Commission VIII, WG VIII/7 KEY WORDS: UAV, point cloud, biomass estimation, tree height ABSTRACT:Manual in-situ measurements of geometric tree parameters for the biomass volume estimation are time-consuming and economically non-effective. Photogrammetric techniques can be deployed in order to automate the measurement procedure. The purpose of the presented work is an automatic tree growth estimation based on Unmanned Aircraft Vehicle (UAV) imagery. The experiment was conducted in an agriculture test field with scots pine canopies. The data was collected using a Leica Aibotix X6V2 platform equipped with a Nikon D800 camera. Reference geometric parameters of selected sample plants were measured manually each week. In situ measurements were correlated with the UAV data acquisition. The correlation aimed at the investigation of optimal conditions for a flight and parameter settings for image acquisition. The collected images are processed in a state of the art tool resulting in a generation of dense 3D point clouds. The algorithm is developed in order to estimate geometric tree parameters from 3D points. Stem positions and tree tops are identified automatically in a cross section, followed by the calculation of tree heights. The automatically derived height values are compared to the reference measurements performed manually. The comparison allows for the evaluation of automatic growth estimation process. The accuracy achieved using UAV photogrammetry for tree heights estimation is about 5cm.
Urban environments are regions in which spectral variability and spatial variability are extremely high, with a huge range of shapes and sizes, and they also demand high resolution images for applications involving their study. Due to the fact that these environments can grow even more over time, applications related to their monitoring tend to turn to autonomous intelligent systems, which together with remote sensing data could help or even predict daily life situations. The task of mapping cities by autonomous operators was usually carried out by aerial optical images due to its scale and resolution; however new scientific questions have arisen, and this has led research into a new era of highly-detailed data extraction. For many years, using artificial neural models to solve complex problems such as automatic image classification was commonplace, owing much of their popularity to their ability to adapt to complex situations without needing human intervention. In spite of that, their popularity declined in the mid-2000s, mostly due to the complex and time-consuming nature of their methods and workflows. However, newer neural network architectures have brought back the interest in their application for autonomous classifiers, especially for image classification purposes. Convolutional Neural Networks (CNN) have been a trend for pixel-wise image segmentation, showing flexibility when detecting and classifying any kind of object, even in situations where humans failed to perceive differences, such as in city scenarios. In this paper, we aim to explore and experiment with state-of-the-art technologies to semantically label 3D urban models over complex scenarios. To achieve these goals, we split the problem into two main processing lines: first, how to correctly label the façade features in the 2D domain, where a supervised CNN is used to segment ground-based façade images into six feature classes, roof, window, wall, door, balcony and shop; second, a Structure-from-Motion (SfM) and Multi-View-Stereo (MVS) workflow is used to extract the geometry of the façade, wherein the segmented images in the previous stage are then used to label the generated mesh by a “reverse” ray-tracing technique. This paper demonstrates that the proposed methodology is robust in complex scenarios. The façade feature inferences have reached up to 93% accuracy over most of the datasets used. Although it still presents some deficiencies in unknown architectural styles and needs some improvements to be made regarding 3D-labeling, we present a consistent and simple methodology to handle the problem.
ABSTRACT:The Velodyne HDL-32E laser scanner is used more frequently as main mapping sensor in small commercial UASs. However, there is still little information about the actual accuracy of point clouds collected with such UASs. This work evaluates empirically the accuracy of the point cloud collected with such UAS. Accuracy assessment was conducted in four aspects: impact of sensors on theoretical point cloud accuracy, trajectory reconstruction quality, and internal and absolute point cloud accuracies. Theoretical point cloud accuracy was evaluated by calculating 3D position error knowing errors of used sensors. The quality of trajectory reconstruction was assessed by comparing position and attitude differences from forward and reverse EKF solution. Internal and absolute accuracies were evaluated by fitting planes to 8 point cloud samples extracted for planar surfaces. In addition, the absolute accuracy was also determined by calculating point 3D distances between LiDAR UAS and reference TLS point clouds. Test data consisted of point clouds collected in two separate flights performed over the same area. Executed experiments showed that in tested UAS, the trajectory reconstruction, especially attitude, has significant impact on point cloud accuracy. Estimated absolute accuracy of point clouds collected during both test flights was better than 10 cm, thus investigated UAS fits mapping-grade category.
The paper presents an efficient methodology of water body extent estimation based on remotely sensed data collected with UAV (Unmanned Aerial Vehicle). The methodology includes the data collection with selected sensors and processing of remotely sensed data to obtain accurate geospatial products that are finally used to estimate water body extent. Three sensors were investigated: RGB (Red Green Blue) camera, thermal infrared camera, and laser scanner. The platform used to carry each of these sensors was an Aibot X6—a multirotor type of UAV. Test data was collected at 6 sites containing different types of water bodies, including 4 river sections, an old river bed, and a part of a lake shore. The processing of collected data resulted in 2.5-D and 2-D geospatial products that were used subsequently for water body extent estimation. Depending on the type of used sensor, the created geospatial product, and the type of the water body and the land cover, three strategies employing image processing tools were developed to estimate water body range. The obtained results were assessed in terms of classification accuracy (distinguishing the water body from the land) and geometrical planar accuracy of the water body extent. The product identified as the most suitable in water body detection was four bands RGB+TIR (Thermal InfraRed) ortho mosaic. It allowed to achieve the average kappa coefficient of the water body identification above 0.9. The planar accuracy of water body extent varied depending on the type of the sensor, the geospatial product, and the test site conditions, but it was comparable with results obtained in similar studies.
