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LiDAR-Visual SLAM with Integrated Semantic and Texture Information for Enhanced Ecological monitoring Vehicle Localization

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Computers, Materials & Continua 2025年第1期82卷 1401-1416页

作者： Yiqing Lu Liutao Zhao Qiankun Zhao Foreign environmental Cooperation center Ministry of Ecology and Environment of PRCBeijing100035China Beijing Computing center Co. Ltd.Beijing Academy of Science and TechnologyBeijing100083China Beijing Guyu Interactive Artificial Intelligence Application Co. Ltd.Beijing100024China

Ecological monitoring vehicles are equipped with a range of sensors and monitoring devices designed to gather data on ecological and environmental *** vehicles are crucial in various fields,including environmental science research,ecological and environmental monitoring projects,disaster response,and emergency management.A key method employed in these vehicles for achieving high-precision positioning is LiDAR(lightlaser detection and ranging)-Visual Simultaneous Localization and Mapping(SLAM).However,maintaining highprecision localization in complex scenarios,such as degraded environments or when dynamic objects are present,remains a significant *** address this issue,we integrate both semantic and texture information from LiDAR and cameras to enhance the robustness and efficiency of data ***,semantic information simplifies the modeling of scene elements,reducing the reliance on dense point clouds,which can be less ***,visual texture information complements LiDAR-Visual localization by providing additional contextual *** incorporating semantic and texture details frompaired images and point clouds,we significantly improve the quality of data association,thereby increasing the success rate of *** approach not only enhances the operational capabilities of ecological monitoring vehicles in complex environments but also contributes to improving the overall efficiency and effectiveness of ecological monitoring and environmental protection efforts.

关键词： LiDAR-Visual simultaneous localization and mapping integrated semantic texture information

Object-based image analysis for mapping geomorphic zones of coral reefs in the Xisha Islands, China

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Acta Oceanologica Sinica 2016年第12期35卷 19-27页

作者： XU Jingping ZHAO Jianhua LI Fang WANG Lin SONG Derui WEN Shiyong WANG Fei GAO Ning National Marine environmental monitoring center

Mapping regional spatial patterns of coral reef geomorphology provides the primary information to understand the constructive processes in the reef ecosystem. However, this work is challenged by the pixel-based image classification method for its comparatively low accuracy. In this paper, an object-based image analysis(OBIA)method was presented to map intra-reef geomorphology of coral reefs in the Xisha Islands, China using Landsat 8satellite imagery. Following the work of the Millennium Coral Reef Mapping Project, a regional reef class hierarchy with ten geomorphic classes was first defined. Then, incorporating the hierarchical concept and integrating the spectral and additional spatial information such as context, shape and contextual relationships, a large-scale geomorphic map was produced by OBIA with accuracies generally more than 80%. Although the robustness of OBIA has been validated in the applications of coral reef mapping from individual reefs to reef system in this paper, further work is still required to improve its transferability.

关键词： object-based Landsat 8 geomorphic mapping Xisha Islands

Evaluating the performances of accelerated-solvent extraction, microwave-assisted extraction, and ultrasonic-assisted extraction for determining PCBs, HCHs and DDTs in sediments

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Chinese Journal of Oceanology and Limnology 2011年第5期29卷 1103-1112页

作者：张蓬葛林科周传光姚子伟 National Marine environmental monitoring center

Three extraction techniques have been recently used for the quantitative extraction of semi-volatile organic pollutants in sediments, i.e. accelerated solvent extraction （ASE）, microwave assisted extraction （MAE） and ultrasonic assisted extraction （UAE）. However, their extraction efficiencies have rarely been quantitatively compared using rigorous mathematical methods. In this paper, one-way analysis of variance （ANOVA） was employed to evaluate the performance of ASE, MAE and UAE in the overall extraction of PCBs, DDTs and HCHs by analysis of their recoveries from the Standard Reference Material IAEA-417, a sediment sample certified by many international laboratories. Conclusions were drawn at a significance level of P〈 0.05. No significant differences were found among the mean values for method recoveries using ASE, MAE and UAE. The mean values for real recoveries using ASE and MAE were nearly identical, but the real recovery using UAE was much lower. The concentrations of all PCBs, DDTs and HCHs except for CB52 and o,p＇-DDT using UAE were the lowest. Comparing the results obtained using ASE with MAE, the concentrations of CB28, CB52, CB138, ct-HCH, [3-HCH, p,p＇-DDE and p,p＇-DDD were nearly identical, while the concentrations of other compounds were significantly different. Based on the low recoveries, it was concluded that UAE is a relatively inefficient extraction method, while ASE and MAE are equivalent methods. Taking into consideration the relative standard deviation （RSD） values, solvent volume, extraction time, and purchasing costs of the apparatus, MAE was considered superior to ASE for extraction of PCBs, DDTs and HCHs.

