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A Method of Safety-Quality-Schedule Knowledge Graph for Intelligent Management of Drilling and Blasting Construction of Railway Tunnels
Research on Land and Resources Management and Retrieval Using Knowledge Graph
A New Paradigm of Remote Sensing Image Interpretation by Coupling Knowledge Graph and Deep Learning
Construction of Tourism Attraction Knowledge Graph Based on Web Text and Transfer Learning
Estimation of Winter Wheat Yield Using Assimilated Bi-variables and PCA-Copula Method
Task-Oriented Intelligent Compression Method for High Resolution Optical Satellite Remote Sensing Image
Collaborative Computing of High-Resolution Remote Sensing Driven by Fine-Accurate Geographic Applications
High-Resolution Image Building Extraction Based on Multi-level Feature Fusion Network
Remote Sensing Monitoring of Agricultural Drought and Vegetation Sensitivity Analysis in the Middle and Lower Reaches of the Yangtze River from 2001 to 2019
Surface Ruptures of the 2022 Mw 6.7 Menyuan Earthquake Revealed by Integrated Remote Sensing
A UAV Image Matching Algorithm Considering log-Polar Description and Position Scale Distance Feature
Deep Convolution Neural Network Method for Remote Sensing Image Quality Level Classification
Automatic Hiding Method of Sensitive Targets in Remote Sensing Images Based on Transformer Structure
An Estimation Model for Regional Forest Canopy Closure Combined with UAV LiDAR and High Spatial Resolution Satellite Remote Sensing Data
An Efficient Matching Method of LiDAR Depth Map and Aerial Image Based on Phase Mean Convolution
Analysis of Night Light Patterns Using Urban Public Camera
An Improved Deep Novel Target Detection Method for Mars Rover Multispectral Imagery
Lightweight Relational Network for Small Sample Hyperspectral Image Classification
Articles online first have been peer-reviewed and accepted, which are not yet assigned to volumes /issues, but are citable by Digital Object Identifier (DOI).
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Text Super-resolution Method with Attentional Mechanism and Sequential Units
Approach to automating the DP Algorithm—taking river simplification as an example
Progress and Development Trend of Global Refined Seafloor Topography Modeling
Non-ideality characteristic analysis and receiver design constraints recommendation for BeiDou System B1C and B2a Signals
Effect of point cloud density on forest remote sensing retrieval index extraction based on Unmanned Aerial Vehicle Lidar Data
Extraction of Emotional Landmarks in Large Malls Based on User-Generated Content
Road Extraction from Remote Sensing Image by Integrating DCNN with Short Range Conditional Random Field(SRCRF)
Research on Sensor Coverage Deployment Method in Continuous Three-dimensional Space: A Case Study of Water Quality Monitoring
Precise Orbit Determination for HY2B Using On-Board GPS Data
Woodland Extraction of SPOT7 Image Based on Multi-scale Attention Mechanism and Edge Constraint
Camera-LiDAR Fusion for Object Detection, Tracking and Prediction
An Indoor Ego-Localization Method for Low Cost Millimeter Wave Radar
A GNSS-IR soil moisture inversion method integrating phase, amplitude and frequency
A Method for Geographical Environment Spatiotemporal Topic Discovery of Multi-dimensional Relationships
Assessment of GNSS-IR-based snow-depth retrievals using observations from different receivers with the same antenna
A space-time prism based ridesharing model for shared mobility
RAIM Performance Analysis of Three Typical Low-orbit Augmentation Constellations Combined with BDS Applications
Spatial-temporal Expansion Pattern and Driving Mechanism of Built-up Area in Chang-Zhu-Tan Urban Agglomeration
Pavement Crack Automatic Identification Method Based on Improved Mask R-CNN Model
Analysis of the Mw4.9 Le Teil Earthquake in Southeastern France and Its Correlation with Le Teil Quarry Extraction Using Sentinel-1 and Topographic Data
Determinant Point Process Sampling Method for Text-to-Image Generation
Land Subsidence Situation by Ascending and Descending InSAR Interpretation after the Start of the South to North Water Transfer in the Beijing
Automatic Aggregation of Building Considering the Spatial Structure
An approach to transforming oblique photogrammetric data into Unreal Engine 4 rendering resources
Deepfake Video Detection Using 3DMM Facial Reconstruction Information
Survey Data Processing Method of Submarine Pressure Resistance Based on Non-uniform Sampling Weighted Least Square Circle Fitting
InSAR Time Series Monitoring and Analysis of Land Deformation after Mountain Excavation and City Construction in Lanzhou New District
