TY - JOUR A1 - Dech, Stefan A1 - Holzwarth, Stefanie A1 - Asam, Sarah A1 - Andresen, Thorsten A1 - Bachmann, Martin A1 - Boettcher, Martin A1 - Dietz, Andreas A1 - Eisfelder, Christina A1 - Frey, Corinne A1 - Gesell, Gerhard A1 - Gessner, Ursula A1 - Hirner, Andreas A1 - Hofmann, Matthias A1 - Kirches, Grit A1 - Klein, Doris A1 - Klein, Igor A1 - Kraus, Tanja A1 - Krause, Detmar A1 - Plank, Simon A1 - Popp, Thomas A1 - Reinermann, Sophie A1 - Reiners, Philipp A1 - Roessler, Sebastian A1 - Ruppert, Thomas A1 - Scherbachenko, Alexander A1 - Vignesh, Ranjitha A1 - Wolfmueller, Meinhard A1 - Zwenzner, Hendrik A1 - Kuenzer, Claudia T1 - Potential and challenges of harmonizing 40 years of AVHRR data: the TIMELINE experience JF - Remote Sensing N2 - Earth Observation satellite data allows for the monitoring of the surface of our planet at predefined intervals covering large areas. However, there is only one medium resolution sensor family in orbit that enables an observation time span of 40 and more years at a daily repeat interval. This is the AVHRR sensor family. If we want to investigate the long-term impacts of climate change on our environment, we can only do so based on data that remains available for several decades. If we then want to investigate processes with respect to climate change, we need very high temporal resolution enabling the generation of long-term time series and the derivation of related statistical parameters such as mean, variability, anomalies, and trends. The challenges to generating a well calibrated and harmonized 40-year-long time series based on AVHRR sensor data flown on 14 different platforms are enormous. However, only extremely thorough pre-processing and harmonization ensures that trends found in the data are real trends and not sensor-related (or other) artefacts. The generation of European-wide time series as a basis for the derivation of a multitude of parameters is therefore an extremely challenging task, the details of which are presented in this paper. KW - AVHRR KW - Earth Observation KW - harmonization KW - time series analysis KW - climate related trends KW - automatic processing KW - Europe KW - TIMELINE Y1 - 2021 U6 - http://nbn-resolving.de/urn/resolver.pl?urn:nbn:de:bvb:20-opus-246134 SN - 2072-4292 VL - 13 IS - 18 ER - TY - JOUR A1 - Dhillon, Maninder Singh A1 - Dahms, Thorsten A1 - Kuebert-Flock, Carina A1 - Borg, Erik A1 - Conrad, Christopher A1 - Ullmann, Tobias T1 - Modelling Crop Biomass from Synthetic Remote Sensing Time Series: Example for the DEMMIN Test Site, Germany JF - Remote Sensing N2 - This study compares the performance of the five widely used crop growth models (CGMs): World Food Studies (WOFOST), Coalition for Environmentally Responsible Economies (CERES)-Wheat, AquaCrop, cropping systems simulation model (CropSyst), and the semi-empiric light use efficiency approach (LUE) for the prediction of winter wheat biomass on the Durable Environmental Multidisciplinary Monitoring Information Network (DEMMIN) test site, Germany. The study focuses on the use of remote sensing (RS) data, acquired in 2015, in CGMs, as they offer spatial information on the actual conditions of the vegetation. Along with this, the study investigates the data fusion of Landsat (30 m) and Moderate Resolution Imaging Spectroradiometer (MODIS) (500 m) data using the spatial and temporal reflectance adaptive reflectance fusion model (STARFM) fusion algorithm. These synthetic RS data offer a 30-m spatial and one-day temporal resolution. The dataset therefore provides the necessary information to run CGMs and it is possible to examine the fine-scale spatial and temporal changes in crop phenology for specific fields, or sub sections of them, and to monitor crop growth daily, considering the impact of daily climate variability. The analysis includes a detailed comparison of the simulated and measured crop biomass. The modelled crop biomass using synthetic RS data is compared to the model outputs using the original MODIS time series as well. On comparison with the MODIS product, the study finds the performance of CGMs more reliable, precise, and significant with synthetic time series. Using synthetic RS data, the models AquaCrop and LUE, in contrast to other models, simulate the winter wheat biomass best, with an output of