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Search indexed NASA NTRS and DOE OSTI research on propulsion, heat transfer, battery materials and energy systems. Follow report and document links to the original sources.

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At least 19 records
All sourcesNASA NTRSDOE OSTI
DOE OSTI2023

Retrieving Point Cloud of Cloud Points (PCCP) Value-Added Product from Stereo Cameras

In this report, we refer to a pair of cameras that capture synchronized pictures with overlapping fields of view (FOV) as a stereo pair. Each stereo pair independently performs a stereo reconstruction of cloud points. Currently, there are three U.S. Department of Energy Atmospheric Radiation Measurement (ARM) user facility stereo pairs (six cameras in total) positioned around the Southern Great Plains (SGP) observatory’s Central Facility (CF; Romps and Oktem 2017). Time-synchronized pictures from the two cameras in a stereo pair can be paired together to obtain a three-dimensional (3D) reconstruction of feature points by triangulation. This document explains how we use ARM stereo cameras and stereophotogrammetric principles to generate the Point Cloud of Cloud Points (PCCP) Value-Added Product (VAP). The PCCP VAP is essentially a set of 3D positions representing the locations of cloud features in the sky. Thousands of cloud features can be reconstructed instantly in each stereo pair's FOV, which covers an area of tens of square kilometers. Cloud base and cloud top heights can be extracted from the PCCP product.

42 ENGINEERING↗
DOE OSTI2023

Transferable Adversarial Attack on 3D Object Tracking in Point Cloud

3D point cloud object tracking has recently witnessed considerable progress relying on deep learning. Such progress, however, mainly focuses on improving tracking accuracy. The risk, especially considering that deep neural network is vulnerable to adversarial perturbations, of a tracker being attacked is often neglected and rarely explored. In order to attract attentions to this potential risk and facilitate the study of robustness in point cloud tracking, we introduce a novel transferable attack network (TAN) to deceive 3D point cloud tracking. Specifically, TAN consists of a 3D adversarial generator, which is trained with a carefully designed multi-fold drift (MFD) loss. The MFD loss considers three common grounds, including classification, intermediate feature and angle drifts, across different 3D point cloud tracking frameworks for perturbation generation, leading to high transferability of TAN for attack. In our extensive experiments, we demonstrate the proposed TAN is able to not only drastically degrade the victim 3D point cloud tracker, \ie, P2B, but also effectively deceive other unseen state-of-the-art approaches such as BAT and M^2Track, posing a new threat to 3D point cloud tracking.

97 MATHEMATICS AND COMPUTING↗
DOE OSTI2023

3D point cloud processing

Methods for processing a 3D point cloud of a building into polygons using an electronic computing device are presented, the methods including: causing the electronic computing device to receive the 3D point cloud; causing the electronic computing device to segment the 3D point cloud into a number of facades; and causing the electronic computing device to generate a number of polygons representing the number of facades. In some embodiments, the causing the electronic computing device to segment the 3D point cloud into a number of facades includes: performing voxel downsampling operation on the 3D point cloud; calculating a point normal for every point in the voxel downsampled 3D point cloud; and performing region growing to find each of the number of facades.

Wang, Richard↗
NASA NTRS2016

Motion Estimation System Utilizing Point Cloud Registration

A system and method of estimation motion of a machine is disclosed. The method may include determining a first point cloud and a second point cloud corresponding to an environment in a vicinity of the machine. The method may further include generating a first extended gaussian image (EGI) for the first point cloud and a second EGI for the second point cloud. The method may further include determining a first EGI segment based on the first EGI and a second EGI segment based on the second EGI. The method may further include determining a first two dimensional distribution for points in the first EGI segment and a second two dimensional distribution for points in the second EGI segment. The method may further include estimating motion of the machine based on the first and second two dimensional distributions.