关键词： extraction technique sediment PCB HCH DDT

Spatio-temporal Change and Carrying Capacity Evaluation of Human Coastal Utilization in Liaodong Bay,China from 1993 to 2015

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Chinese Geographical Science 2019年第3期29卷 463-473页

作者： XU Jingping LI Fang SUO Anning ZHAO Jianhua SU Xiu National Marine environmental monitoring center

In China, promoting the development of coastal areas has been included in a series of national strategic development *** the same time, many marine environmental problems have been associated with the rapid development of coastal sea use. In order to quantify the impact of human activities on the coast, the characteristics of coastlines and near-shore sea use of Liaodong Bay, Northeast China, were first classified using multi-source, remotely sensed imagery using automatic or semi-automatic extraction methods for five periods between 1993 and 2015. Sea use dynamics and coastline dynamics resulting from human activates were analyzed. Results showed a significant trend of continuous growth in sea use and a progressive increase in the total length of artificial coastline, but a noticeable loss of natural coastline during the five periods. Reclaimed land and enclosed areas were the main types of sea use. Most coastal human activities were distributed in the northern part of the bay. In recent years, rapid industrialization and urbanization in China's coastal areas have promoted large-scale land reclamation. Accordingly, the observed coastline changes during each period had a close relationship with coastal development and sea area utilization. Based on marine functional zoning(MFZ), the sea use carrying capacity was evaluated by means of indexes to describe human exploitation of the marine and coastal environments in the bay. This showed that the intensity of coastal utilization in Liaodong Bay has increased year-on-year. Sea use carrying capacity reached a ‘critically loaded'state by 2008 and was ‘overloaded' by 2015.

关键词： carrying capacity sea use coastline Liaodong Bay remote sensing

Atmospheric concentration characteristics and gas/particle partitioning of PCBs from the North Pacific to the Arctic Ocean

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Acta Oceanologica Sinica 2014年第9期33卷 32-39页

作者： WANG Zhen NA Guangshui GAO Hui WANG Yanjie YAO Ziwei National Marine environmental monitoring center

Polychlorinated biphenyls （PCBs） were measured in atmospheric samples collected from the North Pacific to the Arctic Ocean between July and September 2012 to study the atmospheric concentration characteris-tics of PCBs and their gas/particle partitioning. The mean concentration of 26 PCBs （vapor plus particulate phase）（∑PCBs） was 19.116 pg/m^3with a standard deviation of 13.833 pg/m^3. Three most abundant conge-ners were CB-28, -52 and -77, accounting for 43.0% to∑PCBs. The predominance of vapor PCBs （79.0% to∑PCBs） in the atmosphere was observed.∑PCBs were negative correlated with the latitudes and inverse of the absolute temperature （1/T）. The significant correlation for most congeners was also observed between the logarithm of gas/particle partition coefficient （logKp） and 1/T. Shallower slopes （from ∑0.15 to ∑0.46, average ∑0.27） were measured from the regression of the logarithm of sub-cooled liquid vapor pressures （logpoL） and logKP for all samples. The difference of the slopes and intercepts among samples was insignifi-cant （p〉0.1）, implying adsorption and/or absorption processes and the aerosol composition did not differ significantly among different samples. By comparing three models, the J-P adsorption model, the octanol/air partition coefficient （KOA） based model and the soot-air model, the gas/particle partitioning of PCBs in the Arctic atmosphere was simulated more precisely by the soot-air model, and the adsorption onto el-emental carbon is more sensitive than the absorption into organic matters of aerosols, especially for low-chlorinated PCB congeners.

