Improving trajectory estimation using 3D city models and kinematic point clouds

Accurate and robust positioning of vehicles in urban environments is of high importance for autonomous driving or mobile mapping. In mobile mapping systems, a simultaneous mapping of the environment using laser scanning and an accurate positioning using global navigation satellite systems are targeted. This requirement is often not guaranteed in shadowed cities where global navigation satellite system signals are usually disturbed, weak or even unavailable. We propose a novel approach which incorporates prior knowledge (i.e., a 3D city model of the environment) and improves the trajectory. The recorded point cloud is matched with the semantic city model using a point‐to‐plane iterative closest point method. A pre‐classification step enables an informed sampling of appropriate matching points. Random forest is used as classifier to discriminate between facade and remaining points. Local inconsistencies are tackled by a segmentwise partitioning of the point cloud where an interpolation guarantees a seamless transition between the segments. The general applicability of the method implemented is demonstrated on an inner‐city data set recorded with a mobile mapping system.     

How hydrofractures become arrested

Fluids in the earth's crust are commonly transported by hydrofractures, such as dykes and mineral veins, many of which become arrested at various crustal depths. Hydrofractures are commonly arrested – some showing blunt tips – at contacts between soft (low Young's modulus) and stiff (high Young's modulus) layers. For example, many dyke tips are arrested at contacts between soft pyroclastic rocks and stiff basaltic lava flows, and vein tips at contacts between soft marl and stiff limestone. Theoretical models indicate that overpressured, buoyant hydrofractures in homogeneous, isotropic host rocks should normally reach the surface. In layered host rocks, however, abrupt changes in Young's moduli, horizontal discontinuities, and layers with unusually high fracture-perpendicular stresses encourage hydrofracture arrest. It is proposed that for layer-parallel loading, stiff layers favour hydrofracture arrest during active compression but soft layers during extension. It is concluded that for hydrofracture propagation to occur, the stress field along its potential pathway must be essentially homogenous.     

The current performance of the in situ 14C extraction line at ETH

We present the new ¹⁴C extraction line at ETH Zürich. This system is designed to extract in situ-produced cosmogenic ¹⁴C from terrestrial quartz samples, and to obtain pure CO₂ gas for analysis with a gas ion source Accelerator Mass Spectrometry (AMS) system. Samples are degassed at 1550–1600 °C without the use of a fluxing agent. Gas purification is achieved by a series of cryogenic traps and passage through hot Ag and Cu wool/mesh. Graphitization and, thus, sample dilution is not required. Tests to determine the CO₂ recovery after gas extraction and cleaning yielded consistently good recovery rates of >99.8% (n = 7). The ¹⁴C blank contribution from the all-metal tubing system is negligible. Our preliminary procedural blank estimate – deriving mostly from the hot extraction furnace – is <5 × 10^{5 14}C atoms. Extraction tests on two quartz samples by stepped-heating show a quantitative separation of atmospheric ¹⁴C at ≤500 °C from the in situ component above 1200 °C. Based on these data, we estimate to achieve a complete ¹⁴C extraction from a quartz sample.     

The sedimentary signature of ice-contact sedimentation and deformation at macro- and micro-scale: A case study from NW Scotland

Studies on the genesis of subaerial debris flows and associated deposits are relatively rare in the literature, especially in an ice-marginal context of moraine formation. The present contribution reports results from both the macro- and micro-scales of a subaerial depositional setting in order to contribute to closing this gap. At the macroscale, alternating loose, stratified, clast- and matrix-supported diamicts and finely laminated sand units indicate deposition of debris flows and fluvial units in a subaerial, ice-marginal setting that were stacked up to form a terrestrial ice-contact fan. Macroscale and micromorphological analyses show that this fan displays evidence of a three-phased formation: (a) overriding and glaciotectonisation of pre-existing sediments followed by retreat and burial of this core by (b) ice-contact fan deposition dominated by water-rich fluvial deposition with relatively little debris flow activity and (c) a switch to a gravitational sedimentation style with dominantly debris flow deposition and fewer and thinner fluvial units. Thin sections of both the diamict and laminated sand units show evidence of deposition of a mud and fine sand-rich slurry being expelled from the tops of advancing mass flows. Water-rich fine-grained slurries appear to have been progressively overridden and deformed in response to ductile shear occurring at the base of individual flows. Liquefaction and remobilisation of sand within laminated deposits occurred during such basal shear events, resulting in the injection of liquefied sediments into variably deformed laminated sands and clays. Deformation is more likely to have taken place through internal movement of the sediment due to changing porewater conditions and loading upon emplacement. Our approach confirms previous results that highlight the possibilities of increasing the accuracy of sedimentological investigations through combined sedimentological analyses at varying scales.     

Stratigraphy and paleomagnetism of a 2.9-km composite lava section in Eyjafjördur,Northern Iceland: a reconnaissance study

Eight mountainside profiles in lava flows south of the fjord Eyjafjördur, Northern Iceland, were sampled for paleomagnetic studies. The sampling was concurrent with pilot stratigraphic mapping of the lava sequences in these and several supplementary profiles. The eight profiles are correlated with minor overlaps so that they form a composite section of 2.9 km thickness, estimated to cover the age range between about 9 and 5 million years ago (Hardarson et al. 1999). Paleomagnetic measurements made on 319 lavas generally yield primary remanence directions of high stability and within-unit consistency. Evidence for at least 17 reversals of the geomagnetic field is seen, as well as numerous field excursions. Frequent clustering of directions in successive lavas indicates that the volcanism was episodic.     