Chen, Qi↗
DOE OSTI2023

Automatic point Cloud Building Envelope Segmentation (Auto-CuBES) using Machine Learning

Modern retrofit construction practices use 3D point cloud data of the building envelope to obtain the as-built dimensions. However, manual segmentation by a trained professional is required to identify and measure window openings, door openings, and other architectural features, making the use of 3D point clouds labor-intensive. In this study, the Automatic point Cloud Building Envelope Segmentation (Auto-CuBES) algorithm is described, which can significantly reduce the time spent during point cloud segmentation. The Auto-CuBES algorithm inputs a 3D point cloud generated by commonly available surveying equipment and outputs a wire-frame model of the building envelope. Unsupervised machine learning methods were used to identify facades, windows, and doors while minimizing the number of calibration parameters. Additionally, Auto-CuBES generates a heat map of each facade indicating non-planar characteristics that are crucial for the optimization of connections used in overclad envelope retrofits. With a scan resolution of 3 mm, the resulting window dimensions showed a mean absolute error of 4.2 mm compared to manual laser measurements.

Maldonado Puente, Bryan↗
DOE OSTI2026

From Points to Planes: A Workflow for Converting Three‐Dimensional Point Cloud Data Into Discrete Fracture Network Flow and Transport Models

We present the Point cLoud Algorithm for NEtwork Extraction of Discrete Fracture Networks (PLANE-DFN), a point cloud–based algorithm for automatic fracture network extraction designed to support discrete fracture network (DFN) modeling workflows. PLANE-DFN segments three-dimensional fracture planes from raw point cloud data using RANdom SAmple Consensus coupled with statistical outlier removal and density-based clustering to isolate individual fracture features. Each candidate plane is constrained against site-specific structural constraints based on strike and dip. After segmentation, each fracture is converted into a 2-D convex polygon suitable for meshing and simulation. The PLANE-DFN algorithm is validated by comparing geometric and flow and transport data against data from dfnWorks simulations with ensembles of plane-fit networks. We find that the flow and transport in plane-fit networks are comparable to dfnWorks-generated networks when realistic network geometry is maintained. The PLANE-DFN algorithm provides an automated and streamlined workflow to transform point clouds of data into DFN network geometry.

54 ENVIRONMENTAL SCIENCES↗
NASA NTRSDate not supplied

Unsupervised Change Detection for Space Habitats Using 3D Point Clouds

This work presents an algorithm for scene change detection from point clouds to enable autonomous robotic caretaking in future space habitats. Autonomous robotic systems will help maintain future deep-space habitats, such as the Gateway space station, which will be uncrewed for extended periods. Existing scene analysis software used on the International Space Station (ISS) relies on manually-labeled images for detecting changes. In contrast, the algorithm presented in this work uses raw, unlabeled point clouds as inputs. The algorithm first applies modified Expectation-Maximization Gaussian Mixture Model (GMM) clustering to two input point clouds. It then performs change detection by comparing the GMMs using the Earth Mover’s Distance. The algorithm is validated quantitatively and qualitatively using a test dataset collected by an Astrobee robot in the NASA Ames Granite Lab comprising single frame depth images taken directly by Astrobee and full-scene reconstructed maps built with RGB-D and pose data from Astrobee. The runtimes of the approach are also analyzed in depth. The source code is publicly released to promote further development.

robotics↗
NASA NTRS2015

Automated Point Cloud Correspondence Detection for Underwater Mapping Using AUVs

An algorithm for automating correspondence detection between point clouds composed of multibeam sonar data is presented. This allows accurate initialization for point cloud alignment techniques even in cases where accurate inertial navigation is not available, such as iceberg profiling or vehicles with low-grade inertial navigation systems. Techniques from computer vision literature are used to extract, label, and match keypoints between "pseudo-images" generated from these point clouds. Image matches are refined using RANSAC and information about the vehicle trajectory. The resulting correspondences can be used to initialize an iterative closest point (ICP) registration algorithm to estimate accumulated navigation error and aid in the creation of accurate, self-consistent maps. The results presented use multibeam sonar data obtained from multiple overlapping passes of an underwater canyon in Monterey Bay, California. Using strict matching criteria, the method detects 23 between-swath correspondence events in a set of 155 pseudo-images with zero false positives. Using less conservative matching criteria doubles the number of matches but introduces several false positive matches as well. Heuristics based on known vehicle trajectory information are used to eliminate these.