high R2 (>0.82), low RMSE (<600 g/m\(^2\)) and significant p-value (<0.05) during the study period. However, inputting MODIS data makes the models underperform, with low R2 (<0.68) and high RMSE (>600 g/m\(^2\)). The study shows that the models requiring fewer input parameters (AquaCrop and LUE) to simulate crop biomass are highly applicable and precise. At the same time, they are easier to implement than models, which need more input parameters (WOFOST and CERES-Wheat). KW - crop growth models KW - Landsat KW - MODIS KW - data fusion KW - STARFM KW - climate parameters KW - winter wheat Y1 - 2020 U6 - http://nbn-resolving.de/urn/resolver.pl?urn:nbn:de:bvb:20-opus-207845 SN - 2072-4292 VL - 12 IS - 11 ER - TY - JOUR A1 - Dhillon, Maninder Singh A1 - Dahms, Thorsten A1 - Kuebert-Flock, Carina A1 - Rummler, Thomas A1 - Arnault, Joel A1 - Steffan-Dewenter, Ingolf A1 - Ullmann, Tobias T1 - Integrating random forest and crop modeling improves the crop yield prediction of winter wheat and oil seed rape JF - Frontiers in Remote Sensing N2 - The fast and accurate yield estimates with the increasing availability and variety of global satellite products and the rapid development of new algorithms remain a goal for precision agriculture and food security. However, the consistency and reliability of suitable methodologies that provide accurate crop yield outcomes still need to be explored. The study investigates the coupling of crop modeling and machine learning (ML) to improve the yield prediction of winter wheat (WW) and oil seed rape (OSR) and provides examples for the Free State of Bavaria (70,550 km2), Germany, in 2019. The main objectives are to find whether a coupling approach [Light Use Efficiency (LUE) + Random Forest (RF)] would result in better and more accurate yield predictions compared to results provided with other models not using the LUE. Four different RF models [RF1 (input: Normalized Difference Vegetation Index (NDVI)), RF2 (input: climate variables), RF3 (input: NDVI + climate variables), RF4 (input: LUE generated biomass + climate variables)], and one semi-empiric LUE model were designed with different input requirements to find the best predictors of crop monitoring. The results indicate that the individual use of the NDVI (in RF1) and the climate variables (in RF2) could not be the most accurate, reliable, and precise solution for crop monitoring; however, their combined use (in RF3) resulted in higher accuracies. Notably, the study suggested the coupling of the LUE model variables to the RF4 model can reduce the relative root mean square error (RRMSE) from −8% (WW) and −1.6% (OSR) and increase the R 2 by 14.3% (for both WW and OSR), compared to results just relying on LUE. Moreover, the research compares models yield outputs by inputting three different spatial inputs: Sentinel-2(S)-MOD13Q1 (10 m), Landsat (L)-MOD13Q1 (30 m), and MOD13Q1 (MODIS) (250 m). The S-MOD13Q1 data has relatively improved the performance of models with higher mean R 2 [0.80 (WW), 0.69 (OSR)], and lower RRMSE (%) (9.18, 10.21) compared to L-MOD13Q1 (30 m) and MOD13Q1 (250 m). Satellite-based crop biomass, solar radiation, and temperature are found to be the most influential variables in the yield prediction of both crops. KW - crop modeling KW - random forest KW - machine learning KW - NDVI KW - satellite KW - landsat KW - sentinel-2 KW - winter wheat Y1 - 2023 U6 - http://nbn-resolving.de/urn/resolver.pl?urn:nbn:de:bvb:20-opus-301462 SN - 2673-6187 VL - 3 ER - TY - JOUR A1 - Dhillon, Maninder Singh A1 - Dahms, Thorsten A1 - Kübert-Flock, Carina A1 - Liepa, Adomas A1 - Rummler, Thomas A1 - Arnault, Joel A1 - Steffan-Dewenter, Ingolf A1 - Ullmann, Tobias T1 - Impact of STARFM on crop yield predictions: fusing MODIS with Landsat 5, 7, and 8 NDVIs in Bavaria Germany JF - Remote Sensing N2 - Rapid and accurate yield estimates at both field and regional levels remain the goal of sustainable agriculture and food security. Hereby, the identification of consistent and reliable methodologies providing accurate yield predictions is one of the hot topics in agricultural research. This study investigated the relationship of spatiotemporal fusion modelling using STRAFM on crop yield prediction for winter wheat (WW) and oil-seed rape (OSR) using a semi-empirical light