Landslides that take place in mountain cities tend to cause huge casualties and economic losses, and a precise survey of landslide areas is a critical task for disaster emergency. However, because of the complicated appearance of the nature, it is difficult to find a spatial regularity that only relates to landslides, thus landslides detection based on only spatial information or artificial features usually performs poorly. In this paper, an automated landslides detection approach that is aiming at mountain cities has been proposed based on pre- and post-event remote sensing images, it mainly utilizes the knowledge of landslide-related surface covering changes, and makes full use of the temporal and spatial information. A change detection method using Deep Convolution Neural Network (DCNN) was introduced to extract the areas where drastic alterations have taken place; then, focusing on the changed areas, the Spatial Temporal Context Learning (STCL) was conducted to identify the landslides areas; finally, we use slope degree which is derived from digital elevation model (DEM) to make the result more reliable, and the change of DEM is used for making the detected areas more complete. The approach was applied to detecting the landslides in Shenzhen, Zhouqu County and Beichuan County in China, and a quantitative accuracy assessment has been taken. The assessment indicates that this approach can guarantee less commission error of landslide areal extent which is below 17.6% and achieves a quality percentage above 61.1%, and for landslide areas, the detection percentage is also competitive, the experimental results proves the feasibility and accuracy of the proposed approach for the detection landslides in mountain cities.

A system with light detection and ranging (LiDAR) and camera (named as LiDAR-camera system) plays the essential role in intelligent vehicle (IV), for it provides 3D spatial and 2D texture features for 3D scene understanding. To leverage LiDAR point cloud and image, extrinsic calibration is a crucial technique, for it can align 2D pixel and 3D point in the pixel-level accuracy. With the rapid development of IV, calibration demand is shifted from offline to online, from the specific scenes to the open scenes. It brings new challenge to the calibration task. Although numbers of approaches have been proposed in the last decade, there lacks an in-depth summary about this topic. Thus, we conduct a survey of extrinsic calibration. Theoretically, the key of calibration is to build correspondence from LiDAR point cloud and optical image. From the viewpoint of correspondence, we attempt to divide the mainstream approaches into explicit and implicit correspondence based methods. After that, we summarize both the strength and weakness of the current works, provide the methods comparison, and list the open-source implementations. Finally, we analyze the tendency of calibration approach, discuss the remained problems in this field. We believe that this survey benefits to the community of autonomous driving.

Multispectral image matching plays a very important role in remote sensing image processing and can be applied for registering the complementary information captured by different sensors. Due to the nonlinear intensity difference in multispectral images, many classic descriptors designed for images of the same spectrum are unable to work well. To cope with this problem, this paper proposes a new local feature descriptor termed histogram of oriented structure maps (HOSM) for multispectral image matching tasks. This proposed method consists of three steps. First, we propose a new method based on local contrast to construct the structure guidance images from the multispectral images by transferring the significant contours from source images to results, respectively. Second, we calculate oriented structure maps with guided image filtering. In details, we first construct edge maps by the progressive Sobel filters to extract the common structure characteristics from the multispectral images, and then we compute the oriented structure maps by performing the guided filtering on the edge maps with the structure guidance images constructed in the first step. Finally, we build the HOSM descriptor by calculating the histogram of oriented structure maps in a local region of each interest point and normalize the feature vector. The proposed HOSM descriptor was evaluated on three commonly used datasets and was compared with several state-of-the-art methods. The experimental results demonstrate that the HOSM descriptor can be robust to the nonlinear intensity difference in multispectral images and outperforms other methods.

Light detection and ranging (LiDAR) is an essential sensor for three dimensional (3D) object detection via generating 3D point cloud of the surroundings, and it has been widely used in the various visual applications, especially autonomous driving. However, limited numbers of labeled LiDAR datasets brutally restrain the development of 3D object detector, and this situation breeds an urgent demand on data augmentation in this field. By far, most of the traditional methods reuse the labeled samples, while those unlabeled are hastily untaken. Motivated by this, we propose a Realistic Simulator based data augmentation (RS-Aug). It aims to construct augmented real scenes to enrich the diversity of training dataset. To train 3D object detector in a supervised learning way, the first step of RS-Aug is auto-annotation. Time-continuous LiDAR frames are used to construct the dense scene, which is beneficial to annotation and the subsequent rendering augmentation. However, 3D points with incorrect semantic labels are naturally gathered during multi-view reconstruction, causing the negative effect on auto-annotation. We propose an algorithm of cluster guided $k$ -nearest neighbor (c- $k$ NN). It emphasizes on de-nosing semantic labels of clustered points using distance and intensity constraints. Then, the next step of RS-Aug is rendering augmentation on the real scene. To enhance the rendering quality using collision and distance constraints with the less computation complexity, we propose a scheme of heuristic search (HS) based object insertion. It estimates the proper position of the inserted object from 2D bird’s eye view (BEV). Experiments demonstrate the de-noising accuracy of c- $k$ NN, rendering quality of HS based object insertion, and improvement of RS-Aug on object detection.

Image and point cloud registration (2D-3D registration) is an essential prerequisite for multi-modal feature fusion. However, due to the significant feature difference of point cloud and image, it is challenging to establish 2D-3D correspondences. Targeting for the background of autonomous driving, we propose 2D-3D registration method with object-level correspondence (OL-Reg) in this paper. Object-level correspondence consists of object bounding box and object contour in 2D image and 3D space. The first step is to match 2D-3D objects. Due to sensor pose and field of view (FoV) difference, object shape and occlusion is different in image and point cloud, causing the difficulty of object matching. To solve this issue, we represent object as 3D bounding box, and design 2D-3D object matching with 3D box projection (Box-Proj) constraint. It aligns object 3D bounding box in image and point cloud. After that, the next step is to build 2D-3D correspondence from the matched objects. To extract correspondence from object with irregular shape, we notice the distance constraint of object surface and rays back-projected from object contour, and present projection based iterative closest point (Proj-ICP). Towards the stability of Proj-ICP, object-level regularization term is designed. Experiment is conducted in KITTI object and odometry dataset. With the pre-trained 3D object detector, results suggest that OL-Reg has the better performance than current approaches in tasks of re-localization and extrinsic calibration. And source code will be released soon ¹ .