The landing camera (LCAM) of Chang’e-4 lander provides a series of low (46 cm/pixel) to high (2.3 cm/pixel) resolution images, which are suitable for centimeter-scale craters. In this paper, we analyze the degradation of those small-sized craters to provide detailed information on the local geological evolution of the lunar surface. From the mosaicked descent image, 6316 craters were extracted and classified into four degradation levels based on their morphology on the image: fresh, slightly degraded, moderately degraded, and severely degraded. The ground terrain camera (TCAM) image and the DEM of the Yutu-2 panoramic camera (PCAM) validate the crater degradation levels from a qualitative and quantitative perspective, respectively. The results show that the smaller the size of the craters, the more easily they are degraded. The crater populations in equilibrium in the four study areas indicate that the cumulative size–frequency distribution (SFD) slope is different from previous research results, and the smaller the craters, the more difficult to reach an equilibrium state (for craters smaller than a given size, the production rate is exactly balanced by the removal rate), which may be due to secondary cratering and surface resurfacing caused by the burial of ejecta from neighboring craters.

Lunar shallow subsurface structure is important in revealing the formation and evolution of the Moon. Therefore, a review of key issues in the lunar shallow subsurface structure will help deepen our understanding of the Moon. From a global perspective, lunar shallow subsurface structure is formed by endogenic and exogenic geological processes such as volcanic activities, tectonic activities, meteorite impacts, and space weathering. Its morphological characteristics and stratigraphic structure record the evolution of these geological processes. Recent lunar exploration missions have returned new samples and high-resolution data that have greatly enriched our knowledge. On the basis of reviewing the research progress of radar detection, crater-based excavation analysis, material inversion, and heat flow measurement, we also discuss the processes that contribute to the formation of the lunar shallow surface structure, such as volcanoes, impacts, tectonics, and space weathering. The main hot issues were sorted out and focused on 3 areas: transformation of lunar shallow subsurface structure by geological processes, environment and material composition of the lunar shallow surface structure, and physical properties of lunar shallow surface structure. Overall, existing research on the lunar subsurface has made significant progress, but it has also brought more new unsolved mysteries. It is necessary to introduce new applied payloads such as synthetic aperture radar (SAR), orbiter subsurface investigation radar (OSIR), or time-domain electromagnetic sounding (TDEM) to provide higher-resolution subsurface data, and develop better interpretation methodologies, to further deepen the understanding of the lunar shallow subsurface structure and indeed reveal the mechanism of lunar geological evolution.

The reconstruction of 3-D models of power pylons from light detection and ranging (LiDAR) data plays an important role in power transmission safety. However, accurate reconstruction of power pylon models still faces challenges, e.g., complex structures, missing data, and occlusion. In this letter, a novel four-component segmentation method is proposed for reconstructing power pylon models. In the proposed method, the pylon components of the pylon head, pylon body, cross-arms, and pedestal are first defined in terms of the common features and functionality of each component. Then, these four components are each segmented and identified based on their position and shape features from the raw point cloud. An improved approach based on Metropolis–Hastings sampling and a simulated annealing algorithm is proposed to estimate the model parameters. Based on the estimated parameters, the 3-D shapes of the individual components are reconstructed and stacked to form the whole pylon model. Experimental results show that our methods are able to reconstruct pylons with complex-shaped heads and multiple cross-arms, with an average reconstruction error of less than 0.3 m. Compared with the standard Metropolis–Hastings algorithm with annealing, the parameter estimation process in our strategy improves the computational efficiency by 7.54%.

A detailed analysis of the panoramic camera data from the 27th to 33rd lunar days was conducted on the high-resolution scenes captured by the Yutu-2 rover stations. This analysis aimed to determine the detailed morphological parameters of the 2015 impact craters within the inspection area. The levels of degradation observed in the impact craters were determined alongside the surface features. Subsequently, the degradation patterns of the impact craters located within the Yutu-2’s roving area and the distribution patterns of the morphological parameters were analysed and investigated. The results of the analysis indicate that 94% of the impact craters exhibited severe degradation, 80% had depth-to-diameter ratios (DDRs) ranging from 0.07 to 0.17, and the remaining craters were moderately degraded. The DDRs of the impact craters exhibited a declining trend with an increase in the dimensions of the impact craters. Additionally, the degree of degradation of impact crater populations demonstrated a decreasing trend. In general, the impact craters along the rover’s route exhibited severe degradation, with the population of degradation degrees gradually decreasing with increasing diameter.