The effects of layering and local stresses in composite volcanoes on dyke emplacement and volcanic hazards

Since most volcanic eruptions are fed by dykes, any assessment of volcanic hazards in an area must include an evaluation of the probability of injected dykes either reaching the surface or becoming arrested. Composite volcanoes are normally composed of alternating stiff (high Young's modulus) and soft (low Young's modulus) layers. Numerical models indicate that during unrest periods with magma-chamber inflation, the local stresses in composite volcanoes commonly prevent dyke-fed eruptions: while the stresses in the stiff layers may favour dyke propagation and seismogenic faulting, the local stresses in the soft layer remain seismically quiet and favour dyke arrest. Geodetic and field studies also indicate that most dykes never reach the surface, and that only a small fraction of the magma volume injected from a chamber erupts at the surface. I propose that for a dyke-fed eruption to occur, all the layers along the potential pathway of the dyke must have local stresses that favour magma-driven extension-fracture propagation. Thus, the stress field along the pathway must be homogenised. To cite this article: A. Gudmundsson, C. R. Geoscience 337 (2005).     

On the conditions of sheet injections and eruptions in stratovolcanoes

Nearly all eruptions in stratovolcanoes (composite volcanoes, central volcanoes) are supplied with magma through fractures. Consequently, a primary physical condition for an eruption to occur in a stratovolcano is that a magma-driven fracture is able to propagate to the surface. Magma-filled fractures, frozen or fluid, are referred to as sheet intrusions. More specifically, they are named dykes when subvertical, and inclined (or cone) sheets when inclined. Field observations indicate that most sheet intrusions do not reach the surface to feed eruptions but rather become arrested at various crustal depths. For this reason periods of volcanic unrest with sheet injections are much more common than volcanic eruptions. Whether a sheet intrusion becomes arrested or, alternatively, propagates to the surface depends primarily on the stress field in the stratovolcano. A stratovolcano normally consists of layers of contrasting mechanical properties, such as soft (low Youngs modulus) pyroclastic units and stiff (high Youngs modulus) lava flows. We present numerical models indicating that volcanoes composed of such layers commonly develop stress fields encouraging sheet and dyke arrest. The models indicate that a necessary condition for a sheet intrusion to reach the surface and feed a volcanic eruption is that the stress field along the sheet pathway becomes homogenised. We propose that much of the activity in a stratovolcano during a volcanic cycle encourages stress-field homogenisation. Field studies show that the sheet intrusions in individual stratovolcanoes have various dips: some are vertical dykes, others inclined sheets, and still others horizontal sills. Analytical models indicate that the dip of a sheet reaching the surface can have great effects on the magma transport during an eruption. This effect is normally greater for a flat volcano such as a collapse caldera than for a stratovolcano that forms a topographic high. We conclude that the shallower the dip of a sheet intrusion, the less will be its volumetric magma transport to the surface of a stratovolcano.Editorial responsibility: D Dingwell     

Ly+ and ultraviolet emission from high-redshift gamma-ray burst hosts: to what extent do gamma-ray bursts trace star formation?

We report the result of a search for Lyα emission from the host galaxies of the gamma-ray bursts  (GRBs) 030226 ( z = 1.986), 021004 ( z = 2.335)  and  020124 ( z = 3.198)  . We find that the host galaxy of GRB 021004 is an extended (around 8 kpc) strong Lyα emitter with a rest-frame equivalent width (EW) of 68⁺¹²₋₁₁Å, and a star formation rate of  10.6 ± 2.0 M_⊙ yr⁻¹  . We do not detect the hosts of GRB 030226 and GRB 020124, but the upper limits on their Lyα fluxes do not rule out large rest-frame EWs. In the fields of GRB 021004 and GRB 030226 we find seven and five other galaxies, respectively, with excess emission in the narrow-band filter. These galaxies are candidate Lyα-emitting galaxies in the environment of the host galaxies. We have also compiled a list of all   z ≳ 2  GRB hosts, and demonstrate that a scenario where they trace star formation in an unbiased way is compatible with current observational constraints. Fitting the   z = 3  luminosity function (LF) under this assumption results in a characteristic luminosity of   R *= 24.6  and a faint-end slope of  α=−1.55  , consistent with the LF measured for Lyman-break galaxies.     

Formation and growth of normal faults at the divergent plate boundary in Iceland

The divergent plate boundary in Iceland is characterized by 40–80 km long and 5–10 km wide swarms of tension fractures (∼10² m long) and normal faults (∼10³ m long). The upper part of the crust is mainly composed of lava flows, with abundant columnar joints that are mostly perpendicular to the lava contacts. The lava flows are horizontal at the surface of the rift zone but become tilted at the rate of 1° for every 150 m depth in the crust. At the surface of the rift zone the joints are vertical and parallel to the vertical principal stress. Because of tilting of the lava pile, the columnar joints become oblique to this stress, hence becoming potential shear fractures, and form echelon sets at greater depths in the crust. Theoretical considerations suggest that normal faults start to nucleate on sets of en echelon columnar joints and/or large-scale tension fractures at crustal depths of 0.5–1.5 km. The width (depth) must be the smallest (controlling) dimension of many faults. Nevertheless, there is a positive linear relation (r = 0.91) between maximum throw and length of the Holocene faults. If the faults grow as self-similar structures, the throw-length relationship can be explained by a similar relation between fault length and width.