Vegetation dynamic change and its response to climate and topography in Altay region of Xinjiang in recent 20 years
Building Extraction Based on Multi-feature Fusion and Object-boundary Joint Constraint Network
Building SceneStructure Extraction Method for Urban Augmented Reality Annotation
Lunar Positioning of CE-5 Detectors and Precision Analysis
Landslide Early Warning Method Based on Dynamic High Frequency Data of Ground-based Radar Interferometry
Counting of Plantation Trees Based on Line Detection of Point Cloud Data
Phenological phase identification of oilseed rape (Brassica napus L.) Using typical Stokes parameters
Advances in dynamic maintenance technology of mm-level terrestrial reference frame
Analysis of relative sea level change of the Tianjin coast in recent 25 years using satellite altimetry and GNSS observations
Research on Multi-source Remote Sensing Detection of Concealed Fire Sources in Coalfields
Downward Continuation of Gravity Using the Band-Limited Models for High-Order Radial Derivatives of Gravity Anomaly
Methodological Research on Measuring Distance Uncertainty in Two-Dimensional Space
Review on research progress of the global height datum
Analysis of Urban Road Spatiotemporal Situation by Geographically Weighted Regression with Spatial Grid Computing Method
Algorithm Modification and Estimation Comparison of Ripley’s K-function
A Simple Iterative Solution for Mixed Additive and Multiplicative Random Error Model with Inequality Constraints
MVLL Match Method for Multi-baseline Stereo Imagery Based on Semi-global Constraint
Analysis of Statistic Testing of Elevation-Dependent Stochastic Models of BDS-3 Satellite Observation
Improved Gravity-Geologic Method and Its Application to Seafloor Topography Inversion in the South China Sea
Prediction of Watershed Groundwater Storage Based on Seasonal Adjustment and NAR Neural Network
The causes of coastal sea level change
Frequency Performance Evaluation of BeiDou-3 Satellite Atomic Clocks
Recent Research of Incremental Structure from Motion for Unmanned Aerial Vehicle Images
Registration of the HRSIs and the LiDAR point clouds based on the distance transformation model
Individual Driving Destination Prediction by Considering Intersection Transfer Preference and Current Move Mode
The Accuracy Comparison of Near Surface Air Temperature Estimation Using Different Land Surface Temperature Sources
A Sea-Land Segmentation Method for SAR Images Using Context-aware and Edge Attention based CNNs
Design and implementation of time and frequency architecture for BeiDou-3 system
Overview of the Research Progress and Reflections in Intelligent Map Generalization
Tidal Numerical Modeling Using the Optimized Boundary Conditions in Haizhou Bay of the Yellow Sea
Development and Study in the Marine and Airborne Gravimetry and its application
Method for Mountain Peak Extraction of Grid DEM Based on Aspect Distribution Feature
Retrieving 3-D coseismic deformation of the 2016 Mw 7.8 Kaikoura earthquake using SAR and optical data
Progress and Perspectives of Point Cloud Compression
Deriving 3D Coseismic Deformation Field of 2017 Jiuzhaigou Earthquake Based on the Elastic Dislocation Model and InSAR Data
An Optimal Selection Algorithm of Territorial Sea Baseline Points with the Limitation of Baseline Length Threshold
Home Leading by Mental Map
FCB Estimation and Ambiguity Resolution of BDS-3
Vertical Movement Model in Chinese Mainland Based on First Order Leveling Results
The Mission of Geo-spatial Information Science in the New Infrastructure Era
Social media information extraction and public opinion mining for African swine fever epidemic
Thoughts on the Future Development of Geographic Information System
A Denoising Method for GNSS Time Series Based on GAVMD and Multi-Scale Permutation Entropy
Combinations of the simplex and weighted distance-based grey wolf algorithms for the seismic source parameter inversion with GPS measurements
Establishment of Vertical Movement Model of Chinese Mainland by Fusion Result of Leveling and GNSS
An Algorithm for Ambiguity Resolution of BDS Undifferenced and Uncombined Long-range Reference Stations
Assessment of Position Performance of BDS for Space Application Based on FY-3D Satellite
Landslide Detection and Segmentation Using Mask R-CNN with Simulated Hard Samples
Study on Recognizing the Penguin Population in UAV Image Based on Object Otiented Classification
Potential Contribution from Tianwen-1 Extended Mission to Mars Low-Order Gravity Field
Application of EM Algorithm in the Parameter Estimation of P-norm Mixture Mode
Application of the Harmonic Model with Variable Coefficients to Polar Motion Prediction
