Articles | Volume 11, issue 4
https://doi.org/10.5194/esurf-11-593-2023
© Author(s) 2023. This work is distributed under
the Creative Commons Attribution 4.0 License.
the Creative Commons Attribution 4.0 License.
https://doi.org/10.5194/esurf-11-593-2023
© Author(s) 2023. This work is distributed under
the Creative Commons Attribution 4.0 License.
the Creative Commons Attribution 4.0 License.
Research article
| 
18 Jul 2023
Research article |
| 18 Jul 2023
| 18 Jul 2023
Full four-dimensional change analysis of topographic point cloud time series using Kalman filtering
3DGeo Research Group, Institute of Geography, Heidelberg University, Heidelberg, Germany
Integrated Remote Sensing Studio (IRSS), Faculty of Forestry, University of British Columbia, Vancouver, Canada
Research Unit Photogrammetry, Department of Geodesy and Geoinformation, TU Wien, Vienna, Austria
Katharina Anders
3DGeo Research Group, Institute of Geography, Heidelberg University, Heidelberg, Germany
Daniel Czerwonka-Schröder
Department of Civil and Mining Engineering, DMT GmbH & Co. KG, Essen, Germany
Faculty of Geoscience, Geotechnology and Mining, University of Mining and Technology Freiberg, Freiberg, Germany
Bernhard Höfle
3DGeo Research Group, Institute of Geography, Heidelberg University, Heidelberg, Germany
Interdisciplinary Center for Scientific Computing (IWR), Heidelberg University, Heidelberg, Germany
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- Optimization of multi-objective recognition based on video tracking technology W. Fu et al. https://doi.org/10.1515/comp-2025-0040
- Target-based georeferencing of terrestrial radar images using TLS point clouds and multi-modal corner reflectors in geomonitoring applications L. Schmid et al. https://doi.org/10.1016/j.ophoto.2024.100074
- Improved 4D feature-based deformation tracking for high-resolution real-time landslide and slope deformation monitoring based on terrestrial laser scanning K. Hosseini et al. https://doi.org/10.1007/s11069-025-07939-0
- Method for estimating dimensions and visualising changes in multi-epoch point clouds M. Sarlin et al. https://doi.org/10.1080/22797254.2026.2621431
- Topographic deformation and geomorphic instability of mine dump slopes: A UAV-based multi-scale analysis framework A. Mankar & R. Koner https://doi.org/10.1016/j.ejrs.2026.02.003
- Point Cloud Densification Based on Scene Flow Estimation and Kalman Refinement Y. Que et al. https://doi.org/10.1109/JSAS.2024.3417309
- Identifying topographic changes at the beach using multiple years of permanent laser scanning M. Kuschnerus et al. https://doi.org/10.1016/j.coastaleng.2024.104594
- Laser 3D scanning for shrinkage measurement in 3DCP mortar: an investigative study A. Sunny & J. Jaganathan https://doi.org/10.3389/fbuil.2026.1765067
- Location and orientation united graph comparison for topographic point cloud change estimation S. Jia et al. https://doi.org/10.1016/j.isprsjprs.2024.11.016
- Temporal aggregation of point clouds improves permanent laser scanning of landslides in forested areas R. Tabernig et al. https://doi.org/10.1016/j.srs.2025.100254
- Change tensor: Estimating complex topographic changes from point clouds using Riemann manifold surfaces S. Jia et al. https://doi.org/10.1016/j.isprsjprs.2026.01.009
- How Big Data Can Help to Monitor the Environment and to Mitigate Risks due to Climate Change: A review J. Montillet et al. https://doi.org/10.1109/MGRS.2024.3379108
- Statistically assessing vertical change on a sandy beach from permanent laser scanning time series M. Kuschnerus et al. https://doi.org/10.1016/j.ophoto.2023.100055
- Coastal process understanding through automated identification of recurring surface dynamics in permanent laser scanning data of a sandy beach D. Hulskemper et al. https://doi.org/10.5194/esurf-14-329-2026
- Robust Land-Surface Parameterisation for Repeated Topographic Surveys in Dynamic Environments with Adaptive State-Space Models D. Newman & Y. Hayakawa https://doi.org/10.3390/rs17121993
- Piecewise-ICP: Efficient and robust registration for 4D point clouds in permanent laser scanning Y. Yang & C. Holst https://doi.org/10.1016/j.isprsjprs.2025.06.026
- Deep Learning Low-cost Photogrammetry for 4D Short-term Glacier Dynamics Monitoring F. Ioli et al. https://doi.org/10.1007/s41064-023-00272-w
- Feature-based multi-epoch rock slope monitoring using images and terrestrial laser scans L. Lucks & C. Holst https://doi.org/10.1016/j.ophoto.2026.100120
- Permanent terrestrial laser scanning for near-continuous environmental observations: Systems, methods, challenges and applications R. Lindenbergh et al. https://doi.org/10.1016/j.ophoto.2025.100094
- Light detection and ranging of natural systems L. Irwin et al. https://doi.org/10.1038/s43586-025-00446-3
- A survey of publicly available multi-temporal point cloud datasets O. Wegen et al. https://doi.org/10.1016/j.isprsjprs.2025.11.003
- Safeguarding Cultural Heritage: Integrating laser scanning, InSAR, vibration monitoring and rockfall/granular flow runout modelling at the Temple of Hatshepsut, Egypt B. Jacobs et al. https://doi.org/10.5194/esurf-14-55-2026
22 citations as recorded by crossref.
