arXiv subjects

Gottfried Mandlburger

Publications and source records attributed to Gottfried Mandlburger.

6 recordsLinked to original sources

arXiv2026

BathyFacto: Refraction-Aware Two-Media Neural Radiance Fields for Bathymetry

Through-water photogrammetry from UAV imagery enables shallow-water bathymetry, but refraction at the air--water interface violates the straight-ray assumption of Structure-from-Motion and causes systematic depth bias. We present BathyFacto, a refraction-aware two-media extension of Nerfacto in Nerfstudio for metrically consistent underwater point clouds on simulated data. BathyFacto uses a shared hash-grid density field with a medium-conditioned color head and traces each camera ray as two segments: a straight air segment to a planar water surface and a refracted water segment computed using Snell's law and known refractive indices. A single proposal-network sampler operates on a virtual straight ray, while a kinked density wrapper corrects water-segment positions before density evaluation. Our pipeline converts photogrammetric reconstructions to Nerfstudio format, estimates the water plane from boundary markers, provides per-pixel medium masks, and supports refraction-corrected point-cloud export with reversible transforms to world and global frames. On a simulated scene with ground truth, BathyFacto achieves a Cloud-to-Mesh signed median deviation of $-0.001$,m and 85.7,% completeness at 0.2,m tolerance in the absolute global frame without rigid-body alignment. This compares with $+1.370$,m / 11.6,% for Nerfacto and $+1.409$,m / 9.9,% for BathyFacto without refraction. Even after a naive refractive-index depth correction, both baselines remain offset by approximately 0.4,m. Unlike a refraction-corrected Multi-View Stereo reference, which is reliable mainly for near-nadir views, BathyFacto recovers consistent geometry across the full range of camera incidence angles.

cs.CV↗

arXiv2026

3D LULC classification using multispectral LiDAR and deep learning: current and prospective schemes

Land Use Land Cover (LULC) classification is essential for national 3D mapping, geospatial analysis, and sustainable planning. Multispectral (MS) LiDAR provides synchronized spatial-spectral information, and deep learning (DL) enables 3D point cloud semantic segmentation; however, adoption is limited by the lack of publicly available urban and suburban MS LiDAR datasets aligned with National Mapping and Cadastral Agencies (NMCAs) classification schemes. This study addresses these gaps by introducing L1 and L2 NMCA-aligned LULC classification schemes and a new benchmark MS LiDAR dataset. We evaluate seven state-of-the-art DL models and perform spectral ablation studies at both levels of detail. Results show that Point Transformer V3 achieves the best performance, with mIoU of 79.4% (L1, 8 classes) and 58.9% (L2, 20 classes) using a dual-wavelength LiDAR system (532 nm and 1064 nm). Ablation results show that multispectral information improves performance over geometry-only inputs, with gains of 1.1 percentage points at L1 and 7.8 points at L2. These results highlight the value of LiDAR reflectance for fine-grained material discrimination and support the evolution of NMCA LULC schemes toward higher semantic detail. The Loosdorf-MSL dataset contributes a new benchmark for consistent national and international LULC mapping.

cs.CV↗

arXiv2026

Multispectral airborne laser scanning for tree species classification: a benchmark of machine learning and deep learning algorithms

Climate-smart and biodiversity-preserving forestry demands precise information on forest resources, extending to the individual tree level. Multispectral airborne laser scanning (ALS) has shown promise in automated point cloud processing, but challenges remain in leveraging deep learning techniques and identifying rare tree species in class-imbalanced datasets. This study addresses these gaps by conducting a comprehensive benchmark of deep learning and traditional shallow machine learning methods for tree species classification. For the study, we collected high-density multispectral ALS data ($>1000$ $\mathrm{pts}/\mathrm{m}^2$) at three wavelengths using the FGI-developed HeliALS system, complemented by existing Optech Titan data (35 $\mathrm{pts}/\mathrm{m}^2$), to evaluate the species classification accuracy of various algorithms in a peri-urban study area located in southern Finland. We established a field reference dataset of 6326 segments across nine species using a newly developed browser-based crowdsourcing tool, which facilitated efficient data annotation. The ALS data, including a training dataset of 1065 segments, was shared with the scientific community to foster collaborative research and diverse algorithmic contributions. Based on 5261 test segments, our findings demonstrate that point-based deep learning methods, particularly a point transformer model, outperformed traditional machine learning and image-based deep learning approaches on high-density multispectral point clouds. For the high-density ALS dataset, a point transformer model provided the best performance reaching an overall (macro-average) accuracy of 87.9% (74.5%) with a training set of 1065 segments and 92.0% (85.1%) with a larger training set of 5000 segments.