use efficiency (LUE) model for the Free State of Bavaria (70,550 km\(^2\)), Germany, from 2001 to 2019. A synthetic normalised difference vegetation index (NDVI) time series was generated and validated by fusing the high spatial resolution (30 m, 16 days) Landsat 5 Thematic Mapper (TM) (2001 to 2012), Landsat 7 Enhanced Thematic Mapper Plus (ETM+) (2012), and Landsat 8 Operational Land Imager (OLI) (2013 to 2019) with the coarse resolution of MOD13Q1 (250 m, 16 days) from 2001 to 2019. Except for some temporal periods (i.e., 2001, 2002, and 2012), the study obtained an R\(^2\) of more than 0.65 and a RMSE of less than 0.11, which proves that the Landsat 8 OLI fused products are of higher accuracy than the Landsat 5 TM products. Moreover, the accuracies of the NDVI fusion data have been found to correlate with the total number of available Landsat scenes every year (N), with a correlation coefficient (R) of +0.83 (between R\(^2\) of yearly synthetic NDVIs and N) and −0.84 (between RMSEs and N). For crop yield prediction, the synthetic NDVI time series and climate elements (such as minimum temperature, maximum temperature, relative humidity, evaporation, transpiration, and solar radiation) are inputted to the LUE model, resulting in an average R\(^2\) of 0.75 (WW) and 0.73 (OSR), and RMSEs of 4.33 dt/ha and 2.19 dt/ha. The yield prediction results prove the consistency and stability of the LUE model for yield estimation. Using the LUE model, accurate crop yield predictions were obtained for WW (R\(^2\) = 0.88) and OSR (R\(^2\) = 0.74). Lastly, the study observed a high positive correlation of R = 0.81 and R = 0.77 between the yearly R\(^2\) of synthetic accuracy and modelled yield accuracy for WW and OSR, respectively. KW - MOD13Q1 KW - precision agriculture KW - fusion KW - sustainable agriculture KW - decision making KW - winter wheat KW - oil-seed rape KW - crop models Y1 - 2023 U6 - http://nbn-resolving.de/urn/resolver.pl?urn:nbn:de:bvb:20-opus-311092 SN - 2072-4292 VL - 15 IS - 6 ER - TY - JOUR A1 - Dhillon, Maninder Singh A1 - Dahms, Thorsten A1 - Kübert-Flock, Carina A1 - Steffan-Dewenter, Ingolf A1 - Zhang, Jie A1 - Ullmann, Tobias T1 - Spatiotemporal Fusion Modelling Using STARFM: Examples of Landsat 8 and Sentinel-2 NDVI in Bavaria JF - Remote Sensing N2 - The increasing availability and variety of global satellite products provide a new level of data with different spatial, temporal, and spectral resolutions; however, identifying the most suited resolution for a specific application consumes increasingly more time and computation effort. The region’s cloud coverage additionally influences the choice of the best trade-off between spatial and temporal resolution, and different pixel sizes of remote sensing (RS) data may hinder the accurate monitoring of different land cover (LC) classes such as agriculture, forest, grassland, water, urban, and natural-seminatural. To investigate the importance of RS data for these LC classes, the present study fuses NDVIs of two high spatial resolution data (high pair) (Landsat (30 m, 16 days; L) and Sentinel-2 (10 m, 5–6 days; S), with four low spatial resolution data (low pair) (MOD13Q1 (250 m, 16 days), MCD43A4 (500 m, one day), MOD09GQ (250 m, one-day), and MOD09Q1 (250 m, eight day)) using the spatial and temporal adaptive reflectance fusion model (STARFM), which fills regions’ cloud or shadow gaps without losing spatial information. These eight synthetic NDVI STARFM products (2: high pair multiply 4: low pair) offer a spatial resolution of 10 or 30 m and temporal resolution of 1, 8, or 16 days for the entire state of Bavaria (Germany) in 2019. Due to their higher revisit frequency and more cloud and shadow-free scenes (S = 13, L = 9), Sentinel-2 (overall R\(^2\) = 0.71, and RMSE = 0.11) synthetic NDVI products provide more accurate results than Landsat (overall R\(^2\) = 0.61, and RMSE = 0.13). Likewise, for the agriculture class, synthetic products obtained using Sentinel-2 resulted in higher accuracy than Landsat except for L-MOD13Q1 (R\(^2\) = 0.62, RMSE = 0.11), resulting in similar accuracy preciseness as S-MOD13Q1 (R\(^2\) = 0.68, RMSE = 0.13). Similarly, comparing L-MOD13Q1 (R\(^2\) = 0.60, RMSE = 0.05) and S-MOD13Q1 (R\(^2\) = 0.52, RMSE = 0.09) for the forest class, the former resulted in