A Weighted Radial Basis Function Interpolation Method for High Accuracy DEM Modeling
Simulated Analysis of EOP Measurement Accuracies with participation of Chinese VGOS Stations in International Observations
SBAS GEO Satellite User Range Error and Position Augmentation Research
Short-term Prediction for Polar Motion Based on Chaos and Volterra Adaptive Algorithm
Application of EMD in GNSS Time Series Periodic Term Processing
Accuracy Assessment of Multi-frequency and Multi-GNSS Velocity Estimation With Time Differenced Carrier Phase Method
Spatial Scan Statistic Method for Discovering Regional Network Co-location Patterns
Vehicle Attitude Estimation Model Using Optimized Time-Differenced Carrier Phase
Development of Asteroid Optical Determination Software and Data Processing Analysis
Soil heavy metal Pb content inversion method by combining field with laboratory spectra
Performance Evaluation of BeiDou-3 Spaceborne Atomic Clock Using Different Time Synchronization Systems
BDS-3/GNSS uncombined precise point positioning
Distributed Visible Query Method for Regional Objects Using Map-Reduce
A Method of Using Unity3D to Simulate the Whole Process of Three-dimensional Movement of Rockfall
A Probabilistic Prediction Model for Displacement of Super High Arch Dams Considering the Deformation Spatial Association
Spatial and temporal characteristics of AOD and meteorological factors in China during the period of COVID-19
Improved Finite State Machine Step Detection Algorithm for Smartphone
A GNSS/INS Vehicle Integrated Navigation System Based on LSTM-EKF
Trajectory Estimation Analysis and Low Degree Gravity Field Recovery Based on Juno Tracking Data
Air Temperature Estimation in Yangtze River Economic Zone Using Geographically and Temporally Neural Networks
Highway slope deformation monitoring based on car-borne dual-antenna InSAR system
Semantic segmentation of point clouds using local geometric features and dilated neighborhoods
A New Data Preprocessing Method for Beidou Satellite Clock Bias
Signal Quality Analysis and Orbit Accuracy Verification of BDS-3
The Temporal and Spatial Analysis of Land Subsidence in Beijing Plain based on TPCA
Improved YOLOv5 Method for Detecting Shipwreck Target with Side-scan Sonar
Research on Oblique Factor Model for Selecting Training Samples
Seasonal Rainstorm and Flood Risk Assessment Method for ImmovableCultural Relics: A Case Study of National Ancient Sites in Fujian Province
A Geo-coded Stabilization Approach for Optical Video Satellites in Object Space
Performance Analysis of BDS-3 Multi-frequency Pseudorange Positioning
Line Matching Algorithm Based on Pair-wise Geometric Features and Individual Line Descriptor Constraints
Performance Evaluation of BDS-3 PPP-B2b Service
Spatial-temproal variation characteristics and geographic detection mechanism of land subsidence in Wuhan city from 2007 to 2019
Encoding and operation for the aperture 4 hexagonal discrete global grids on uniform tiles
Integrating Sentinel Active and Passive Data to Map Land Cover in a National Park from GEE Platform
GPS receiver differential code bias estimation with the Swarm LEO constellation
Time-varying analysis of backscatter coefficient corresponding to different surface types in the Tibetan Plateau
An Adaptive Terrain Simplification Algorithm Based on Centroidal Voronoi Diagram
A Method to Evaluate Sampling Scheme Adopted in Surveying and Mapping Products' Inspection
Tourism Flow Network Structures of Different Types of Tourists Using Online Travel Notes: A Case Study of Yunnan Province
Research and Application of Gravity Anomaly Spectrum Analysis Method
A New Landslide Deformation Monitoring Method with Polarimetric SAR Based on Polarimetric Likelihood Ratio Test
Evaluation of Urban Ecological Environment and Its Relationship with Human Activities Based on Multi-Source Data
A Point Cloud Registration Method Based on Dual Quaternion Description Under the Constraint of Point and Surface Features
A One-Step Modelling for BeiDou Satellite Observations Multipath Delay Based on Prior Constraints
Multi-level Similarity Sub-segment Matching Method for Spatiotemporal Trajectory
Personal location prediction algorithm taking into account similar user characteristics
A Reference Satellite Image Retrieval Method for Drone Absolute Positioning
Population Spatialization by Considering Pixel-level Attribute Grading and Spatial Association
The Wet Tropospheric Correction of Wide-swath Altimeter using Optimum Interpolation Method
Articles just accepted have been peer-reviewed and accepted, which are not yet assigned to volumes /issues, but are citable by Digital Object Identifier (DOI).
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Start in 1957 Monthly