Sonar↗
DOE OSTI2022

Automatic Segmentation of Building Envelope Point Cloud Data Using Machine Learning

About 50% of buildings in the US were constructed before energy codes were introduced. Modular overclad panel retrofits, in which a new envelope is constructed over the existing building, are a promising solution given that it minimizes occupant disruption and shortens construction time at the jobsite. Current state-of-the-art retrofit panel layout and dimensioning consists of three steps: 1) 3D point cloud data generation of the building envelope using commonly available surveying equipment, 2) manual segmentation of 3D point cloud data by a trained professional to identify and dimension window openings, door openings, and other architectural features, and 3) modular panel layout optimization and dimensioning by an architect or engineer. Among these steps, the second one remains the most difficult and costly because it is very labor-intensive. We propose a methodology to automatically label 3D point cloud data to reduce the time and expense spent in manual segmentation. Machine learning methods were employed to classify the point cloud data into distinct groups, each of which corresponds to different features of the building envelope. After classification, a segmentation algorithm was developed to perform boundary detection and separate the components of the façade. Finally, the algorithm returns the relative positions and dimensions of the features in the building envelope. The measurements obtained with the proposed automated method were compared against the actual dimensions to determine the overall algorithm accuracy. The proposed algorithm can then be used to reduce manual efforts for 3D point cloud labeling before modular panel layout optimization is performed.

Maldonado Puente, Bryan↗
NASA NTRS2014

Features of Point Clouds Synthesized from Multi-View ALOS/PRISM Data and Comparisons with LiDAR Data in Forested Areas

LiDAR waveform data from airborne LiDAR scanners (ALS) e.g. the Land Vegetation and Ice Sensor (LVIS) havebeen successfully used for estimation of forest height and biomass at local scales and have become the preferredremote sensing dataset. However, regional and global applications are limited by the cost of the airborne LiDARdata acquisition and there are no available spaceborne LiDAR systems. Some researchers have demonstrated thepotential for mapping forest height using aerial or spaceborne stereo imagery with very high spatial resolutions.For stereo imageswith global coverage but coarse resolution newanalysis methods need to be used. Unlike mostresearch based on digital surface models, this study concentrated on analyzing the features of point cloud datagenerated from stereo imagery. The synthesizing of point cloud data from multi-view stereo imagery increasedthe point density of the data. The point cloud data over forested areas were analyzed and compared to small footprintLiDAR data and large-footprint LiDAR waveform data. The results showed that the synthesized point clouddata from ALOSPRISM triplets produce vertical distributions similar to LiDAR data and detected the verticalstructure of sparse and non-closed forests at 30mresolution. For dense forest canopies, the canopy could be capturedbut the ground surface could not be seen, so surface elevations from other sourceswould be needed to calculatethe height of the canopy. A canopy height map with 30 m pixels was produced by subtracting nationalelevation dataset (NED) fromthe averaged elevation of synthesized point clouds,which exhibited spatial featuresof roads, forest edges and patches. The linear regression showed that the canopy height map had a good correlationwith RH50 of LVIS data with a slope of 1.04 and R2 of 0.74 indicating that the canopy height derived fromPRISM triplets can be used to estimate forest biomass at 30 m resolution.

LiDARD↗
DOE OSTI2023

Automatic Point Cloud Building Envelope Segmentation (AutoCuBES)

The Auto-CuBES algorithm is based on unsupervised machine learning that automatically labels 3D point cloud data and reduces the time spent in manual segmentation. The algorithm can process high-resolution point clouds and generate a wire-frame building envelope model with a small set of calibration parameters. The algorithm inputs a 3D point cloud generated by commonly available surveying equipment and outputs a wire-frame model of the building envelope. Unsupervised machine learning methods were used to identify facades, windows, and doors while minimizing the number of calibration parameters.

Puente, BryanMaldonado↗
DOE OSTI2024

PlantSegNet: 3D point cloud instance segmentation of nearby plant organs with identical semantics

In this study, we introduce PlantSegNet, a novel neural network model for instance segmentation of nearby objects with similar geometric structures. Our work addresses the challenges of instance segmentation of plant point clouds, including the difficulty of annotating and labeling point clouds, the loss of local structural information in neural network components, and the generation of large numbers of incorrect small clusters due to poor choices of the loss function. One of the key contributions of our approach is a digital twin of sorghum, i.e., a procedural sorghum model, which was used to generate point clouds of sorghum fields. This allowed us to create a large-scale, annotated, synthetic dataset of sorghum plants that we used to train our PlantSegNet model. We demonstrated the effectiveness of our method in segmenting instances of sorghum leaves grown in outdoor field settings. To the best of our knowledge, this is the first study to address this specific instance segmentation problem for plants grown in such a setting. We compared our proposed method with other state-of-the-art methods for indoor settings, including SGPN and TreePartNet, on both synthetic and real data. Furthermore, our results show that PlantSegNet outperforms these methods regarding accuracy, robustness, and efficiency.

