Universität Stuttgart
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Item Open Access Towards improved targetless registration and deformation analysis of TLS point clouds using patch-based segmentation(2023) Yang, Yihui; Schwieger, Volker (Prof. Dr.-Ing. habil. Dr. h.c.)The geometric changes in the real world can be captured by measuring and comparing the 3D coordinates of object surfaces. Traditional point-wise measurements with low spatial resolution may fail to detect inhomogeneous, anisotropic and unexpected deformations, and thus cannot reveal complex deformation processes. 3D point clouds generated from laser scanning or photogrammetric techniques have opened up opportunities for an area-wise acquisition of spatial information. In particular, terrestrial laser scanning (TLS) exhibits rapid development and wide application in areal geodetic monitoring owing to the high resolution and high quality of acquired point cloud data. However, several issues in the process chain of TLS-based deformation monitoring are still not solved satisfactorily. This thesis mainly focuses on the targetless registration and deformation analysis of TLS point clouds, aiming to develop novel data-driven methods to tackle the current challenges. For most deformation processes of natural scenes, in some local areas no shape deformations occur (i.e., these areas are rigid), and even the deformation directions show a certain level of consistency when these areas are small enough. Further point cloud processing, like stability and deformation analyses, could benefit from the assumptions of local rigidity and consistency of deformed point clouds. In this thesis, thereby, three typical types of locally rigid patches - small planar patches, geometric primitives, and quasi-rigid areas - can be generated from 3D point clouds by specific segmentation techniques. These patches, on the one hand, can preserve the boundaries between rigid and non-rigid areas and thus enable spatial separation with respect to surface stability. On the other hand, local geometric information and empirical stochastic models could be readily determined by the points in each patch. Based on these segmented rigid patches, targetless registration and deformation analysis of deformed TLS point clouds can be improved regarding accuracy and spatial resolution. Specifically, small planar patches like supervoxels are utilized to distinguish the stable and unstable areas in an iterative registration process, thus ensuring only relatively stable points are involved in estimating transformation parameters. The experimental results show that the proposed targetless registration method has significantly improved the registration accuracy. These small planar patches are also exploited to develop a novel variant of the multiscale model-to-model cloud comparison (M3C2) algorithm, which constructs prisms extending from planar patches instead of the cylinders in standard M3C2. This new method separates actual surface variations and measurement uncertainties, thus yielding lower-uncertainty and higher-resolution deformations. A coarse-to-fine segmentation framework is used to extract multiple geometric primitives from point clouds, and rigorous parameter estimations are performed individually to derive high-precision parametric deformations. Besides, a generalized local registration-based pipeline is proposed to derive dense displacement vectors based on segmented quasi-rigid areas that are corresponded by areal geometric feature descriptors. All proposed methods are successfully verified and evaluated by simulated and/or real point cloud data. The choice of proposed deformation analysis methods for specific scenarios or applications is also provided in this thesis.Item Open Access Confirmation of siderazot, Fe3N1.33, the only terrestrial nitride mineral(2021) Bette, Sebastian; Theye, Thomas; Bernhardt, Heinz-Jürgen; Clark, William P.; Niewa, RainerSiderazot, the only terrestrial nitride mineral, was reported only once in 1876 to occur as coating on volcanic rocks in a fumarolic environment from Mt. Etna and, to date, has been neither confirmed nor structurally characterized. We have studied the holotype sample from the Natural History Museum, London, UK, originally collected by O. Silvestri in 1874, and present siderazot with epsilon-Fe3N-type crystal structure and composition of Fe3N1.33(7) according to crystal structure Rietveld refinements, in good agreement with electron microprobe analyses. Crystal structure data, chemical composition, and Raman and reflectance measurements are reported. Possible formation conditions are derived from composition and phase stability data according to synthetic samples.Item Open Access "A la recherche du temps perdu" : on geological