higher accuracy and precision than the latter. Conclusively, both L-MOD13Q1 and S-MOD13Q1 are suitable for agricultural and forest monitoring; however, the spatial resolution of 30 m and low storage capacity makes L-MOD13Q1 more prominent and faster than that of S-MOD13Q1 with the 10-m spatial resolution. KW - Landsat KW - Sentinel-2 KW - NDVI KW - fusion KW - agriculture KW - grassland KW - forest KW - urban KW - water Y1 - 2022 U6 - http://nbn-resolving.de/urn/resolver.pl?urn:nbn:de:bvb:20-opus-323471 SN - 2072-4292 VL - 14 IS - 3 ER - TY - JOUR A1 - Dhillon, Maninder Singh A1 - Kübert-Flock, Carina A1 - Dahms, Thorsten A1 - Rummler, Thomas A1 - Arnault, Joel A1 - Steffan-Dewenter, Ingolf A1 - Ullmann, Tobias T1 - Evaluation of MODIS, Landsat 8 and Sentinel-2 data for accurate crop yield predictions: a case study using STARFM NDVI in Bavaria, Germany JF - Remote Sensing N2 - The increasing availability and variety of global satellite products and the rapid development of new algorithms has provided great potential to generate a new level of data with different spatial, temporal, and spectral resolutions. However, the ability of these synthetic spatiotemporal datasets to accurately map and monitor our planet on a field or regional scale remains underexplored. This study aimed to support future research efforts in estimating crop yields by identifying the optimal spatial (10 m, 30 m, or 250 m) and temporal (8 or 16 days) resolutions on a regional scale. The current study explored and discussed the suitability of four different synthetic (Landsat (L)-MOD13Q1 (30 m, 8 and 16 days) and Sentinel-2 (S)-MOD13Q1 (10 m, 8 and 16 days)) and two real (MOD13Q1 (250 m, 8 and 16 days)) NDVI products combined separately to two widely used crop growth models (CGMs) (World Food Studies (WOFOST), and the semi-empiric Light Use Efficiency approach (LUE)) for winter wheat (WW) and oil seed rape (OSR) yield forecasts in Bavaria (70,550 km\(^2\)) for the year 2019. For WW and OSR, the synthetic products’ high spatial and temporal resolution resulted in higher yield accuracies using LUE and WOFOST. The observations of high temporal resolution (8-day) products of both S-MOD13Q1 and L-MOD13Q1 played a significant role in accurately measuring the yield of WW and OSR. For example, L- and S-MOD13Q1 resulted in an R\(^2\) = 0.82 and 0.85, RMSE = 5.46 and 5.01 dt/ha for WW, R\(^2\) = 0.89 and 0.82, and RMSE = 2.23 and 2.11 dt/ha for OSR using the LUE model, respectively. Similarly, for the 8- and 16-day products, the simple LUE model (R\(^2\) = 0.77 and relative RMSE (RRMSE) = 8.17%) required fewer input parameters to simulate crop yield and was highly accurate, reliable, and more precise than the complex WOFOST model (R\(^2\) = 0.66 and RRMSE = 11.35%) with higher input parameters. Conclusively, both S-MOD13Q1 and L-MOD13Q1, in combination with LUE, were more prominent for predicting crop yields on a regional scale than the 16-day products; however, L-MOD13Q1 was advantageous for generating and exploring the long-term yield time series due to the availability of Landsat data since 1982, with a maximum resolution of 30 m. In addition, this study recommended the further use of its findings for implementing and validating the long-term crop yield time series in different regions of the world. KW - MODIS KW - Sentinel-2 KW - Landsat 8 KW - sustainable agriculture KW - decision-making KW - winter wheat KW - oil seed rape KW - resolution Y1 - 2023 U6 - http://nbn-resolving.de/urn/resolver.pl?urn:nbn:de:bvb:20-opus-311132 SN - 2072-4292 VL - 15 IS - 7 ER - TY - JOUR A1 - Dirscherl, Mariel A1 - Dietz, Andreas J. A1 - Kneisel, Christof A1 - Kuenzer, Claudia T1 - Automated mapping of Antarctic supraglacial lakes using a Machine Learning approach JF - Remote Sensing N2 - Supraglacial lakes can have considerable impact on ice sheet mass balance and global sea-level-rise through ice shelf fracturing and subsequent glacier speedup. In Antarctica, the distribution and temporal development of supraglacial lakes as well as their potential contribution to increased ice mass loss remains largely unknown, requiring a detailed mapping of the Antarctic surface hydrological network. In this study, we employ a Machine Learning algorithm trained on Sentinel-2 and auxiliary TanDEM-X topographic