关键词： PCBs gas/particle partitioning Arctic Ocean soot-air model semi-volatile organic compounds

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Spatial distribution, seasonal variation and regionalization of PM_(2.5) concentrations in China

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Science China Chemistry 2015年第9期58卷 1435-1443页

作者： Shuai Wang Guogang Li Zhengyu Gong Li Du Qingtao Zhou Xiaoyan Meng Shuyan Xie Lei Zhou Department of Ambient Air Quality monitoring China National Environmental Monitoring Center Civil and environmental Engineering Syracuse University

In order to provide scientific support to policy makers in the regulation of PM2.5 pollution in China, it is important to accurately assess the current status, spatiotemporal characteristics and regionalization data for this air pollutant. An analysis of the pollution status of PM2.5 was conducted using daily averaged mass concentration data recorded in 74 cities in 2013 and 161 cities in 2014. The rotated empirical orthogonal function(REOF) method was applied to analyze this data. Results showed that the average annual PM2.5 concentration in urban areas of China is 62.2±21.5 ?g/m3, and that the distribution is spatially heterogeneous. The North China Plain, middle and lower Yangtze River Plain, Sichuan Basin and Guanzhong Plain had relatively high annual PM2.5 concentrations compared with the southeast coastal region, the Tibetan Plateau and the Yungui Plateau. PM2.5 mass concentrations tended to be higher in winter than in summer, however, the data for many cities showed a small peak in concentrations from May to July. An analysis of the spatial correlation of PM2.5 indicated a significant influence of topographic conditions. A lower correlation was observed where terrain features varied greatly. Based on the results of the REOF analysis and topographic characteristics, ten regions were identified in mid-eastern China, which could be considered as basic pollution prevention divisions for PM2.5; these include the North China Plain region, Pearl River Delta region, Jianghuai Plain region, middle Yangtze River Plain region, Northeast Plain region, Jiangnan coastal region, Sichuan Basin region, Qiantao Plain region, Guanzhong-Central Plain region and Yungui Plateau region. Seasonal variations in the regionalization data were observed, especially for the North China Plain and Pearl River Delta regions. Among the ten regions identified in this study, the North China Plain, Guanzhong-Central Plain, middle Yangtze River Plain and Jianghuai Plain had relatively high PM2.5

关键词： PM2.5 spatiotemporal variability REOF spatial regionalization

Fast increasing of surface ozone concentrations in Pearl River Delta characterized by a regional air quality monitoring network during 2006–2011

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Journal of environmental Sciences 2014年第1期26卷 23-36页

作者： Jinfeng Li Keding Lu Wei Lv Jun Li Liuju Zhong Yubo Ou Duohong Chen Xin Huang Yuanhang Zhang College of environmental Sciences Engineering Peking University Guangdong Provincial environmental monitoring center

Based on the observation by a Regional Air Quality monitoring Network including 16 monitoring stations, temporal and spatial variations of ozone （O3）, NO2 and total oxidant （Ox） were analyzed by both linear regression and cluster analysis. A fast increase of regional O3 concentrations of 0.86 ppbWyr was found for the annual averaged values from 2006 to 2011 in Guangdong, China. Such fast O3 increase is accompanied by a correspondingly fast NOx reduction as indicated by a fast NO2 reduction rate of 0,61 ppbV/yr. Based on a cluster analysis, the monitoring stations were classified into two major categories - rural stations （non-urban） and suburban/urban stations. The 03 concentrations at rural stations were relatively conserved while those at suburban/urban stations showed a fast increase rate of 2.0 ppbV/yr accompanied by a NO2 reduction rate of 1.2 ppbV/yr. Moreover, a rapid increase of the averaged O3 concentrations in springtime （13%/yr referred to 2006 level） was observed, which may result from the increase of solar duration, reduction of precipitation in Guangdong and transport from Eastern Central China. Application of smog production algorithm showed that the photochemical O3 production is mainly volatile organic compounds （VOC）-controlled. However, the photochemical O3 production is sensitive to both NOx and VOC for O3 pollution episode. Accordingly, it is expected that a combined NOx and VOC reduction will be helpful for the reduction of the O3 pollution episodes in Pearl River Delta while stringent VOC emission control is in general required for the regional O3 pollution control.