ISSN 1671-8860

CN 42-1676/TN




Special Recommend

HU Yufeng

Rapid Interpretation and Analysis of the 2022 Eruption of Hunga Tonga-Hunga Ha'apai Volcano with Integrated Remote Sensing Techniques

  Objectives  On 14th and 15th January 2022, the Hunga Tonga-Hunga Ha'apai (HTHH) underwater volcano in Tonga in the South Pacific Ocean violently erupted and caused a tsunami, which has attracted widespread international attention. In this paper, we attempted to rapidly investigate this once-in-a-millennium massive event using integrated remote sensing techniques.  Methods  We comprehensively used multi-temporal satellite optical images, radar images, global navigation satellite system (GNSS) observations and other datasets to quickly interpret and analyze the volcanic eruption process and its impacts. The damage assessment in parts of Tonga was also performed. Based on the integrated remote sensing techniques, we presented a technical framework for the rapid interpretation and analysis of volcanic eruptions, which comprises of six components, namely multi-source data acquisition, geomorphology monitoring, deformation monitoring, environmental response detection, damage assessment and recovery decision.  Results  Our results show that the HTHH underwater volcano in Tonga had exhibited obvious surface displacements in the satellite radar line of sight direction with a maximum accumulated displacement of 6.0 cm since June 2020, and erupted since around 22nd December 2021. During the volcanic eruption, the local magnetic field and ionosphere exhibited obvious abnormal signals, and the continuous GNSS data in Tonga suggested clear surface displacements with an uplift up to 50.2 cm. Most areas of Tonga were blanketed in ash, but it appeared that, in northern part of Tonga's capital, little damage was observed in the coastlines and the main buildings and roads remained intact.  Conclusions  This study shows how to use integrated remote sensing techniques to quickly respond to underwater volcanic eruptions, including the topography evolution of the HTHH volcano and the damage assessment of its eruption. It is believed that the remote sensing integrated technical framework shall not only contribute to the speedy recovery and reconstruction of the society after the HTHH volcanic eruption, but also to the mitigation of future geohazard events.

LI Zhenhong

Source Parameters and Slip Distributions of the 2016 and 2022 Menyuan, Qinghai Earthquakes Constrained by InSAR Observations

  Objectives  Two earthquakes with a distance less than 40 km occurred in Menyuan, Qinghai Province, China, including Mw 5.9 earthquake on 26th January 2016 and Mw 6.7 earthquake on 8th Ja-nuary 2022.  Methods  The interferometric synthetic aperture radar (InSAR) technique was utilized to process Sentinel-1A radar images from both ascending and descending tracks to retrieve high resolution coseismic surface displacement maps for these two Menyuan earthquakes. The coseismic surface displacements were then inverted to determine the fault geometry parameters and the non-uniform fault slip distributions with a dislocation model in an elastic half-space.  Results  The results show that the 2016 Menyuan earthquake was a reverse event on a buried fault with a maximum surface displacement of 6.7 cm and 7.0 cm on the ascending and descending tracks, respectively. The maximum slip on the fault plane reached 0.53 m and concentrated at depths of 4-12 km. The 2022 Menyuan earthquake ruptured along the NWW-SEE strike with a maximum surface displacement of 78 cm in the satellite radar line of sight and a maximum fault slip of 3.5 m occurred at a depth of approximately 4 km.  Conclusions  Considering the tectonic settings around the Lenglongling fault zone, the 2022 Menyuan earthquake is likely to occure in the western segment of the left-lateral Lenglongling fault, with its western end extending westward to the Tuolaishan fault. By calculating the coulomb failure stress changes (CFS), it is inferred that the 2016 Menyuan earthquake generated considerable positive CFS which might have triggered the 2022 Menyuan earthquake.