data for automated mapping of Antarctic supraglacial lakes. To ensure the spatio-temporal transferability of our method, a Random Forest was trained on 14 training regions and applied over eight spatially independent test regions distributed across the whole Antarctic continent. In addition, we employed our workflow for large-scale application over Amery Ice Shelf where we calculated interannual supraglacial lake dynamics between 2017 and 2020 at full ice shelf coverage. To validate our supraglacial lake detection algorithm, we randomly created point samples over our classification results and compared them to Sentinel-2 imagery. The point comparisons were evaluated using a confusion matrix for calculation of selected accuracy metrics. Our analysis revealed wide-spread supraglacial lake occurrence in all three Antarctic regions. For the first time, we identified supraglacial meltwater features on Abbott, Hull and Cosgrove Ice Shelves in West Antarctica as well as for the entire Amery Ice Shelf for years 2017–2020. Over Amery Ice Shelf, maximum lake extent varied strongly between the years with the 2019 melt season characterized by the largest areal coverage of supraglacial lakes (~763 km\(^2\)). The accuracy assessment over the test regions revealed an average Kappa coefficient of 0.86 where the largest value of Kappa reached 0.98 over George VI Ice Shelf. Future developments will involve the generation of circum-Antarctic supraglacial lake mapping products as well as their use for further methodological developments using Sentinel-1 SAR data in order to characterize intraannual supraglacial meltwater dynamics also during polar night and independent of meteorological conditions. In summary, the implementation of the Random Forest classifier enabled the development of the first automated mapping method applied to Sentinel-2 data distributed across all three Antarctic regions. KW - Antarctica KW - Antarctic ice sheet KW - supraglacial lakes KW - surface melt KW - hydrology KW - ice sheet dynamics KW - sentinel-2 KW - remote sensing KW - random forest KW - machine learning Y1 - 2020 U6 - http://nbn-resolving.de/urn/resolver.pl?urn:nbn:de:bvb:20-opus-203735 SN - 2072-4292 VL - 12 IS - 7 ER - TY - JOUR A1 - Dirscherl, Mariel A1 - Dietz, Andreas J. A1 - Kneisel, Christof A1 - Kuenzer, Claudia T1 - A novel method for automated supraglacial lake mapping in Antarctica using Sentinel-1 SAR imagery and deep learning JF - Remote Sensing N2 - Supraglacial meltwater accumulation on ice sheets can be a main driver for accelerated ice discharge, mass loss, and global sea-level-rise. With further increasing surface air temperatures, meltwater-induced hydrofracturing, basal sliding, or surface thinning will cumulate and most likely trigger unprecedented ice mass loss on the Greenland and Antarctic ice sheets. While the Greenland surface hydrological network as well as its impacts on ice dynamics and mass balance has been studied in much detail, Antarctic supraglacial lakes remain understudied with a circum-Antarctic record of their spatio-temporal development entirely lacking. This study provides the first automated supraglacial lake extent mapping method using Sentinel-1 synthetic aperture radar (SAR) imagery over Antarctica and complements the developed optical Sentinel-2 supraglacial lake detection algorithm presented in our companion paper. In detail, we propose the use of a modified U-Net for semantic segmentation of supraglacial lakes in single-polarized Sentinel-1 imagery. The convolutional neural network (CNN) is implemented with residual connections for optimized performance as well as an Atrous Spatial Pyramid Pooling (ASPP) module for multiscale feature extraction. The algorithm is trained on 21,200 Sentinel-1 image patches and evaluated in ten spatially or temporally independent test acquisitions. In addition, George VI Ice Shelf is analyzed for intra-annual lake dynamics throughout austral summer 2019/2020 and a decision-level fused Sentinel-1 and Sentinel-2 maximum lake extent mapping product is presented for January 2020 revealing a more complete supraglacial lake coverage (~770 km\(^2\)) than the individual single-sensor products. Classification results confirm the reliability of the proposed workflow with an average Kappa coefficient of 0.925 