- Optimization of multi-objective recognition based on video tracking technology W. Fu et al. https://doi.org/10.1515/comp-2025-0040
- Target-based georeferencing of terrestrial radar images using TLS point clouds and multi-modal corner reflectors in geomonitoring applications L. Schmid et al. https://doi.org/10.1016/j.ophoto.2024.100074
- Improved 4D feature-based deformation tracking for high-resolution real-time landslide and slope deformation monitoring based on terrestrial laser scanning K. Hosseini et al. https://doi.org/10.1007/s11069-025-07939-0
- Method for estimating dimensions and visualising changes in multi-epoch point clouds M. Sarlin et al. https://doi.org/10.1080/22797254.2026.2621431
- Topographic deformation and geomorphic instability of mine dump slopes: A UAV-based multi-scale analysis framework A. Mankar & R. Koner https://doi.org/10.1016/j.ejrs.2026.02.003
- Point Cloud Densification Based on Scene Flow Estimation and Kalman Refinement Y. Que et al. https://doi.org/10.1109/JSAS.2024.3417309
- Identifying topographic changes at the beach using multiple years of permanent laser scanning M. Kuschnerus et al. https://doi.org/10.1016/j.coastaleng.2024.104594
- Laser 3D scanning for shrinkage measurement in 3DCP mortar: an investigative study A. Sunny & J. Jaganathan https://doi.org/10.3389/fbuil.2026.1765067
- Location and orientation united graph comparison for topographic point cloud change estimation S. Jia et al. https://doi.org/10.1016/j.isprsjprs.2024.11.016
- Temporal aggregation of point clouds improves permanent laser scanning of landslides in forested areas R. Tabernig et al. https://doi.org/10.1016/j.srs.2025.100254
- Change tensor: Estimating complex topographic changes from point clouds using Riemann manifold surfaces S. Jia et al. https://doi.org/10.1016/j.isprsjprs.2026.01.009
- How Big Data Can Help to Monitor the Environment and to Mitigate Risks due to Climate Change: A review J. Montillet et al. https://doi.org/10.1109/MGRS.2024.3379108
- Statistically assessing vertical change on a sandy beach from permanent laser scanning time series M. Kuschnerus et al. https://doi.org/10.1016/j.ophoto.2023.100055
- Coastal process understanding through automated identification of recurring surface dynamics in permanent laser scanning data of a sandy beach D. Hulskemper et al. https://doi.org/10.5194/esurf-14-329-2026
- Robust Land-Surface Parameterisation for Repeated Topographic Surveys in Dynamic Environments with Adaptive State-Space Models D. Newman & Y. Hayakawa https://doi.org/10.3390/rs17121993
- Piecewise-ICP: Efficient and robust registration for 4D point clouds in permanent laser scanning Y. Yang & C. Holst https://doi.org/10.1016/j.isprsjprs.2025.06.026
- Deep Learning Low-cost Photogrammetry for 4D Short-term Glacier Dynamics Monitoring F. Ioli et al. https://doi.org/10.1007/s41064-023-00272-w
- Feature-based multi-epoch rock slope monitoring using images and terrestrial laser scans L. Lucks & C. Holst https://doi.org/10.1016/j.ophoto.2026.100120
- Permanent terrestrial laser scanning for near-continuous environmental observations: Systems, methods, challenges and applications R. Lindenbergh et al. https://doi.org/10.1016/j.ophoto.2025.100094
- Light detection and ranging of natural systems L. Irwin et al. https://doi.org/10.1038/s43586-025-00446-3
- A survey of publicly available multi-temporal point cloud datasets O. Wegen et al. https://doi.org/10.1016/j.isprsjprs.2025.11.003
- Safeguarding Cultural Heritage: Integrating laser scanning, InSAR, vibration monitoring and rockfall/granular flow runout modelling at the Temple of Hatshepsut, Egypt B. Jacobs et al. https://doi.org/10.5194/esurf-14-55-2026
Saved (final revised paper)
Latest update: 05 Jun 2026
Short summary
We present a method to extract surface change information from 4D time series of topographic point clouds recorded with a terrestrial laser scanner. The method uses sensor information to spatially and temporally smooth the data, reducing uncertainties. The Kalman filter used for the temporal smoothing also allows us to interpolate over data gaps or extrapolate into the future. Clustering areas where change histories are similar allows us to identify processes that may have the same causes.
We present a method to extract surface change information from 4D time series of topographic...
