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Contents 1 Introduction 1 1.1 Introduction of Dynamic and Precise Engineering Surveying 1 1.1.1 Characteristics of Dynamic and Precise Engineering Surveying.3 1.1.2Research Content 5 1.2 Surveying Modes and Technical Architecture 7 1.2.1 Surveying Modes 7 1.2.2Scientific Questions 9 1.3 Space and Time Datums 10 1.3.1Time Datum.10 1.3.2 Space Datum 13 1.3.3PrinciplesForPositioning 16 1.4 Integration of Surveying Sensors 21 1.4.1 Typical Sensors Used in Surveying 21 1.4.2 Multi-sensor Synchronization 27 1.4.3 Space and Time Association Between Multi-source Surveying Data 31 1.5 Multi-source Surveying Data Processing 32 1.5.1SurveyingDataType 32 1.5.2 Framework of Surveying Data Processing 35 1.5.3 Methods of Surveying Data Processing 36 1.5.4 Generalized Surveying Data Processing 37 1.6Application 39 1.7Summary 42 References 43 2 Structural State Surveying for Transportation Infrastructure 45 2.1Overview 45 2.2 Road Transportation Infrastructure Surveying 46 2.2.1 Pavement Deflection Surveying 46 2.2.2PavementDistressDetection 61 2.3 Railway Transportation Infrastructure Surveying 114 2.3.1 High-Speed RailTrack Surveying 114 2.3.2 Subway Tunnel Surveying 137 2.4 Bridge Dynamic Deflection Measurement 148 2.4.1PrincipleofVisionMeasurement 149 2.4.2 Deflection Calculation 150 2.4.3 Dynamic Monitoring of Bridge Deflection 153 2.5SurveyingEquipment 156 2.5.1 Systematic Architecture of the Surveying Equipment 156 2.5.2RoadSurveyingEquipment 158 2.5.3 Rail Track Surveying Equipment 160 2.6Summary 162 References 162 3 Dynamic Surveying in Autonomous Driving 165 3.1Overview165 3.2Car Positioning and Navigation 166 3.2.1GNSS/INS Integrated Positioning 166 3.2.2In-Vehicle LiDAR Positioning 172 3.2.3In-Vehicle Visual Odometry 176 3.2.4 Multi-sensor Fusion Positioning 181 3.3 Object Detection in Autonomous Driving 184 3.3.12DObjectDetection 185 3.3.2Vision-Based3DObjectDetection 188 3.3.3 LiDAR-Based3D Object Detection 195 3.3.4 Vision and LiDAR Fusion Object Detection 199 3.4 High-Definition Map 202 3.4.1 HD Map Standard for Autonomous Driving 202 3.4.2ProductionoftheHDMapfor Autonomous Driving 205 3.4.3 Applications of HD Maps in Autonomous Driving 209 3.5Applications 211 3.5.1 Application in Open-Pit Mines 212 3.5.2ApplicationinVariousParks 215 3.6Summary 225 References 226 4 Indoor and Underground Space Measurement 229 4.1Overview229 4.2 Indoor and Underground Space Positioning 230 4.2.1 Positioning Basedon Smart Terminals 230 4.2.2 Positioning Basedona Precision INS 245 4.3 Indoor3D Mapping 252 4.3.1 Indoor Mobile3D Mapping 252 4.3.2IndoorMapUpdateBasedonCrowdsourcingData 262 4.4 Flatness Detection of Super-Large Concrete Floor 277 4.4.1 A Rapid Method of Aided-INS Floor Flatness Detection .279 4.4.2Testing and Application 284 4.5 Defect Inspection of Drainage Pipelines 294 4.5.1 Drainage Pipeline Detection Method Based on a Floating Capsule Robot 295 4.5.2 The Test and Application of Drainage Pipe Network Detection .306 4.6 Internal Deformation Measurement of Earth-Rockfill Dam 315 4.6.1 Internal Deformation Monitoring forEarth-Rockfill Dam via High-Precision Flexible Pipeline Measurements 316 4.6.2 Experiments and Results 326 4.7Summary 333 References 333 5 UAV 3D Measurement 335 5.1Overview335 5.2LiDAR3DMeasurement 336 5.2.1LiDAR3DMeasurementSystem 336 5.2.2 Processing Method of LiDAR Point Cloud 340 5.2.3 LiDAR3D Measurement Applications 348 5.3 Optimized Views Photogrammetry 363 5.3.1 View Optimization and Route Generation Method Based on the Rough Model 366 5.3.2 Accuracy Analysis for Fine Real Scene Modeling 378 5.3.3 Multi-UAV Collaboration in Optimized View Photogrammetry 391 5.3.4 Optimized Views Photogrammetry Applications 397 5.4Summary 409 References 411 6 Coastal Zone Surveying .413 6.1Overview413 6.2 Shipborne Water-Shore Integrated Surveying 415 6.2.1 Water-Shore Integrated Surveying Technique 415 6.2.2 Development of a Water-Shore Integrated Measurement System 417 6.2.3 Application of the Integrated Water-Shore Measurement System 424 6.3AirborneLaserBathymetricSurveying 430 6.3.1 Airborne Laser Bathymetry Technology 430 6.3.2 Development of Airborne Laser Bathymetry Equipment 432 6.3.3 Airborne Laser Bathymetry Data Processing 438 6.3.4 Airborne LiDAR Bathymetry Application 450 6.4 Coastal Surface Subsidence InSAR Measurement 453 6.4.1 Research Status of InSAR Technology 453 6.4.2 Sequential InSAR Processing Technology 455 6.4.3 The Interpretation of Sequential InSAR Results 459 6.4.4 Coastal InSAR Monitoring Application 461 6.5Coastal Tide Correction .472