and a F\(_1\)-score of 93.0% for the supraglacial water class across all test regions. Furthermore, the algorithm is applied in an additional test region covering supraglacial lakes on the Greenland ice sheet which further highlights the potential for spatio-temporal transferability. Future work involves the integration of more training data as well as intra-annual analyses of supraglacial lake occurrence across the whole continent and with focus on supraglacial lake development throughout a summer melt season and into Antarctic winter. KW - Antarctica KW - Antarctic ice sheet KW - supraglacial lakes KW - ice sheet hydrology KW - Sentinel-1 KW - remote sensing KW - machine learning KW - deep learning KW - semantic segmentation KW - convolutional neural network Y1 - 2021 U6 - http://nbn-resolving.de/urn/resolver.pl?urn:nbn:de:bvb:20-opus-222998 SN - 2072-4292 VL - 13 IS - 2 ER - TY - JOUR A1 - Dubovyk, Olena A1 - Menz, Gunter A1 - Conrad, Christopher A1 - Kann, Elena A1 - Machwitz, Miriam A1 - Khamzina, Asia T1 - Spatio-temporal analyses of cropland degradation in the irrigated lowlands of Uzbekistan using remote-sensing and logistic regression modeling JF - Environmental Monitoring and Assessment N2 - Advancing land degradation in the irrigated areas of Central Asia hinders sustainable development of this predominantly agricultural region. To support decisions on mitigating cropland degradation, this study combines linear trend analysis and spatial logistic regression modeling to expose a land degradation trend in the Khorezm region, Uzbekistan, and to analyze the causes. Time series of the 250-m MODIS NDVI, summed over the growing seasons of 2000–2010, were used to derive areas with an apparent negative vegetation trend; this was interpreted as an indicator of land degradation. About one third (161,000 ha) of the region’s area experienced negative trends of different magnitude. The vegetation decline was particularly evident on the low-fertility lands bordering on the natural sandy desert, suggesting that these areas should be prioritized in mitigation planning. The results of logistic modeling indicate that the spatial pattern of the observed trend is mainly associated with the level of the groundwater table (odds = 330 %), land-use intensity (odds = 103 %), low soil quality (odds = 49 %), slope (odds = 29 %), and salinity of the groundwater (odds = 26 %). Areas, threatened by land degradation, were mapped by fitting the estimated model parameters to available data. The elaborated approach, combining remote-sensing and GIS, can form the basis for developing a common tool for monitoring land degradation trends in irrigated croplands of Central Asia. KW - lower reaches of Amu Darya River KW - cropland abandonment KW - linear trend analysis KW - logistic regression modeling KW - MODIS KW - NDVI Y1 - 2012 U6 - http://nbn-resolving.de/urn/resolver.pl?urn:nbn:de:bvb:20-opus-129912 VL - 185 IS - 6 ER - TY - JOUR A1 - Elseberg, Jan A1 - Borrmann, Dorit A1 - Nüchter, Andreas T1 - Algorithmic Solutions for Computing Precise Maximum Likelihood 3D Point Clouds from Mobile Laser Scanning Platforms JF - Remote Sensing N2 - Mobile laser scanning puts high requirements on the accuracy of the positioning systems and the calibration of the measurement system. We present a novel algorithmic approach for calibration with the goal of improving the measurement accuracy of mobile laser scanners. We describe a general framework for calibrating mobile sensor platforms that estimates all configuration parameters for any arrangement of positioning sensors, including odometry. In addition, we present a novel semi-rigid Simultaneous Localization and Mapping (SLAM) algorithm that corrects the vehicle position at every point in time along its trajectory, while simultaneously improving the quality and precision of the entire acquired point cloud. Using this algorithm, the temporary failure of accurate external positioning systems or the lack thereof can be compensated for. We demonstrate the capabilities of the two newly proposed algorithms on a wide variety of datasets. KW - mapping KW - calibration KW - non-rigid registration KW - mobile laser scanning KW - algorithms Y1 - 2013 U6 - http://nbn-resolving.de/urn/resolver.pl?urn:nbn:de:bvb:20-opus-130478 VL - 5 IS - 11 ER -