Accurate three-dimensional (3D) data from indoor spaces are of high importance for various applications in construction, indoor navigation and real estate management. Mobile scanning techniques are offering an efficient way to produce point clouds, but with a lower accuracy than the traditional terrestrial laser scanning (TLS). In this paper, we first tackle the problem of how the quality of a point cloud should be rigorously evaluated. Previous evaluations typically operate on some point cloud subset, using a manually-given length scale, which would perhaps describe the ranging precision or the properties of the environment. Instead, the metrics that we propose perform the quality evaluation to the full point cloud and over all of the length scales, revealing the method precision along with some possible problems related to the point clouds, such as outliers, over-completeness and misregistration. The proposed methods are used to evaluate the end product point clouds of some of the latest methods. In detail, point clouds are obtained from five commercial indoor mapping systems, Matterport, NavVis, Zebedee, Stencil and Leica Pegasus: Backpack, and three research prototypes, Aalto VILMA , FGI Slammer and the Würzburg backpack. These are compared against survey-grade TLS point clouds captured from three distinct test sites that each have different properties. Based on the presented experimental findings, we discuss the properties of the proposed metrics and the strengths and weaknesses of the above mapping systems and then suggest directions for future research.

Canopy structure plays an essential role in biophysical activities in forest environments. However, quantitative descriptions of a 3-D canopy structure are extremely difficult because of the complexity and heterogeneity of forest systems. Airborne

Spatial modes have received substantial attention over the last decades and are used in optical communication applications. In fiber-optic communications, the employed linearly polarized modes and phase vortex modes carrying orbital angular momentum can be synthesized by fiber vector eigenmodes. To improve the transmission capacity and miniaturize the communication system, straightforward fiber vector eigenmode multiplexing and generation of fiber-eigenmode-like polarization vortices (vector vortex modes) using photonic integrated devices are of substantial interest. Here, we propose and demonstrate direct fiber vector eigenmode multiplexing transmission seeded by integrated optical vortex emitters. By exploiting vector vortex modes (radially and azimuthally polarized beams) generated from silicon microring resonators etched with angular gratings, we report data-carrying fiber vector eigenmode multiplexing transmission through a 2-km large-core fiber, showing low-level mode crosstalk and favorable link performance. These demonstrations may open up added capacity scaling opportunities by directly accessing multiple vector eigenmodes in the fiber and provide compact solutions to replace bulky diffractive optical elements for generating various optical vector beams.

High-voltage power lines can be quite easily mapped using laser scanning data, because vegetation close to high-voltage lines is typically removed and also because the power lines are located higher off the ground in contrast to regional networks and lower voltage networks. On the contrary, lower voltage power lines are located in the middle of dense forests, and it is difficult to classify power lines in such an environment. This paper proposes an automated power line detection method for forest environments. Our method was developed based on statistical analysis and 2D image-based processing technology. During the process of statistical analysis, a set of criteria (e.g., height criteria, density criteria and histogram thresholds) is applied for selecting the candidates for power lines. After transforming the candidates to a binary image, image-based processing technology is employed. Object geometric properties are considered as criteria for power line detection. This method was conducted in six sets of airborne laser scanning (ALS) data from different forest environments. By comparison with reference data, 93.26% of power line points were correctly classified. The advantages and disadvantages of the methods were analyzed and discussed.

Spatial structure of a light beam is an important degree of freedom to be extensively explored. By designing simple configurations with phase-only spatial light modulators (SLMs), we show the ability to arbitrarily manipulate the spatial full field information (i.e. amplitude and phase) of a light beam. Using this approach to facilitating arbitrary and independent control of spatial amplitude and phase, one can flexibly generate different special kinds of light beams for different specific applications. Multiple collinear orbital angular momentum (OAM) beams, Laguerre-Gaussian (LG) beams, and Bessel beams, having both spatial amplitude and phase distributions, are successfully generated in the experiments. Some arbitrary beams with odd-shaped intensity are also generated in the experiments.

