Three-Dimensional Ground Penetrating Radar (3D GPR) detects subsurface targets non-destructively, rapidly, and continuously. The complex environment around urban roads affects the positioning accuracy of 3D GPR. The positioning accuracy directly affects the data quality, as inaccurate positioning can lead to distortion and misalignment of 3D GPR data. This paper proposed a multi-level robust positioning method to improve the positioning accuracy of 3D GPR in dense urban areas in order to obtain more accurate underground data. In environments with good GNSS signals, fast and high-precision positioning can be achieved based on GNSS data using differential GNSS technology; in scenes with weak GNSS signals, high-precision positioning of subsurface data can be achieved by using GNSS and IMU as well as using GNSS/INS tightly coupled solution technology; in scenes with no GNSS signals, SLAM technology is used for positioning based on INS data and 3D point cloud data. In summary, this method ensures a positioning accuracy of 3D GPR better than 10 cm and high-quality 3D images of underground urban roads in any environment. This provides data support for urban road underground structure surveys and has broad application prospects in underground disease detection and prevention.

Urban commercial areas can reflect the spatial distribution of business activities. However, the scope of urban commercial areas cannot be easily detected by traditional methods because of difficulties in data collection. Considering the positive correlation between business scale and nighttime lighting, this paper proposes a method of urban commercial areas detection based on nighttime lights satellite imagery. First, an imagery preprocess model is proposed to correct imageries and improve efficiency of cluster analysis. Then, an exploratory spatial data analysis and hotspots clustering method is employed to detect commercial areas by geographic distribution metric with urban commercial hotspots. Furthermore, four imageries of Wuhan City and Shenyang City are selected as an example for urban commercial areas detection experiments. Finally, a comparison is made to find out the time and space factors that affect the detection results of the commercial areas. By comparing the results with the existing map data, we are convinced that the nighttime lights satellite imagery can effectively detect the urban commercial areas. The time of image acquisition and the vegetation coverage in the area are two important factors affecting the detection effect. Harsh weather conditions and high vegetation coverage are conducive to the effective implementation of this method. This approach can be integrated with traditional methods to form a fast commercial areas detection model, which can then play a role in large-scale socio-economic surveys and dynamic detection of commercial areas evolution. Hence, a conclusion can be reached that this study provides a new method for the perception of urban socio-economic activities.

Existing place recognition descriptors developed for single-agent SLAM struggle with multi-modal LiDAR differences in collaborative SLAM. To overcome this, we propose an online place recognition method for multi-modal LiDARs. This method introduces a dual-view combination descriptor, termed DVMM, by separately encoding azimuthal and vertical scene information. The place recognition process consists of two stages: loop closure detection and verification. In the detection stage, point clouds are projected onto an adaptive grid and a 1D azimuthal descriptor is generated via Gaussian-weighted column summation. The azimuthal descriptor is utilized to retrieve loop candidates through vector matching. In the verification stage, point clouds within a fixed height range are encoded as a binary occupancy image, which serves as the cross-section descriptor. Accurate loop closures are determined by performing image matching on the cross-section descriptors. We evaluate the proposed method on both public and real-world datasets encompassing a total of seven LiDAR sensors. The results demonstrate that DVMM significantly outperforms state-of-the-art descriptors in handling multi-modal LiDAR data and is compatible with collaborative SLAM systems.

With the continuous advancement of autonomous driving technology, an increasing number of high-definition (HD) maps have been generated and stored in geospatial databases. These HD maps can provide strong localization support for mobile robots equipped with light detection and ranging (LiDAR) sensors. However, the global localization of heterogeneous robots under complex environments remains challenging. Most of the existing point cloud global localization methods perform poorly due to the different perspective views of heterogeneous robots. Leveraging existing HD maps, this paper proposes a base-map-guided heterogeneous robots localization solution. A novel co-view context descriptor with rotational invariance is developed to represent the characteristics of heterogeneous point clouds in a unified manner. The pre-set base map is divided into virtual scans, each of which generates a candidate co-view context descriptor. These descriptors are assigned to robots before operations. By matching the query co-view context descriptors of a working robot with the assigned candidate descriptors, the coarse localization is achieved. Finally, the refined localization is done through point cloud registration. The proposed solution can be applied to both single-robot and multi-robot global localization scenarios, especially when communication is impaired. The heterogeneous datasets used for the experiments cover both indoor and outdoor scenarios, utilizing various scanning modes. The average rotation and translation errors are within 1° and 0.30 m, indicating the proposed solution can provide reliable localization support despite communication failures, even across heterogeneous robots.