condensation, with examples from the Jurassic Subbetic Plateau in Southeastern Spain(1993) Fels, Alexander; Seyfried, HartmutEine kondensierte Ablagerung ist eine marine Rückstandsbildung, die sich autochthon und kontinuierlich über einen längeren Zeitraum hinweg gebildet hat. Kondensation kann synsedimentar durch Abschirmung, Ablenkung oder Abtragung von Schlamm erfolgen; diagenetisch läuft Kondensation vor allem über Bioerosion auf Hartboden in Verbindung mit unterschiedlich tiefgreifender Erosion ab. Im Jura des subbetischen Plateaus (früher "externes Subbetikum") wird das Umkippen in eine Kondensations-Situation durch tektonische Bewegungen gesteuert, indem benachbarte Plattformen den Export von Schlamm selbssteuernd regulieren. Das subbetische Plateau durchlief vier Phasen stark reduzierter Sedimentation: Carixien - Unter-Domerien(Kondensatlonsepisode 1), Obertoarcien - Unter-Bajocien (Kondensationsepisode 2), Unterbathonien - Unter-Oxfordien (Kondensationsepisode 3) und unterstes Kimmeridgien (Kondensationsepisode 4). Hartboden, die sich während dieser Episoden bildeten, sind meistens von Goethitkrusten und Goethitonkoiden bedeckt. Die meisten Goethitkrusten bestehen entweder aus sehr dünnen (20 - 50 p.) Laminae mit krümeligem und pseudofilamentösem Gefüge, die für einen mikrobiellen Ursprung der Krusten sprechen, oder sie bestehen aus strukturlosem, "sterilen" Goethiterz. Aus einer Abschätzung der Wachstumsraten folgern wir, daß der überwiegende Teil der Zeit, die in solchen Krusten versteckt ist, entweder im nur wenige Milimeter dicken Goethiterz dokumentlert ist oder in Hartböden bzw. Erosionsflächen gelöscht wurde. Kondensierte Abfolgen zelgen meistens eine hierarchische Gliederung in Sequenzen, die vom Meter- bis zum Millimeterbereich reichen und nahezu stets denselben Aufbau haben: sie beginnen mit reduzierter Sedimentation, auf die ein Omissionsstadium folgt und schließen melstens mlt Goethitkrusten ab. Unter den vielen Faktoren, die für eine solche Abfolge verantwortlich sein konnen, kristallisiert sich als kleinster gemeinsamer Nenner ein (nicht eindeutig kalibrierbares) eustatisches Signal heraus. Wir betrachten deshalb kondensierte Sequenzen, die Goethitkrusten enthalten, als pelagische Parasequenzen.Item Open Access Climate sensitivity of a large lake(2013) Eder, Maria Magdalena; Bárdossy, András (Prof. Dr. rer. nat. Dr.-Ing.)Lakes are complex ecosystems that are on the one hand more or less enclosed by defined borders, but are on the other hand connected to their environment, especially to their catchment and the atmosphere. This study is examinig the climate sensitivity of large lakes using Lake Constance as an example. The lake is situated in Central Europe at the northern edge of the Alps, at the boundary of Austria, Germany and Switzerland. The maximum depth is 235 m, the total surface area is 535 km³ and the total volume 48.45 km². The numerical simulations in this study have been performed with the lake model system ELCOM-CAEDYM. The model system was validated using three different data sets: Observations of a turbid underflow after a flood flow in the main tributary, a lake-wide field campaign of temperature and phytoplankton, and long term monitoring data of temperature and oxygen in the hypolimion. The model system proved to be able to reproduce the effects of a flood flow in the largest tributary,. A huge turbid underflow was observed flowing into the main basin after an intense rain event in the Alps in August 2005. A numerical experiment showed the influence of the earth’s rotation on the flow path of the riverine water within the lake. The model also reproduced the temperature evolution and distribution and to some extent the phytoplankton patchiness measured in spring 2007 during an intensive field campaign. The model reproduced the measured time series of temperature and oxygen in the deep hypolimnion measured in the years 1980-2000. This indicates, that the vertical mixing and the lake’s cycle of mixing and stratification was reproduced correctly. Based on the model set-up validated with long term monitoring data, climate scenario simulations were run. The main focus was on temperature and oxygen concentrations in the hypolimnion, the cycle of stratification and mixing, and the heat budget of the lake. The meteorological boundary conditions for the climate scenario simulations were generated using a weather generator instead of downscaling climate projections from Global Climate Models. This approach gives the possibility to change different characteristics of the climate independently. The resulting lake model simulations are ”what-if”-scenarios rather than predictions, helping to obtain a deeper understanding of the processes in the lake. The main results can be summarized as