the positions of InSAR data, to provide a geometric match with geo-objects. We demonstrate how this allows for adding contextual information as attributes to individual scatterers, which improves the interpretation of the InSAR results. @en