DAI Keren

  Objectives  The Sichuan-Tibet railway is not only a state key project in China, but also the most difficult super project in railway construction history due to the most complex terrain and the active geological structure. Interferometric synthetic aperture radar (InSAR) has proved to be a critical tool for detecting and monitoring geohazards because of its wide coverage, high precision, and high efficiency. Howe-ver, due to its side-looking geometry, InSAR faces serious geometric distortions in mountainous areas, particularly in extremely steep high mountain and gorge areas along the Sichuan-Tibet railway.  Methods  Utilizing the full open-access Sentinel-1 data, which has the wide coverage and a short revisiting time, we carry out satellite radar geometric distortion and feasibility analyses along the Sichuan-Tibet railway. Taking into account synthetic aperture radar(SAR) imaging geometry, the variations of the incidence angles across the whole SAR image, and the passive geometric distortions, we present an integrated approach to accurately determine the areas with SAR geometric distortions.  Results  Our results for Sentinel-1 data show that the areas with geometric distortions for observations with a single-orbit (i.e. ascending or descending) reach 31%—35% along the Sichuan-Tibet railway, whilst the geometric distortion areas reduce to 1.5% for observations with both ascending and descending orbits; furthermore, about 35% of the whole area is suitable for joint analyses with both ascending and descending observations.  Conclusions  The quantitative result also reveals the feasibility to use the Sentinel-1 data to detect and monitor geohazards along the Sichuan-Tibet railway from the perspective of geometric distortions. It can not only improve the overall understanding of the applicability of Sentinel-1 based InSAR and the InSAR results interpretation in this area, but also provide a guideline for efficiently selecting other satellite SAR datasets for detecting and monito-ring geological disasters along the Sichuan-Tibet railway.

ZHU Qing

  Objectives  The complex geological conditions in the mountainous areas of western China, with strong internal and external dynamics effects, make catastrophic landslides frequent. The analysis of landslide susceptibility has become a necessary means for scientific early warning and active prevention before disasters.In the traditional landslide susceptibility analysis method, the general calculation accuracy of the single knowledge-driven model is limited, and the weight of the impact factor is highly subjective. The data-driven model also relies too much on the quality and quantity of sample data, and the heterogeneity of the landslide disaster environment is prominent.  Methods  In order to overcome the problems of limited quantity and quality of sample data and large differences in landslide disaster environment, we propose a regional landslide susceptibility method that couples the contribution weight of landslide disaster environmental factors and heuristic knowledge fuzzy logic model. The proposed method uses spatial statistical indicators such as the historical landslide frequency ratio and the information entropy weight of the landslide disaster environmental factors to explicitly describe the contribution and spatial distribution characteristics of the landslide disaster environmental factors, which measures the constraint relationship and the mapping structure between multi-factors and landslides, and realizes multi-factor coupling regional landslide susceptibility.  Results  The experiment selects the disaster-prone areas in Fengjie, Chongqing for verification and evaluation; The results show that the proposed method has a more uniform and reasonable partition area, with an area under curve(AUC) value of 0.854, and the best prediction accuracy, than single information value(IV) model and information value and logistic regression(IVLR) model, which ensures the reliability and accuracy of the method.  Conclusions  The proposed method overcomes the strict requirements of landslide susceptibility analysis on the number of historical observation samples, improves the accuracy of landslide susceptibility analysis through a hierarchical stacking strategy, and provides reliable technical support for the susceptibility analysis of large-scale.

TANG Xinming

  Objectives  Improving the accuracy of block adjustment with few or even no ground control points (GCP) is one of the core issues for high-precision mapping of areas difficult to get GCP, and it is also a major technical difficulty. In order to make full use of the footprint image and the excellent high accuracy of elevation, and the high relative accuracy between the laser altimetry data and stereo images, we propose a combined adjustment method of Gaofen-7 (GF-7) satellite stereo images aided with laser altimetry data.  Methods  In this method, the elevation control points are automatically extracted by registering the laser footprint images and stereo images, and then they are used as the vertical control in the combined adjustment to improve the elevation accuracy.  Results  The combined block adjustment experiments performed in Shandong with different terrains show that using only laser altimetry data as elevation control, the root mean square errors of elevation can be significantly improved from the original 7.97 m to 0.79 m, and the maximum elevation error is better than 1.5 m.  Conclusions  The experimental results reveal that the proposed method can substantially improve the elevation accuracy of satellite imagery. Additionally, with integration of few horizontal control points, the plane accuracy and elevation accuracy can be simultaneously improved. The proposed method is of great significance to reduce the field survey and improve the efficiency of block adjustment.