follows: An increase in air temperature leads to an increase in water temperature, especially in the upper layers. The deep water temperature increases as well, but not to the same extent as the temperature of the epilimnion. This results in an increased vertical temperature difference. Due to the non-linear shape of the temperature-density curve, the difference in density grows even stronger than the temperature difference. This results in enhanced stratification stability, and consequently in less mixing. Complete mixing of the lake becomes more seldom in a warmer climate, but even in the scenario simulations with air temperature increased by 5 °C, full circulation took place every 3-4 years. Less complete mixing events lead to less oxygen in the hypolimnion. Additionally, as many biogeochemical processes are temperature dependant, the oxygen consumption rate is larger in warmer water. In the context of this study, climate variability is defined as episodes with daily average air temperatures deviating from the long-term average for this day of year. The episodes can be described by their duration in days and their amplitude in °C. Changes in climate variability can have very different effects, depending on the average air and water temperatures. The effects are stronger in lakes with higher water temperatures: For the hypolimnetic conditions, the seasonality in warming is important: Increasing winter air temperatures have a much stronger effect on the water temperatures in the lake than increasing summer temperatures. The combined effects of a warmer climate and higher nutrient concentrations enhances oxygen depletion in the hypolimnion. Finally, it is discussed, to what extent the results of this study are transferrable to other lakes. The reactions of Lake Constance to climate change are determined by the physical, geographical and ecological characteristics of the lake. Hydrodynamic reactions are defined by the mixing type, water temperatures and the residence time of the water in the lake. Furthermore it is important that the lake is almost never completely ice-covered, and that there are only minor salinity differences. The reactions of the ecosystem are determined also by the oligotrophic state of the lake. Results of this study thus can be transferred to other deep, monomictic, oligotrophic fresh water lakes, as for example the other large perialpine lakes of glacial origin.Item Open Access Volcanic evolution of Southern Tenerife (Canary Islands) during the Pleistocene and Holocene(2009) Kröchert, Jörg; Buchner, Elmar (PD Dr.)The Canary Islands are a group of volcanic ocean islands in the Central Atlantic near the continental margin of northwest Africa. Tenerife, with a volcanic history of more than 12 Ma of subaerial eruptions, is the largest island of the Canaries and is situated in the centre of the Archipelago. The Quaternary Bandas del Sur Formation in the South of Tenerife comprises a complex sequence of pyroclastic rocks and lavas and is part of the southern rift zone. In contrast to the northwest and northeast rift zones on Tenerife, the southern rift zone comprises a number of characteristics with respect to the morphological features, eruption cyclicity, and the geochemistry of the volcanic deposits. Various flank eruptions of the Las Cañadas volcano associated with basaltic lavas and the formation of cinder cones within the Bandas del Sur are important volcanic units for understanding the explosive volcanic cycles during the Pleistocene on Tenerife. Paleomagnetic studies, geochemical analysis of major and trace elements, and two radioisotopic dating (K-Ar) have been carried out on prominent cinder cones, to determine their stratigraphic position. By combining the results with previous K-Ar data in the Literature, the cones and lavas can be subdivided into three stratigraphic units. Cinder cones that belong to the first unit show reverse magnetization and Y/Nb ratios between 0.37-0.41; cinder cones of the second unit show normal magnetization and Y/Nb ratios of <0.35. The third unit comprises cinder cones with normal magnetization and Y/Nb ratios of about 0.47. The first two units were constructed between ~0.948-0.779 Ma and 0.323-0.300 Ma. These units define volcanic cycles that culminated in violent Plinian eruptions. The third and youngest unit possibly marks the beginning of a further volcanic cycle that started ~0.095 Ma ago. In order to reconstruct the uplift history of Tenerife, numerous uplifted fossil beaches and tuff cones were investigated. In the North and Northeast of Tenerife, the positions of fossil beaches indicate stable conditions since 130 ka. The uplift rates in southern Tenerife (within the Bandas del Sur) amount to a minimum of 15 m since 778 ka at Montaña Pelada and to