Commission VIII, WG VIII/7 KEY WORDS: UAV, point cloud, biomass estimation, tree height ABSTRACT:Manual in-situ measurements of geometric tree parameters for the biomass volume estimation are time-consuming and economically non-effective. Photogrammetric techniques can be deployed in order to automate the measurement procedure. The purpose of the presented work is an automatic tree growth estimation based on Unmanned Aircraft Vehicle (UAV) imagery. The experiment was conducted in an agriculture test field with scots pine canopies. The data was collected using a Leica Aibotix X6V2 platform equipped with a Nikon D800 camera. Reference geometric parameters of selected sample plants were measured manually each week. In situ measurements were correlated with the UAV data acquisition. The correlation aimed at the investigation of optimal conditions for a flight and parameter settings for image acquisition. The collected images are processed in a state of the art tool resulting in a generation of dense 3D point clouds. The algorithm is developed in order to estimate geometric tree parameters from 3D points. Stem positions and tree tops are identified automatically in a cross section, followed by the calculation of tree heights. The automatically derived height values are compared to the reference measurements performed manually. The comparison allows for the evaluation of automatic growth estimation process. The accuracy achieved using UAV photogrammetry for tree heights estimation is about 5cm.
ABSTRACT:Recent developments in UAV technology and structure from motion techniques have effected that UAVs are becoming standard platforms for 3D data collection. Because of their flexibility and ability to reach inaccessible urban parts, drones appear as optimal solution for urban applications. Building reconstruction from the data collected with UAV has the important potential to reduce labour cost for fast update of already reconstructed 3D cities. However, especially for updating of existing scenes derived from different sensors (e.g. airborne laser scanning), a proper quality assessment is necessary. The objective of this paper is thus to evaluate the potential of UAV imagery as an information source for automatic 3D building modeling at LOD2. The investigation process is conducted threefold: (1) comparing generated SfM point cloud to ALS data; (2) computing internal consistency measures of the reconstruction process; (3) analysing the deviation of Check Points identified on building roofs and measured with a tacheometer. In order to gain deep insight in the modeling performance, various quality indicators are computed and analysed. The assessment performed according to the ground truth shows that the building models acquired with UAV-photogrammetry have the accuracy of less than 18 cm for the plannimetric position and about 15 cm for the height component.
ABSTRACT:The objective of this study is implementation of system architecture for collecting and analysing data as well as visualizing results for hydrodynamic modelling of flood flows in river valleys using remote sensing methods, tree-dimensional geometry of spatial objects and GPU multithread processing. The proposed solution includes: spatial data acquisition segment, data processing and transformation, mathematical modelling of flow phenomena and results visualization. Data acquisition segment was based on aerial laser scanning supplemented by images in visible range. Vector data creation was based on automatic and semiautomatic algorithms of DTM and 3D spatial features modelling. Algorithms for buildings and vegetation geometry modelling were proposed or adopted from literature. The implementation of the framework was designed as modular software using open specifications and partially reusing open source projects. The database structure for gathering and sharing vector data, including flood modelling results, was created using PostgreSQL. For the internal structure of feature classes of spatial objects in a database, the CityGML standard was used. For the hydrodynamic modelling the solutions of Navier-Stokes equations in two-dimensional version was implemented. Visualization of geospatial data and flow model results was transferred to the client side application. This gave the independence from server hardware platform. A real-world case in Poland, which is a part of Widawa River valley near Wroclaw city, was selected to demonstrate the applicability of proposed system.
ABSTRACT:The objective of this study is implementation of system architecture for collecting and analysing data as well as visualizing results for hydrodynamic modelling of flood flows in river valleys using remote sensing methods, tree-dimensional geometry of spatial objects and GPU multithread processing. The proposed solution includes: spatial data acquisition segment, data processing and transformation, mathematical modelling of flow phenomena and results visualization. Data acquisition segment was based on aerial laser scanning supplemented by images in visible range. Vector data creation was based on automatic and semiautomatic algorithms of DTM and 3D spatial features modelling. Algorithms for buildings and vegetation geometry modelling were proposed or adopted from literature. The implementation of the framework was designed as modular software using open specifications and partially reusing open source projects. The database structure for gathering and sharing vector data, including flood modelling results, was created using PostgreSQL. For the internal structure of feature classes of spatial objects in a database, the CityGML standard was used. For the hydrodynamic modelling the solutions of Navier-Stokes equations in two-dimensional version was implemented. Visualization of geospatial data and flow model results was transferred to the client side application. This gave the independence from server hardware platform. A real-world case in Poland, which is a part of Widawa River valley near Wroclaw city, was selected to demonstrate the applicability of proposed system.
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