97 MATHEMATICS AND COMPUTING↗
DOE OSTI2026

CHESS 2025: Discrete-return LiDAR point clouds from NEON AOP surveys

This dataset provides Level 1 (L1) discrete-return light detection and ranging (LiDAR) point cloud data collected for the 2025 Colorado Headwaters Ecological Spectroscopy Study (CHESS). These data were acquired to enable characterization of vegetation structure and other three-dimensional features of the land surface, and to evaluate structural changes that may have occurred between a prior LiDAR acquisition in 2018 and the 2025 overflight. The data were acquired over three study domains in the Upper Gunnison river basin: the upper East River watershed (CRBU); Almont Triangle and Taylor Canyon (ALMO); and Upper Taylor River watershed (UPTA) between 2025-06-13 and 2025-07-15. LiDAR data were acquired using the Optech Galaxy Prime Airborne LiDAR Terrain Mapper onboard the National Ecological Observatory Network (NEON) Airborne Observation Platform (AOP). These are the primary unclassified discrete-return LiDAR data delivered by NEON and are provided per flightline as LASzip (LAZ) 1.4 Format 6 files. Data were processed following the workflow described in the NEON L0-to-L1 Discrete Return LiDAR Algorithm Theoretical Basis Document (Krause and Goulden 2022). Each record in the unclassified point clouds represents a geolocated laser target/return recorded by the LiDAR system, with values for X, Y, Z position and return intensity. All point coordinates are provided in meters. Horizontal coordinates are referenced in Universal Transverse Mercator (UTM) zone 13N and the World Geodetic System (WGS) 1984 ensemble datum. Elevations are referenced to Geoid12A. Flight metadata describing flightline boundaries and positional uncertainty by point are also included. CHESS Project Description: The Colorado Headwaters Ecological Spectroscopy Study (CHESS) comprised a multi-week airborne remote sensing and field observation campaign in the Upper Gunnison Basin, Colorado, conducted in June and July of 2025. Airborne remote sensing was conducted by the National Ecological Observatory Network Airborne Observation Platform (NEON AOP), concurrent with a field campaign run by the Rocky Mountain Biological Laboratory (RMBL), the Lawrence Berkeley National Laboratory (LBNL) and SLAC National Accelerator Laboratory Watershed Function Science Focus Area (SFA), and NASA-JPL (Jet Propulsion Laboratory) Earth Surface Mineral Dust Source Investigation (EMIT) program. Between June 10 and July 18, 2025, the NEON AOP flight team collected high-resolution aerial imaging spectroscopy and Light Detection and Ranging (LiDAR) data over three domains: the Upper East River (CRBU), Almont Triangle (ALMO), and the Upper Taylor Basin (UPTA). In coordination with the flights, a field campaign acquired ground-truth observations, including observations of vegetation composition, foliar traits, forest demography, and subsurface properties in 18 core sampling areas within the domains. Additional surface water observations were taken at over 380 point locations. All CHESS campaign datasets can be found within the CHESS ESS-DIVE data portal: https://data.ess-dive.lbl.gov/portals/chess. Funding Acknowledgement: Field and remote-sensing data acquisition was performed under a grant from the National Aeronautics and Space Administration (80NSSC24K1005). This work was also supported by the Watershed Function Science Focus Area at Lawrence Berkeley National Laboratory funded by the US Department of Energy, Office of Science, Biological and Environmental Research under Contract No. DE-AC02-05CH11231.