a maximum of up to 45 m since 10 ka in the area of El Médano, suggesting an asymmetrical uplift of the island complex. The uplift in the South could be caused by seismic activity or mass loss due to flank collapse events. However, uplift due to ascending magma is more plausible. The fossil beach deposits of the El Médano area exhibit tubular-shaped concretions and concretionary dykes. These sediment structures have been interpreted as the result of a) the interaction between hot ignimbrites that overflowed wet beaches, b) fast accumulation of beach sands on hot and degassing ignimbrites, c) paleoliquefaction caused by an earthquake (seismites). Based on the interpretation as seismites, an intense paleoearthquake was proposed to be responsible for the generation of the paleoliquefaction structures. However, the sedimentary structures in question show the general criteria diagnostic for rhizocretions and root tubules with respect to their orientation, size, branching system, and style of cementation. Faults of a well-defined strike direction that precisely coincides with the southern rift fault system occur in the El Médano site. This fault system was generated contemporaneously with a chain of cinder cones ~948 ka ago. Open fractures in ignimbrites (~668 ka) and the fossil beach deposits (~10 ka) of the El Médano area suggest that the rift-associated fault system has been seismically active in the aftermath and probably is still active. A further fault system striking perpendicular to the rift-associated faults probably originates from a Holocene paleoearthquake of moderate intensity. Earthquake-induced ground effects in the fossil beach deposits of the study area are consistent with seismically induced ground effects of several recent and well-documented earthquakes and gravitational sliding triggered by an intense earthquake in Nicoya/Costa Rica in 1990. Both, the rift-associated and the earthquake-induced fault system, initially produced open cracks in the fossil beach deposits that were occupied by plants and subsequently stabilized by cementation. These results accentuate that the densely settled southern part of Tenerife is latently endangered by volcanic and seismic activity, though, currently, there are no indications of increasing volcanic activity in this region. Uplift due to recent magma loading is not observable and the intensity of a paleoearthquake in the El Médano area was probably considerably lower than mentioned in the literature.Item Open Access A MATLAB toolbox for the Scintrex CG-5 gravimeter at GIS(2017) Gu, SiyunThis thesis is about a MATLAB toolbox for the Scintrex CG-5 gravimeter. The aim of this toolbox is to offer a basic data process for gravity measurement, which is compatible for most applications in geodesy. In particular, the toolbox covers: 1. data selection, 2. adjustment, 3. gravity gradient computation, 4. gravity visualization, 5. calibration factor estimation. A graphical user interface enables users without deeper programming knowledge to operate this toolbox and obtain the results like adjusted values or figures.Item Open Access Analyzing and characterizing spaceborne observation of water storage variation : past, present, future(2024) Saemian, Peyman; Sneeuw, Nico (Prof. Dr.-Ing.)Water storage is an indispensable constituent of the intricate water cycle, as it governs the availability and distribution of this precious resource. Any alteration in the water storage can trigger a cascade of consequences, affecting not only our agricultural practices but also the well-being of various ecosystems and the occurrence of natural hazards. Therefore, it is essential to monitor and manage the water storage levels prudently to ensure a sustainable future for our planet. Despite significant advancements in ground-based measurements and modeling techniques, accurately measuring water storage variation remained a major challenge for a long time. Since 2002, the Gravity Recovery and Climate Experiment (GRACE) and its successor GRACE Follow-On (GRACE-FO) satellites have revolutionized our understanding of the Earth's water cycle. By detecting variations in the Earth's gravity field caused by changes in water distribution, these satellites can precisely measure changes in total water storage (TWS) across the entire globe, providing a truly comprehensive view of the world's water resources. This information has proved invaluable for understanding how water resources are changing over time, and for developing strategies to manage these resources sustainably. However, GRACE and GRACE-FO are subject to various challenges that must be addressed in order to enhance the efficacy of our exploitation of GRACE observations for scientific and practical purposes. This thesis aims to address some of