Forest mapping, one of the main components of performing a forest inventory, is an important driving force in the development of laser scanning. Mobile laser scanning (MLS), in which laser scanners are installed on moving platforms, has been studied as a convenient measurement method for forest mapping in the past several years. Positioning and attitude accuracies are important for forest mapping using MLS systems. Inertial Navigation Systems (INSs) and Global Navigation Satellite Systems (GNSSs) are typical and popular positioning and attitude sensors used in MLS systems. In forest environments, because of the loss of signal due to occlusion and severe multipath effects, the positioning accuracy of GNSS is severely degraded, and even that of GNSS/INS decreases considerably. Light Detection and Ranging (LiDAR)-based Simultaneous Localization and Mapping (SLAM) can achieve higher positioning accuracy in environments containing many features and is commonly implemented in GNSS-denied indoor environments. Forests are different from an indoor environment in that the GNSS signal is available to some extent in a forest. Although the positioning accuracy of GNSS/INS is reduced, estimates of heading angle and velocity can maintain high accurate even with fewer satellites. GNSS/INS and the LiDAR-based SLAM technique can be effectively integrated to form a sustainable, highly accurate positioning and mapping solution for use in forests without additional hardware costs. In this study, information such as heading angles and velocities extracted from a GNSS/INS is utilized to improve the positioning accuracy of the SLAM solution, and two information-aided SLAM methods are proposed. First, a heading angle-aided SLAM (H-aided SLAM) method is proposed that supplies the heading angle from GNSS/INS to SLAM. Field test results show that the horizontal positioning accuracy of an entire trajectory of 800 m is 0.13 m and is significantly improved (by 70%) compared to that of a traditional GNSS/INS; second, a more complex information added SLAM solution that utilizes both heading angle and velocity information simultaneously (HV-aided SLAM) is investigated. Experimental results show that the horizontal positioning accuracy can reach a level of six centimetres with the HV-aided SLAM, which is a significant improvement (by 86%). Thus, a more accurate forest map is obtained by the proposed integrated method.

This paper presents methods for 3D modeling of railway environments from airborne laser scanning (ALS) and mobile laser scanning (MLS). Conventionally, aerial data such as ALS and aerial images were utilized for 3D model reconstruction. However, 3D model reconstruction only from aerial-view datasets can not meet the requirement of advanced visualization (e.g., walk-through visualization). In this paper, objects in a railway environment such as the ground, railroads, buildings, high voltage powerlines, pylons and so on were reconstructed and visualized in real-life experiments in Kokemaki, Finland. Because of the complex terrain and scenes in railway environments, 3D modeling is challenging, especially for high resolution walk-through visualizations. However, MLS has flexible platforms and provides the possibility of acquiring data in a complex environment in high detail by combining with ALS data to produce complete 3D scene modeling. A procedure from point cloud classification to 3D reconstruction and 3D visualization is introduced, and new solutions are proposed for object extraction, 3D reconstruction, model simplification and final model 3D visualization. Image processing technology is used for the classification, 3D randomized Hough transformations (RHT) are used for the planar detection, and a quadtree approach is used for the ground model simplification. The results are visually analyzed by a comparison with an orthophoto at a 20 cm ground resolution.

Orbital angular momentum (OAM), which describes tailoring the spatial physical dimension of light waves into a helical phase structure, has given rise to many applications in optical manipulation, microscopy, imaging, metrology, sensing, quantum science, and optical communications. Light beams carrying OAM feature two distinct characteristics, i.e., inherent orthogonality and unbounded states in principle, which are suitable for capacity scaling of optical communications. In this paper, we give an overview of OAM and beyond in free-space optical communications. The fundamentals of OAM, concept of optical communications using OAM, OAM modulation (OAM modulation based on spatial light modulator, high-speed OAM modulation, spatial array modulation), OAM multiplexing (spectrally efficient, high capacity, long distance), OAM multicasting (adaptive multicasting, N-dimensional multicasting), OAM communications in turbulence (adaptive optics, digital signal processing, auto-alignment system), structured light communications beyond OAM (Bessel beams, Airy beams, vector beams), diverse and robust communications using OAM and beyond (multiple scenes, turbulence-resilient communications, intelligent communications) are comprehensively reviewed. The prospects and challenges of optical communications using OAM and beyond are also discussed at the end. In the future, there will be more opportunities in exploiting extensive advanced applications from OAM beams to more general structured light.