2018 NEON and 2025 CHESS Campaigns↗
DOE OSTI2024

DEM, DSM, and Cleaned LiDAR Point Cloud Data from the NGEE Arctic UAS Campaigns at the Teller 27 Field Site from 2017 and 2018, Seward Peninsula, Alaska

A Digital Elevation Model (DEM) and Digital Surface Model (DSM) were derived from airborne Light Detection and Ranging (LiDAR) data collected from Los Alamos National Laboratory's (LANL) heavy-lift unoccupied aerial system (UAS) quadcopter and hexacopter platforms operated by Next-Generation Ecosystem Experiments: Arctic (NGEE Arctic) scientists from the EES-14 group at LANL. These data were collected in August 2017 and July 2018 at the NGEE Arctic field site near mile marker 27 of the Bob Blodgett Nome-Teller Memorial Highway between Nome, Alaska and Teller, Alaska. A Vulcan Raven X8 Airframe (Mitcheldean, Gloucestershire, UK), DJI Matrice 600 Pro Airframe (Shenzhen, China), and Routescene UAV LiDARSystem (Edinburgh, Scotland, UK) were used to collect LiDAR data. Following pre-processing in Routescene LidarViewer Pro software, the LiDAR point clouds were cleaned and processed using CloudCompare software to separate ground and off-ground points. A high resolution DEM and DSM were then created using ArcGIS Pro software. This data package contains fully cleaned point clouds of ground and off-ground points (.las), a 25 cm DEM (.tif), and a 25 cm DSM (.tif) for the Teller 27 field site. Ancillary aircraft data, flight mission parameters, weather conditions, and raw lidar data and imagery can be found in the L0 datasets for these campaigns: NGA299 (2017) and NGA297 (2018). Minimally processed point clouds and auxiliary files can be found in the L1 dataset: NGA304 (2017 and 2018).The Next-Generation Ecosystem Experiments: Arctic (NGEE Arctic), was a 15-year research effort (2012-2027) to reduce uncertainty in Earth System Models by developing a predictive understanding of carbon-rich Arctic ecosystems and feedbacks to climate. NGEE Arctic was supported by the Department of Energy's Office of Biological and Environmental Research.The NGEE Arctic project had two field research sites: 1) located within the Arctic polygonal tundra coastal region on the Barrow Environmental Observatory (BEO) and the North Slope near Utqiagvik (Barrow), Alaska and 2) multiple areas on the discontinuous permafrost region of the Seward Peninsula north of Nome, Alaska.Through observations, experiments, and synthesis with existing datasets, NGEE Arctic provided an enhanced knowledge base for multi-scale modeling and contributed to improved process representation at global pan-Arctic scales within the Department of Energy's Earth system Model (the Energy Exascale Earth System Model, or E3SM), and specifically within the E3SM Land Model component (ELM).

54 ENVIRONMENTAL SCIENCES↗
DOE OSTI2025

Deep Point Cloud Building Envelope Segmentation (DeeP-CuBES) using Deep Learning

Building Information Modeling (BIM) plays an important role in building design and construction, particularly for achieving energy-efficient retrofits. Building envelope retrofits using panelized prefabricated system, such as those popularized by the Energiesprong program, need accurate as-built dimensions of facade features (windows, doors, etc.) to achieve the desired thermal and air tightness. Traditionally, building surveying is done manually, resulting in a time-consuming and labor-intensive process. Recently, 3D point clouds from terrestrial LiDAR have been used to automate the generation of as-built dimensions of existing buildings. However, automated BIM using LiDAR relies on solving the point cloud semantic segmentation (PCSS) problem. In this work, we propose a robust pipeline for solving the PCSS problem using deep neural networks, focusing on overcoming challenges posed by imbalanced datasets and complex architectural features. We introduce the first high-density, labeled, and validated building envelope point cloud dataset derived from multiple building scans, specifically curated to tackle challenges in facade-level segmentation. Results from the trained neural networks show that advanced attention-based architectures and incorporating radiometry (light intensity and RGB) features significantly boost segmentation accuracy for windows and doors.

Selvakumar, Balaji [ORNL]↗
DOE OSTI2023

EPiC-GAN: Equivariant point cloud generation for particle jets

With the vast data-collecting capabilities of current and future high-energy collider experiments, there is an increasing demand for computationally efficient simulations. Generative machine learning models enable fast event generation, yet so far these approaches are largely constrained to fixed data structures and rigid detector geometries. In this paper, we introduce EPiC-GAN - equivariant point cloud generative adversarial network - which can produce point clouds of variable multiplicity. This flexible framework is based on deep sets and is well suited for simulating sprays of particles called jets. The generator and discriminator utilize multiple EPiC layers with an interpretable global latent vector. Crucially, the EPiC layers do not rely on pairwise information sharing between particles, which leads to a significant speed-up over graph- and transformer-based approaches with more complex relation diagrams. We demonstrate that EPiC-GAN scales well to large particle multiplicities and achieves high generation fidelity on benchmark jet generation tasks.

