Point cloud semantic segmentation in urban scenes plays a vital role in intelligent city modeling, autonomous driving, and urban planning. Point cloud semantic segmentation based on deep learning methods has achieved significant improvement. However, it is also challenging for accurate semantic segmentation in large scenes due to complex elements, variety of scene classes, occlusions, and noise. Besides, most methods need to split the original point cloud into multiple blocks before processing and cannot directly deal with the point clouds on a large scale. We propose a novel context-aware network (CAN) that can directly deal with large-scale point clouds. In the proposed network, a local feature aggregation module (LFAM) is designed to preserve rich geometric details in the raw point cloud and reduce the information loss during feature extraction. Then, in combination with a global context aggregation module (GCAM), capture long-range dependencies to enhance the network feature representation and suppress the noise. Finally, a context-aware upsampling module (CAUM) is embedded into the proposed network to capture the global perception from a broad perspective. The ensemble of low-level and high-level features facilitates the effectiveness and efficiency of 3-D point cloud feature refinement. Comprehensive experiments were carried out on three large-scale point cloud datasets in both outdoor and indoor environments to evaluate the performance of the proposed network. The results show that the proposed method outperformed the state-of-the-art representative semantic segmentation networks, and the overall accuracy (OA) of Tongji-3D, Semantic3D, and Stanford large-scale 3-D indoor spaces (S3DIS) is 96.01%, 95.0%, and 88.55%, respectively.

Urban river networks have the characteristics of medium and micro scales, complex water quality, rapid change, and time–space incoherence. Aiming to monitor the water quality accurately, it is necessary to extract suitable features and establish a universal inversion model for key water quality parameters. In this paper, we describe a spectral- and spatial-feature-integrated ensemble learning method for urban river network water quality grading. We proposed an in situ sampling method for urban river networks. Factor and correlation analyses were applied to extract the spectral features. Moreover, we analyzed the maximum allowed bandwidth for feature bands. We demonstrated that spatial features can improve the accuracy of water quality grading using kernel canonical correlation analysis (KCCA). Based on the spectral and spatial features, an ensemble learning model was established for total phosphorus (TP) and ammonia nitrogen (NH₃-N). Both models were evaluated by means of fivefold validation. Furthermore, we proposed an unmanned aerial vehicle (UAV)-borne water quality multispectral remote sensing application process for urban river networks. Based on the process, we tested the model in practice. The experiment confirmed that our model can improve the grading accuracy by 30% compared to other machine learning models that use only spectral features. Our research can extend the application field of water quality remote sensing to complex urban river networks.

High definition (HD) maps offer precise positioning and dependable navigation capabilities, which are essential to guaranteeing the safety of autonomous vehicles. Lane-level road network, as a crucial component of HD maps, can provide perception, positioning, local planning, and vehicle control services. In urban scenarios, the effectiveness of using sensor-equipped mapping vehicles to construct HD maps on a large scale is hindered by complex road conditions, heavy traffic flow, and limited sensor measurement range. In this paper, we propose a method for generating a lane-level road network from unmanned aerial vehicle LiDAR data, which is flexible, maneuverable, and not limited by the constraints of road traffic conditions. The proposed method employs a Segformer model to acquire road areas and eliminates pavement interferential objects through a DBSCAN clustering and RANSAC plane fitting algorithm. Subsequently, the PP-LiteSeg model is utilized to extract road symbols from a relatively clean pavement point clouds, and the lane-level road network is generated. We tested our method on the inner ring elevated road section of Yangpu District, Shanghai. The experimental results demonstrate the effectiveness and robustness of our method for generating lane-level road network in high-density urban scene.