关键词： O3 cluster analysis temporal variation smog production algorithm Pearl River Delta

Chemical characteristics of PM_(2.5) during haze episodes in the urban of Fuzhou,China

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Particuology 2013年第3期11卷 264-272页

作者： Fuwang Zhang Lingling Xu Jinsheng Chen Xiaoqiu Chen Zhenchuan Niu Tong Lei Chunming Li Jinping Zhao Key Lab of Urban Environment and Health Institute of Urban EnvironmentChinese Academy of Sciences Graduate University of Chinese Academy of Sciences environmental monitoring center of Fujian environmental monitoring center of Guangdong

Atmospheric fine particles （PM2.5） were collected in this study with middle volume samplers in Fuzhou, China, during both normal days and haze days in summer （September 2007） and winter （january 2008）. The concentrations, distributions, and sources of polycyclic aromatic hydrocarbons （PAHs）, organic carbon （OC）, elemental carbon （EC）, and water soluble inorganic ions （WSIls） were determinated. The results showed that the concentrations of PM2.s, PAHs, OC, EC, and WSIIs were in the orders of haze 〉 normal and winter〉 summer. The dominant PAHs of PM2.s in Fuzhou were Fluo, Pyr, Chr, BbF, BkF, BaP, BghiP, and IcdP, which represented about 80.0% of the total PAHs during different sampling periods. The BaPeq concentrations of ^-~PAHs were 0.78, 0.99, 1.22, and 2.43 ng/m3 in summer normal, summer haze, winter normal, and winter haze, respectively. Secondary pollutants （SO42 , NO3 , NH4＊, and OC） were the major chemical compositions of PM2.5, accounting for 69.0%, 55.1%, 63.4%, and 64.9% of PM2.s mass in summer normal, summer haze, winter normal, and winter haze, respectively. Correspondingly, secondary organic carbon （SOC） in Fuzhou accounted for 20.1%, 48.6%, 24.5%, and 50.5% of OC. The average values of nitrogen oxidation ratio （NOR） and sulfur oxidation ratio （SOR） were higher in haze days （0.08 and 0.27） than in normal days （0.05 and 0.22）. Higher OC/EC ratios were also found in haze days （5.0） than in normal days （3.3）. Correlation analysis demonstrated that visibility had positive correlations with wind speed, and neg- ative correlations with relative humidity and major air pollutants. Overall, the enrichments of PM2.5, OC, EC, SO42 ,andNO3 promoted haze formation. Furthermore, the diagnostic ratios of IcdP/（IcdP ＋ BghiP）, lcdP/BghiP, OC/EC, and NO3 /SO42 indicated that vehicle exhaust and coal consumption were the main sources of pollutants in Fuzhou.

关键词： Fine particles Haze Polycyclic aromatic hydrocarbons Organic carbon Elemental carbon Water soluble inorganic ions

Assessment of the sources and transformations of nitrogen in a plain river network region using a stable isotope approach

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Journal of environmental Sciences 2015年第4期27卷 198-206页

作者： Jingtao Ding Beidou Xi Qigong Xu Jing Su Shouliang Huo Hongliang Liu Yijun Yu Yanbo Zhang School of Environment Beijing Normal University Chinese Research Academy of environmental Sciences Changzhou environmental monitoring center

The great spatial and temporal variability in hydrological conditions and nitrogen（N）processing introduces large uncertainties to the identification of N sources and quantifying N cycles in plain river network regions. By combining isotopic data with chemical and hydrologic measurements, we determined the relative importance of N sources and biogeochemical N processes in the Taige River in the East Plain Region of China. The river was polluted more seriously by anthropogenic inputs in winter than in summer. Manure and urban sewage effluent were the main nitrate（NO-3） sources, with the nitrification of N-containing organic materials serving as another important source of NO-3. In the downstream, with minor variations in hydrological conditions, nitrification played a more important role than assimilation for the decreasing ammonium（NH＋4-N） *** N isotopic enrichment factors（ε） during NH＋4utilization ranged from- 13.88‰ in March to- 29.00‰ in July. The ratio of the increase in δ^18O and δ^15N of river NO-3in the downstream was 1.04 in January and 0.92 in March. This ratio indicated that NO-3assimilation by phytoplankton was responsible for the increasing δ^15N and δ^18O values of NO-3in winter. The relationships between δ^15N of particulate organic nitrogen and isotopic compositions of dissolved inorganic nitrogen indicated that the phytoplankton in the Taige River probably utilized NH＋4preferentially and mainly in summer, while in winter, NO-3assimilation by phytoplankton was dominant.

关键词： Nitrate Stable isotopes Nitrification Assimilation Plain river network region