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Uncovering spatial process heterogeneity from graph-based deep spatial regression 基于图的深度空间回归揭示空间过程异质性
IF 12.2 1区 地球科学 Q1 GEOGRAPHY, PHYSICAL Pub Date : 2026-01-05 DOI: 10.1016/j.isprsjprs.2025.12.008
Di Zhu , Sheng Wang , Peng Luo
One can never specify the true statistical form of a complex spatial process. Model misspecification, such as linearity and additivity, will lead to fundamentally flawed interpretations in the estimated coefficients, particularly in empirical geographic studies involving a large number of observations and complex data generation processes. Motivated to learn representative patterns of spatial process heterogeneity, we propose a deep explainable spatial regression (XSR) framework based on graph convolutional neural networks (GCN), which bypasses the conventional parametric statistical assumptions in spatial regression modeling and can generate deep spatially varying coefficients that depict the heterogeneity structure of spatial processes. We introduce an analytical framework to (1) perform deep spatial regression modeling in multivariate cross-sectional scenarios, (2) reconstruct spatial heterogeneity patterns from the learned deep coefficients, and (3) explain the effectiveness of heterogeneity through a simple diagnostic test. Experiments on Greater Boston house prices modeling demonstrate better fitting performance over spatial regression baselines. The spatial patterns of deep local coefficients consistently exhibit stronger explanatory power than those derived from geographically weighted regression, indicating a better representation of the true spatial process heterogeneity uncovered by graph-based deep spatial regression.
一个人永远不能确定一个复杂空间过程的真正统计形式。模型规格不当,如线性和可加性,将导致估计系数的解释从根本上存在缺陷,特别是在涉及大量观测和复杂数据生成过程的实证地理研究中。为了学习空间过程异质性的代表性模式,我们提出了一个基于图卷积神经网络(GCN)的深度可解释空间回归(XSR)框架,该框架绕开了空间回归建模中传统的参数统计假设,可以生成描述空间过程异质性结构的深度空间变化系数。我们引入了一个分析框架:(1)在多变量横截面情景下进行深度空间回归建模,(2)根据学习到的深度系数重构空间异质性模式,(3)通过简单的诊断测试解释异质性的有效性。大波士顿地区房价模型的实验表明,空间回归基线具有更好的拟合性能。与地理加权回归相比,深度局部系数的空间格局表现出更强的解释力,表明基于图的深度空间回归更能反映真实的空间过程异质性。
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引用次数: 0
AEOS: Active Environment-aware Optimal Scanning Control for UAV LiDAR-Inertial Odometry in Complex Scenes 复杂场景下无人机激光雷达-惯性里程计主动环境感知最优扫描控制
IF 12.2 1区 地球科学 Q1 GEOGRAPHY, PHYSICAL Pub Date : 2026-01-05 DOI: 10.1016/j.isprsjprs.2026.01.006
Jianping Li , Xinhang Xu , Zhongyuan Liu , Shenghai Yuan , Muqing Cao , Lihua Xie
LiDAR-based 3D perception and localization on unmanned aerial vehicles (UAVs) are fundamentally limited by the narrow field of view (FoV) of compact LiDAR sensors and the payload constraints that preclude multi-sensor configurations. Traditional motorized scanning systems with fixed-speed rotations lack scene awareness and task-level adaptability, leading to degraded odometry and mapping performance in complex, occluded environments. Inspired by the active sensing behavior of owls, we propose AEOS (Active Environment-aware Optimal Scanning), a biologically inspired and computationally efficient framework for adaptive LiDAR control in UAV-based LiDAR-Inertial Odometry (LIO). AEOS combines model predictive control (MPC) and reinforcement learning (RL) in a hybrid architecture: an analytical uncertainty model predicts future pose observability for exploitation, while a lightweight neural network learns an implicit cost map from panoramic depth representations to guide exploration. To support scalable training and generalization, we develop a point cloud-based simulation environment with real-world LiDAR maps across diverse scenes, enabling sim-to-real transfer. Extensive experiments in both simulation and real-world environments demonstrate that AEOS significantly improves odometry accuracy compared to fixed-rate, optimization-only, and fully learned baselines, while maintaining real-time performance under onboard computational constraints. The project page can be found at https://kafeiyin00.github.io/AEOS/.
基于激光雷达的无人机3D感知和定位从根本上受到紧凑型激光雷达传感器窄视场(FoV)和多传感器配置的有效载荷限制的限制。传统的固定速度旋转的机动扫描系统缺乏场景感知和任务级适应性,导致在复杂、闭塞的环境中里程测量和映射性能下降。受猫头鹰主动感知行为的启发,我们提出了AEOS(主动环境感知最佳扫描),这是一种受生物学启发且计算效率高的框架,用于基于无人机的LIO (LiDAR- inertial Odometry)中的自适应LiDAR控制。AEOS在混合架构中结合了模型预测控制(MPC)和强化学习(RL):分析不确定性模型预测未来的姿态可观察性以进行开发,而轻量级神经网络从全景深度表示中学习隐式成本图以指导探索。为了支持可扩展的训练和泛化,我们开发了一个基于点云的模拟环境,其中包含不同场景的真实激光雷达地图,实现了从模拟到真实的传输。在仿真和现实环境中进行的大量实验表明,与固定速率、仅优化和完全学习基线相比,AEOS显著提高了里程测量精度,同时在机载计算限制下保持了实时性能。项目页面可以在https://kafeiyin00.github.io/AEOS/上找到。
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引用次数: 0
IF 12.2 1区 地球科学 Q1 GEOGRAPHY, PHYSICAL Pub Date : 2026-01-01
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引用次数: 0
IF 12.2 1区 地球科学 Q1 GEOGRAPHY, PHYSICAL Pub Date : 2026-01-01
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引用次数: 0
IF 12.2 1区 地球科学 Q1 GEOGRAPHY, PHYSICAL Pub Date : 2026-01-01
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引用次数: 0
IF 12.2 1区 地球科学 Q1 GEOGRAPHY, PHYSICAL Pub Date : 2026-01-01
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引用次数: 0
IF 12.2 1区 地球科学 Q1 GEOGRAPHY, PHYSICAL Pub Date : 2026-01-01
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引用次数: 0
IF 12.2 1区 地球科学 Q1 GEOGRAPHY, PHYSICAL Pub Date : 2026-01-01
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引用次数: 0
IF 12.2 1区 地球科学 Q1 GEOGRAPHY, PHYSICAL Pub Date : 2026-01-01
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引用次数: 0
IF 12.2 1区 地球科学 Q1 GEOGRAPHY, PHYSICAL Pub Date : 2026-01-01
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引用次数: 0
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ISPRS Journal of Photogrammetry and Remote Sensing
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