the challenges faced by GRACE and GRACE-FO. Since the inception of the GRACE mission, scholars have commonly extracted mass changes from observations by approximating the Earth's gravity field utilizing mathematical functions termed spherical harmonics. Various institutions have already processed GRACE(-FO) data, known as level-2 data in the GRACE community, considering the constraints, approaches, and models that have been utilized. However, this processed data necessitates post-processing to be used for several applications, such as hydrology and climate research. In this thesis, we evaluate various methods of processing GRACE(-FO) level-2 data and assess the spatio-temporal effect of the post-processing steps. Furthermore, we aim to compare the consistency between GRACE and its successor mission, GRACE-FO, in terms of data quality and measurement accuracy. By analyzing and comparing the data from these two missions, we can identify any potential discrepancies or differences and establish the level of confidence in the accuracy and reliability of the GRACE-FO measurements. Finally, we will compare the processed level-3 products with the level-3 products that are presently accessible online. The relatively short record of the GRACE measurements, compared to other satellite missions and observational records, can limit some studies that require long-term data. This short record makes it challenging to separate long-term signals from short-term variability and validate the data with ground-based measurements or other satellite missions. To address this limitation, this thesis expands the temporal coverage of GRACE(-FO) observations using global hydrological, atmospheric, and reanalysis models. First, we assess these models in estimating the TWS variation at a global scale. We compare the performance of various methods including data-driven and machine learning approaches in incorporating models and reconstruct GRACE TWS change. The results are also validated against Satellite Laser Ranging (SLR) observations over the pre-GRACE period. This thesis develops a hindcasted GRACE, which provides a better understanding of the changes in the Earth's water storage on a longer time scale. The GRACE satellite mission detects changes in the overall water storage in a specific region but cannot distinguish between the different compartments of TWS, such as surface water, groundwater, and soil moisture. Understanding these individual components is crucial for managing water resources and addressing the effects of droughts and floods. This study aims to integrate various data sources to improve our understanding of water storage variations at the continental to basin scale, including water fluxes, lake water level, and lake storage change data. Additionally, the study demonstrates the importance of combining GRACE(-FO) observations with other measurements, such as piezometric wells and rain-gauges, to understand the water scarcity predicament in Iran and other regions facing similar challenges. The GRACE satellite mission provides valuable insights into the Earth's system. However, the GRACE product has a level of uncertainty due to several error sources. While the mission has taken measures to minimize these uncertainties, researchers need to account for them when analyzing the data and communicate them when reporting findings. This thesis proposes a probabilistic approach to incorporate the Total Water Storage Anomaly (TWSA) data from GRACE(-FO). By accounting for the uncertainty in the TWSA data, this approach can provide a more comprehensive understanding of drought conditions, which is essential for decision makers managing water resources and responding to drought events.Item Open Access Rekonstruktion der Ablagerungsverhältnisse im nordalpinen Vorlandbecken Südwest-Deutschlands(2006) Maurer, Holger; Seyfried, Hartmut (Prof. Dr.)Während der Erdöl- und Ergasprospektion zu Beginn der 50er Jahre rückte das Nordalpine Vorlandbecken (Molassebecken) in den Mittelpunkt des Forschungsinteresses. In den kommenden Jahrzehnten wurden zahlreiche Tiefbohrungen im Molassebecken abgeteuft und somit die Grundlage für eine lithostratigraphische Gliederung der sedimentären Abfolge geschaffen. Bis zur heutigen Zeit gibt es nur wenige sedimentologische und sequenzstratigraphische Untersuchungen zum Ablagerungsmilieu der klastischen Sedimente im Nordalpinen Vorlandbecken Süddeutschlands. Das Ziel der vorliegenden kumulativen Arbeit war es, in verschiedenen Themenbereichen mit sedimentologischen, paläopedologischen, geophysikalischen und mathematischen Methoden die Ablagerungsverhältnisse im Molassebecken zu rekonstruieren. In fünf Veröffentlichungen werden verschiedene stratigraphische Altersabschnitte des Nordalpinen Vorlandbeckens in Südwestdeutschland behandelt. Der Schwerpunkt der Untersuchungen wurde dabei auf die ältesten und die jüngsten Sedimentabfolgen im Molassebecken gelegt, die gleichzeitig den Beginn und das Ende der sedimentären Vorlandbecken-Entwicklung repräsentieren.Item Open Access Forming a hybrid intelligence system by combining Active Learning and paid crowdsourcing for semantic 3D point cloud segmentation(2023) Kölle, Michael; Sörgel, Uwe (Prof. Dr.