Buhmann, Erik↗
DOE OSTI2025

LiDAR Point Cloud Data from the 2018 NGEE Arctic UAS Campaign at the Teller 47 Field Site, Seward Peninsula, Alaska

Airborne remote sensing data collected from Los Alamos National Laboratory’s (LANL) heavy-lift unoccupied aerial system (UAS) hexacopter platform operated by NGEE Arctic scientists from the EES-14 group at Los Alamos National Laboratory. These data were collected in July 2018 at a field site near mile marker 47 along the Teller Road between Nome, Alaska and Teller, Alaska. A DJI Matrice 600 Pro Airframe and Routescene UAV LiDAR System was used to collect LiDAR data. The LiDAR data has undergone basic post-processing using Routescene LidarViewer Pro software to create point cloud data (.laz files). This data package contains point clouds (.laz), processing metadata files (json.lvp), and post-processed kinematic files (.csv). Ancillary aircraft data, flight mission parameters, weather conditions, and lidar data and imagery can be found in NGA281 (https://doi.org/10.5440/1671794).The Next-Generation Ecosystem Experiments: Arctic (NGEE Arctic), was a research effort to reduce uncertainty in Earth System Models by developing a predictive understanding of carbon-rich Arctic ecosystems and feedbacks to climate. NGEE Arctic was supported by the Department of Energy's Office of Biological and Environmental Research. The NGEE Arctic project had two field research sites: 1) located within the Arctic polygonal tundra coastal region on the Barrow Environmental Observatory (BEO) and the North Slope near Utqiagvik (Barrow), Alaska and 2) multiple areas on the discontinuous permafrost region of the Seward Peninsula north of Nome, Alaska. Through observations, experiments, and synthesis with existing datasets, NGEE Arctic provided an enhanced knowledge base for multi-scale modeling and contributed to improved process representation at global pan-Arctic scales within the Department of Energy's Earth system Model (the Energy Exascale Earth System Model, or E3SM), and specifically within the E3SM Land Model component (ELM).

54 ENVIRONMENTAL SCIENCES↗
DOE OSTI2024

LiDAR Point Cloud Data from the 2018 NGEE Arctic UAS Campaign at the Kougarok 64 Field Site, Seward Peninsula, Alaska

Airborne remote sensing data collected from Los Alamos National Laboratory's (LANL) heavy-lift unoccupied aerial system (UAS) hexacopter platform operated by NGEE Arctic scientists from the EES-14 group at Los Alamos National Laboratory. These data were collected in July 2018 at a field site near mile marker 64 along the Kougarok road (Nome-Taylor Highway) between Nome, Alaska and Taylor, Alaska. A DJI Matrice 600 Pro Airframe and Routescene UAV LiDARSystem was used to collect LiDAR data. The LiDAR data has undergone basic post-processing using Routescene LidarViewer Pro software to create point cloud data (.laz files). This data package contains point clouds (.laz), processing metadata files (json.lvp), and post-processed kinematic files (.csv). Ancillary aircraft data, flight mission parameters, weather conditions, raw LiDAR data, and RGB imagery can be found in NGA298.The Next-Generation Ecosystem Experiments: Arctic (NGEE Arctic), was a research effort to reduce uncertainty in Earth System Models by developing a predictive understanding of carbon-rich Arctic ecosystems and feedbacks to climate. NGEE Arctic was supported by the Department of Energy's Office of Biological and Environmental Research. The NGEE Arctic project had two field research sites: 1) located within the Arctic polygonal tundra coastal region on the Barrow Environmental Observatory (BEO) and the North Slope near Utqiagvik (Barrow), Alaska and 2) multiple areas on the discontinuous permafrost region of the Seward Peninsula north of Nome, Alaska. Through observations, experiments, and synthesis with existing datasets, NGEE Arctic provided an enhanced knowledge base for multi-scale modeling and contributed to improved process representation at global pan-Arctic scales within the Department of Energy's Earth system Model (the Energy Exascale Earth System Model, or E3SM), and specifically within the E3SM Land Model component (ELM).

54 ENVIRONMENTAL SCIENCES↗