cs.CV↗

arXiv2025

Multispectral LiDAR data for extracting tree points in urban and suburban areas

Monitoring urban tree dynamics is vital for supporting greening policies and reducing risks to electrical infrastructure. Airborne laser scanning has advanced large-scale tree management, but challenges remain due to complex urban environments and tree variability. Multispectral (MS) light detection and ranging (LiDAR) improves this by capturing both 3D spatial and spectral data, enabling detailed mapping. This study explores tree point extraction using MS-LiDAR and deep learning (DL) models. Three state-of-the-art models are evaluated: Superpoint Transformer (SPT), Point Transformer V3 (PTv3), and Point Transformer V1 (PTv1). Results show the notable time efficiency and accuracy of SPT, with a mean intersection over union (mIoU) of 85.28%. The highest detection accuracy is achieved by incorporating pseudo normalized difference vegetation index (pNDVI) with spatial data, reducing error rate by 10.61 percentage points (pp) compared to using spatial information alone. These findings highlight the potential of MS-LiDAR and DL to improve tree extraction and further tree inventories.

cs.CV↗

arXiv2025

3D forest semantic segmentation using multispectral LiDAR and 3D deep learning

Conservation and decision-making regarding forest resources necessitate regular forest inventory. Light detection and ranging (LiDAR) in laser scanning systems has gained significant attention over the past two decades as a remote and non-destructive solution to streamline the labor-intensive and time-consuming procedure of forest inventory. Advanced multispectral (MS) LiDAR systems simultaneously acquire three-dimensional (3D) spatial and spectral information across multiple wavelengths of the electromagnetic spectrum. Consequently, MS-LiDAR technology enables the estimation of both the biochemical and biophysical characteristics of forests. Forest component segmentation is crucial for forest inventory. The synergistic use of spatial and spectral laser information has proven to be beneficial for achieving precise forest semantic segmentation. Thus, this study aims to investigate the potential of MS-LiDAR data, captured by the HeliALS system, providing high-density multispectral point clouds to segment forests into six components: ground, low vegetation, trunks, branches, foliage, and woody debris. Three point-wise 3D deep learning models and one machine learning model, including kernel point convolution, superpoint transformer, point transformer V3, and random forest, are implemented. Our experiments confirm the superior accuracy of the KPConv model. Additionally, various geometric and spectral feature vector scenarios are examined. The highest accuracy is achieved by feeding all three wavelengths (1550 nm, 905 nm, and 532 nm) as the initial features into the deep learning model, resulting in improvements of 33.73% and 32.35% in mean intersection over union (mIoU) and in mean accuracy (mAcc), respectively. This study highlights the excellent potential of multispectral LiDAR for improving the accuracy in fully automated forest component segmentation.

eess.IV↗

arXiv2024

High-resolution optical and acoustic remote sensing datasets of the Puck Lagoon, Southern Baltic

The very shallow marine basin of Puck Lagoon in the southern Baltic Sea, on the Northern coast of Poland, hosts valuable benthic habitats and cultural heritage sites. These include, among others, protected Zostera marina meadows, one of the Baltic's major medieval harbours, a ship graveyard, and likely other submerged features that are yet to be discovered. Prior to this project, no comprehensive high-resolution remote sensing data were available for this area. This article describes the first Digital Elevation Models (DEMs) derived from a combination of airborne bathymetric LiDAR, multibeam echosounder, airborne photogrammetry and satellite imagery. These datasets also include multibeam echosounder backscatter and LiDAR intensity, allowing determination of the character and properties of the seafloor. Combined, these datasets are a vital resource for assessing and understanding seafloor morphology, benthic habitats, cultural heritage, and submerged landscapes. Given the significance of Puck Lagoon's hydrographical, ecological, geological, and archaeological environs, the high-resolution bathymetry, acquired by our project, can provide the foundation for sustainable management and informed decision-making for this area of interest.

cs.CV↗