-Ing.)While in recent years tremendous advancements have been achieved in the development of supervised Machine Learning (ML) systems such as Convolutional Neural Networks (CNNs), still the most decisive factor for their performance is the quality of labeled training data from which the system is supposed to learn. This is why we advocate focusing more on methods to obtain such data, which we expect to be more sustainable than establishing ever new classifiers in the rapidly evolving ML field. In the geospatial domain, however, the generation process of training data for ML systems is still rather neglected in research, with typically experts ending up being occupied with such tedious labeling tasks. In our design of a system for the semantic interpretation of Airborne Laser Scanning (ALS) point clouds, we break with this convention and completely lift labeling obligations from experts. At the same time, human annotation is restricted to only those samples that actually justify manual inspection. This is accomplished by means of a hybrid intelligence system in which the machine, represented by an ML model, is actively and iteratively working together with the human component through Active Learning (AL), which acts as pointer to exactly such most decisive samples. Instead of having an expert label these samples, we propose to outsource this task to a large group of non-specialists, the crowd. But since it is rather unlikely that enough volunteers would participate in such crowdsourcing campaigns due to the tedious nature of labeling, we argue attracting workers by monetary incentives, i.e., we employ paid crowdsourcing. Relying on respective platforms, typically we have access to a vast pool of prospective workers, guaranteeing completion of jobs promptly. Thus, crowdworkers become human processing units that behave similarly to the electronic processing units of this hybrid intelligence system performing the tasks of the machine part. With respect to the latter, we do not only evaluate whether an AL-based pipeline works for the semantic segmentation of ALS point clouds, but also shed light on the question of why it works. As crucial components of our pipeline, we test and enhance different AL sampling strategies in conjunction with both a conventional feature-driven classifier as well as a data-driven CNN classification module. In this regard, we aim to select AL points in such a manner that samples are not only informative for the machine, but also feasible to be interpreted by non-experts. These theoretical formulations are verified by various experiments in which we replace the frequently assumed but highly unrealistic error-free oracle with simulated imperfect oracles we are always confronted with when working with humans. Furthermore, we find that the need for labeled data, which is already reduced through AL to a small fraction (typically ≪1 % of Passive Learning training points), can be even further minimized when we reuse information from a given source domain for the semantic enrichment of a specific target domain, i.e., we utilize AL as means for Domain Adaptation. As for the human component of our hybrid intelligence system, the special challenge we face is monetarily motivated workers with a wide variety of educational and cultural backgrounds as well as most different mindsets regarding the quality they are willing to deliver. Consequently, we are confronted with a great quality inhomogeneity in results received. Thus, when designing respective campaigns, special attention to quality control is required to be able to automatically reject submissions of low quality and to refine accepted contributions in the sense of the Wisdom of the Crowds principle. We further explore ways to support the crowd in labeling by experimenting with different data modalities (discretized point cloud vs. continuous textured 3D mesh surface), and also aim to shift the motivation from a purely extrinsic nature (i.e., payment) to a more intrinsic one, which we intend to trigger through gamification. Eventually, by casting these different concepts into the so-called CATEGORISE framework, we constitute the aspired hybrid intelligence system and employ it for the semantic enrichment of ALS point clouds of different characteristics, enabled through learning from the (paid) crowd.Item Open Access