Autonomous navigation is an important task for unmanned vehicles operating both on the surface and underwater. A sophisticated solution for autonomous non-global navigational satellite system navigation is comparative (terrain reference) navigation. We present a method for fast processing of 3D multibeam sonar data to make depth area comparable with depth areas from bathymetric electronic navigational charts as source maps during comparative navigation. Recording the bottom of a channel, river, or lake with a 3D multibeam sonar data produces a large number of measuring points. A big dataset from 3D multibeam sonar is reduced in steps in almost real time. Usually, the whole data set from the results of a multibeam echo sounder results are processed. In this work, new methodology for processing of 3D multibeam sonar big data is proposed. This new method is based on the stepwise processing of the dataset with 3D models and isoline maps generation. For faster products generation we used the optimum dataset method which has been modified for the purposes of bathymetric data processing. The approach enables detailed examination of the bottom of bodies of water and makes it possible to capture major changes. In addition, the method can detect objects on the bottom, which should be eliminated during the construction of the 3D model. We create and combine partial 3D models based on reduced sets to inspect the bottom of water reservoirs in detail. Analyses were conducted for original and reduced datasets. For both cases, 3D models were generated in variants with and without overlays between them. Tests show, that models generated from reduced dataset are more useful, due to the fact, that there are significant elements of the measured area that become much more visible, and they can be used in comparative navigation. In fragmentary processing of the data, the aspect of present or lack of the overlay between generated models did not relevantly influence the accuracy of its height, however, the time of models generation was shorter for variants without overlay.

New and constantly developing technology for acquiring spatial data, such as LiDAR (light detection and ranging), is a source for large volume of data. However, such amount of data is not always needed for developing the most popular LiDAR products: digital terrain model (DTM) or digital surface model. Therefore, in many cases, the number of contained points are reduced in the pre-processing stage. The degree of reduction is determined by the algorithm used, which should enable the user to obtain a dataset appropriate and optimal for the planned purpose. The aim of this article is to propose a new Optimum Dataset method (OptD method) in the processing of LiDAR point clouds. The OptD method can reduce the number of points in a dataset for the specified optimization criteria concerning the characteristics of generated DTM. The OptD method can be used in two variants: OptD-single (one criterion for optimization) and OptD-multi (two or more optimization criteria). The OptD-single method has been thoroughly tested and presented by Błaszczak-Bąk (2016 Acta Geodyn. Geomater . 13/4 379–86). In this paper the authors discussed the OptD-multi method.

Historic buildings, due to their architectural, cultural, and historical value, are the subject of preservation and conservatory works. Such operations are preceded by an inventory of the object. One of the tools that can be applied for such purposes is Light Detection and Ranging (LiDAR). This technology provides information about the position, reflection, and intensity values of individual points; thus, it allows for the creation of a realistic visualization of the entire scanned object. Due to the fact that LiDAR allows one to ‘see’ and extract information about the structure of an object without the need for external lighting or daylight, it can be a reliable and very convenient tool for data analysis for improving safety and avoiding disasters. The main goal of this paper is to present an approach of automatic wall defect detection in unlit sites by means of a modified Optimum Dataset (OptD) method. In this study, the results of Terrestrial Laser Scanning (TLS) measurements conducted in two historic buildings in rooms without daylight are presented. One location was in the basement of the ruins of a medieval tower located in Dobre Miasto, Poland, and the second was in the basement of a century-old building located at the University of Warmia and Mazury in Olsztyn, Poland. The measurements were performed by means of a Leica C-10 scanner. The acquired dataset of x, y, z, and intensity was processed by the OptD method. The OptD operates in such a way that within the area of interest where surfaces are imperfect (e.g., due to cracks and cavities), more points are preserved, while at homogeneous surfaces (areas of low interest), more points are removed (redundant information). The OptD algorithm was additionally modified by introducing options to detect and segment defects on a scale from 0 to 3 (0—harmless, 1—to the inventory, 2—requiring repair, 3—dangerous). The survey results obtained proved the high effectiveness of the modified OptD method in the detection and segmentation of the wall defects. The values of area of changes were calculated. The obtained information about the size of the change can be used to estimate the costs of repair, renovation, and reconstruction.

Nowadays, LiDAR (Light Detection and Ranging) is used in many fields, such as transportation. Thanks to the recent technological improvements, the current generation of LiDAR mapping instruments available on the market allows to acquire up to millions of three-dimensional (3D) points per second. On the one hand, such improvements allowed the development of LiDAR-based systems with increased productivity, enabling the quick acquisition of detailed 3D descriptions of the objects of interest. However, on the other hand, the extraction of the information of interest from such huge amount of acquired data can be quite challenging and time demanding. Motivated by such observation, this paper proposes the use of the Optimum Dataset method in order to ease and speed up the information extraction phase by significantly reducing the size of the acquired dataset while preserving (retain) the information of interest. This paper focuses on the data reduction of LiDAR datasets acquired on roads, with the goal of extraction the off-road objects. Mostly motivated by the need of mapping roads and quickly determining car position along a road, the development of efficient methods for the extraction of such kind of information is becoming a hot topic in the research community.

Modern data-acquisition technologies provide large datasets. Such datasets are often cumbersome for rational processing, and their processing is time consuming. Therefore, there are several methods that can enable the reduction of the dataset size. One of them is generalisation of the Digital Terrain Model (DTM) or the reduction method within the initial processing of measurement data. Another method can be the Optimum Dataset (OptD) method. This paper presents two approaches towards decreasing the Light Detection and Ranging dataset. The first approach is based on the process of DTM generalisation, the second one is based on the application of the OptD method. The reduced datasets were used for isoline map creation depicting the overflow land in open-pit mining. It was proved that the reduction needs to be planned deliberately and that the degree of reduction should be performed in a way that allows to maintain the characteristics of the terrain.

Data reduction is a procedure to decrease the dataset in order to make their analysis more effective and easier. Reduction of the dataset is an issue that requires proper planning, so after reduction it meets all the user’s expectations. Evidently, it is better if the result is an optimal solution in terms of adopted criteria. Within reduction methods, which provide the optimal solution there is the Optimum Dataset method (OptD) proposed by Błaszczak-Bąk (2016). The paper presents the application of this method for different datasets from LiDAR and the possibility of using the method for various purposes of the study. The following reduced datasets were presented: (a) measurement of Sielska street in Olsztyn (Airbrone Laser Scanning data – ALS data), (b) measurement of the bas-relief that is on the building in Gdańsk (Terrestrial Laser Scanning data – TLS data), (c) dataset from Biebrza river measurment (TLS data).