In this study, we automate tree species classification and mapping using field-based training data, high spatial resolution airborne hyperspectral imagery, and a convolutional neural network classifier (CNN). We tested our methods by identifying seven dominant trees species as well as dead standing trees in a mixed-conifer forest in the Southern Sierra Nevada Mountains, CA (USA) using training, validation, and testing datasets composed of spatially-explicit transects and plots sampled across a single strip of imaging spectroscopy. We also used a three-band ‘Red-Green-Blue’ pseudo true-color subset of the hyperspectral imagery strip to test the classification accuracy of a CNN model without the additional non-visible spectral data provided in the hyperspectral imagery. Our classifier is pixel-based rather than object based, although we use three-dimensional structural information from airborne Light Detection and Ranging (LiDAR) to identify trees (points > 5 m above the ground) and the classifier was applied to image pixels that were thus identified as tree crowns. By training a CNN classifier using field data and hyperspectral imagery, we were able to accurately identify tree species and predict their distribution, as well as the distribution of tree mortality, across the landscape. Using a window size of 15 pixels and eight hidden convolutional layers, a CNN model classified the correct species of 713 individual trees from hyperspectral imagery with an average F-score of 0.87 and F-scores ranging from 0.67–0.95 depending on species. The CNN classification model performance increased from a combined F-score of 0.64 for the Red-Green-Blue model to a combined F-score of 0.87 for the hyperspectral model. The hyperspectral CNN model captures the species composition changes across ~700 meters (1935 to 2630 m) of elevation from a lower-elevation mixed oak conifer forest to a higher-elevation fir-dominated coniferous forest. High resolution tree species maps can support forest ecosystem monitoring and management, and identifying dead trees aids landscape assessment of forest mortality resulting from drought, insects and pathogens. We publicly provide our code to apply deep learning classifiers to tree species identification from geospatial imagery and field training data.

We propose the combination of a keyframe-based monocular SLAM system and a global localization method. The SLAM system runs locally on a camera-equipped mobile client and provides continuous, relative 6DoF pose estimation as well as keyframe images with computed camera locations. As the local map expands, a server process localizes the keyframes with a pre-made, globally-registered map and returns the global registration correction to the mobile client. The localization result is updated each time a keyframe is added, and observations of global anchor points are added to the client-side bundle adjustment process to further refine the SLAM map registration and limit drift. The end result is a 6DoF tracking and mapping system which provides globally registered tracking in real-time on a mobile device, overcomes the difficulties of localization with a narrow field-of-view mobile phone camera, and is not limited to tracking only in areas covered by the offline reconstruction.

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We present a method for large-scale geo-localization and global tracking of mobile devices in urban outdoor environments. In contrast to existing methods, we instantaneously initialize and globally register a SLAM map by localizing the first keyframe with respect to widely available untextured 2.5D maps. Given a single image frame and a coarse sensor pose prior, our localization method estimates the absolute camera orientation from straight line segments and the translation by aligning the city map model with a semantic segmentation of the image. We use the resulting 6DOF pose, together with information inferred from the city map model, to reliably initialize and extend a 3D SLAM map in a global coordinate system, applying a model-supported SLAM mapping approach. We show the robustness and accuracy of our localization approach on a challenging dataset, and demonstrate unconstrained global SLAM mapping and tracking of arbitrary camera motion on several sequences.

We propose an efficient method for estimating the motion of a multi-camera rig from a minimal set of feature correspondences. Existing methods for solving the multi-camera relative pose problem require extra correspondences, are slow to compute, and/or produce a multitude of solutions. Our solution uses a first-order approximation to relative pose in order to simplify the problem and produce an accurate estimate quickly. The solver is applicable to sequential multi-camera motion estimation and is fast enough for real-time implementation in a random sampling framework. Our experiments show that our approach is both stable and efficient on challenging test sequences.