ZHU Jianjun

Challenges and Development of Data Processing Theory in the Era of Surveying and Mapping Big Data

With the development of information technology, the rise of surveying and mapping big data and artificial intelligence, the lack of data is no longer a problem. However, the existing surveying and mapping data processing technology has been pursuing the accuracy of data (micro), and big data research just allows the data to be mixed and uncertain (macro). Therefore, although the traditional surveying and mapping data processing theory has accumulated a large number of technical advantages in micro data processing, the large-scale and complexity of big data has become increasingly prominent, in which traditional calculation model and analysis algorithm cannot effectively support the efficient analysis and processing of big data. As the key to the intelligent era, data processing theory and method, how to adapt to the challenges and opportunities of new technology is worth our deep thinking. Driven by big data, new ideas and methods such as large-scale data mining, machine learning and deep learning are booming, which greatly promote the fusion of multi-source heterogeneous big data inside and outside the scene, effectively extract surface feature information from a variety of sensor data, and constantly improve the ability of surveying and mapping information acquisition and analysis. We think that the theory of surveying and mapping data also needs to be followed up, and the existing data processing methods need to be intelligent. Combined with the frontier hot spots, development trends and existing challenges of intelligent surveying and mapping, this paper explores the expansion direction of data processing theory. One is to promote the further development of surveying data processing theory, and the other is to provide reference for graduate students who are interested in entering the field of surveying and mapping big data.

XU Qiang

Time Series InSAR Monitoring and Analysis of Spatiotemporal Evolution Characteristics of Land Subsidence in Yan'an New District

  Objectives  Yan'an New District has attracted much attention because of its large-scale mountain excavation and city construction project. Such mega-scale land creation, rapid urban construction and complex geological conditions has induced wide land subsidence in the region.  Methods  In this paper, the temporal and spatial evolution of land subsidence in Yan'an New District was assessed using small baseline subset synthetic aperture radar interferometry (SBAS-InSAR) to process the Sentinel-1A images covering the period from May 2016 to October 2019. Then, the mechanism and evolution trend of land subsidence in the new district was analyzed.  Results  Experimental results suggest that the spatial evolution pattern of land subsidence in Yan'an New District is highly relevant with the process of land creation project. The land subsidence area in the new district gradually expanded from the major urban area to the area of forest along with the land creation project, and its area decreased gradually with the passing of time. The temporal deformation evolution of land subsidence in the new district is related to the thickness of the fill, and all exhibit non-linear subsidence with various velocities. The temporal evolution of land subsidence undergoes three processes of rapid-slow-steady. The greater the thickness of the fill, the larger the amount of sedimentation, the longer it takes for the sedimentation to stabilize.  Conclusions  The main internal mechanism of land subsidence is the consolidation and compression deformation of the loess fill, which can be divided into three stages: Instantaneous settlement, consolidation settlement, and secondary consolidation settlement. Based on the characteristics of different stages combined with time series deformation, the land subsidence process and development trend can be analyzed. The research results provide a scientific reference for further monitoring and early warning, urban planning, and prevention and control of subsidence disasters in the new district.

LI Qingquan

Collaborative Inspection for the Sewer Pipe Network Using Pipe Capsules

  Objectives   The sewer pipeline network is an essential urban infrastructure. It is easy to be with faults because of the complicated circumstance under the ground, as well as undertaking the transportation and circulation of water. To avoid serious accidents caused by the faults, periodic and systematical inspection devices and methods are necessary. While current methods exist a variety of limitations, especially for large-scale and hard-inspected urban sewer pipe networks. Thus, we proposed a novel collaborative inspection method with high efficiency and availability, and low cost for urban sewer pipe networks.  Methods  Firstly, we invent a novel device named pipe capsule equipped with video cameras, lights, and a data storage facility. It will be dropped into pipes, move along with water flow, and record the videos of the inner walls until salvaged by the staff from the downstream. Such that, the video is captured to inspect the underground pipe. Multiple capsules are cooperated to complete the inspection task. A collaborative inspection method is designed through well design practice plan by maximizing the inspection range and degree, as well as minimizing the traveling length and time of the workers. Simulated annealing with a simple neighborhood search strategy is used to find the best practice plan.  Results  Taking the sewer pipe network at Shenzhen University, China an example, an experiment was conducted to verify the performance of the proposed approach. The results demonstrate that the collaborative inspection method achieves the same inspection with a shorter working time.  Conclusion  This study presented a collaborative inspection approach to detect the large-scale and complicated urban sewer networks with machine vision. It will benefit the inspection and operation of the urban underground pipe network.

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