Correspondence A Curvature-Based Approach to Terrain Recognition

A6stract-This paper describes an algorithm which uses a Gaussian and mean curvature profile for extracting special points on the terrain, and then uses these points for recognition of particular regions of the terrain. The Gaussian and mean curvatures are chosen because they are invariant under rotation and translation. In the Gaussian and mean curvature image, the points of maximum and minimum curvature are extracted and used for matching. The stability of the position of these points in the presence of noise and with resampling is investigated. The input for this algorithm is 3-D digital terrain data. Curvature values are calculated from the data by fitting a quadratic surface over a square window and calculating directional derivatives of this surface. A method of surface fitting which is invariant to coordinate system transformation is suggested and implemented. The real terrain data used in our experiments are compiled by the U.S. Army Engineer Topographic Laboratories, Fort Belvoir, VA. The algorithm is tested with and without the presence of noise and its performance is described. Index Terms-Computer vision, range imaging, shape and 3-D description, 3-D representation and recognition, visual navigation

Data-driven Flood Emulation: Speeding up Urban Flood Predictions by Deep Convolutional Neural Networks

Computational complexity has been the bottleneck of applying physically-based simulations on large urban areas with high spatial resolution for efficient and systematic flooding analyses and risk assessments. To address this issue of long computational time, this paper proposes that the prediction of maximum water depth rasters can be considered as an image-to-image translation problem where the results are generated from input elevation rasters using the information learned from data rather than by conducting simulations, which can significantly accelerate the prediction process. The proposed approach was implemented by a deep convolutional neural network trained on flood simulation data of 18 designed hyetographs on three selected catchments. Multiple tests with both designed and real rainfall events were performed and the results show that the flood predictions by neural network uses only 0.5 % of time comparing with physically-based approaches, with promising accuracy and ability of generalizations. The proposed neural network can also potentially be applied to different but relevant problems including flood predictions for urban layout planning

Terrain analysis using radar shape-from-shading

This paper develops a maximum a posteriori (MAP) probability estimation framework for shape-from-shading (SFS) from synthetic aperture radar (SAR) images. The aim is to use this method to reconstruct surface topography from a single radar image of relatively complex terrain. Our MAP framework makes explicit how the recovery of local surface orientation depends on the whereabouts of terrain edge features and the available radar reflectance information. To apply the resulting process to real world radar data, we require probabilistic models for the appearance of terrain features and the relationship between the orientation of surface normals and the radar reflectance. We show that the SAR data can be modeled using a Rayleigh-Bessel distribution and use this distribution to develop a maximum likelihood algorithm for detecting and labeling terrain edge features. Moreover, we show how robust statistics can be used to estimate the characteristic parameters of this distribution. We also develop an empirical model for the SAR reflectance function. Using the reflectance model, we perform Lambertian correction so that a conventional SFS algorithm can be applied to the radar data. The initial surface normal direction is constrained to point in the direction of the nearest ridge or ravine feature. Each surface normal must fall within a conical envelope whose axis is in the direction of the radar illuminant. The extent of the envelope depends on the corrected radar reflectance and the variance of the radar signal statistics. We explore various ways of smoothing the field of surface normals using robust statistics. Finally, we show how to reconstruct the terrain surface from the smoothed field of surface normal vectors. The proposed algorithm is applied to various SAR data sets containing relatively complex terrain structure

Airborne LiDAR for DEM generation: some critical issues

Airborne LiDAR is one of the most effective and reliable means of terrain data collection. Using LiDAR data for DEM generation is becoming a standard practice in spatial related areas. However, the effective processing of the raw LiDAR data and the generation of an efficient and high-quality DEM remain big challenges. This paper reviews the recent advances of airborne LiDAR systems and the use of LiDAR data for DEM generation, with special focus on LiDAR data filters, interpolation methods, DEM resolution, and LiDAR data reduction. Separating LiDAR points into ground and non-ground is the most critical and difficult step for DEM generation from LiDAR data. Commonly used and most recently developed LiDAR filtering methods are presented. Interpolation methods and choices of suitable interpolator and DEM resolution for LiDAR DEM generation are discussed in detail. In order to reduce the data redundancy and increase the efficiency in terms of storage and manipulation, LiDAR data reduction is required in the process of DEM generation. Feature specific elements such as breaklines contribute significantly to DEM quality. Therefore, data reduction should be conducted in such a way that critical elements are kept while less important elements are removed. Given the highdensity characteristic of LiDAR data, breaklines can be directly extracted from LiDAR data. Extraction of breaklines and integration of the breaklines into DEM generation are presented

A high-precision liDAR-based method for surveying and classifying coastal notches

Formation of notches is an important process in the erosion of seaside cliffs. Monitoring of coastal notch erosion rate and processes has become a prime research focus for many coastal geomorphologists. Observation of notch erosion rate considers a number of characteristics, including cliff collapse risk, distinction of historical sea levels, and recognition of ongoing erosional mechanisms. This study presents new approaches for surveying and classifying marine notches based on a high-precision light detection and ranging (LiDAR)-based experiment performed on a small region of a coastal cliff in southern Portugal. A terrestrial LiDAR scanner was used to measure geometrical parameters and surface roughness of selected notches, enabling their classification according to shape and origin. The implemented methodology proved to be a highly effective tool for providing an unbiased analysis of marine morphodynamic processes acting on the seaside cliffs. In the analyzed population of voids carved into Miocene calcarenites in a coastal cliff section, two types of notch morphology were distinguished, namely U-shaped and V-shaped. The method presented here provides valuable data for landscape evaluation, sea-level changes, and any other types of analyses that rely on the accurate interpretation of cliff morphological features.National Science Centre [UMO-2015/17/D/ST10/02191

Sound Source Localization in a Multipath Environment Using Convolutional Neural Networks

The propagation of sound in a shallow water environment is characterized by boundary reflections from the sea surface and sea floor. These reflections result in multiple (indirect) sound propagation paths, which can degrade the performance of passive sound source localization methods. This paper proposes the use of convolutional neural networks (CNNs) for the localization of sources of broadband acoustic radiated noise (such as motor vessels) in shallow water multipath environments. It is shown that CNNs operating on cepstrogram and generalized cross-correlogram inputs are able to more reliably estimate the instantaneous range and bearing of transiting motor vessels when the source localization performance of conventional passive ranging methods is degraded. The ensuing improvement in source localization performance is demonstrated using real data collected during an at-sea experiment.Comment: 5 pages, 5 figures, Final draft of paper submitted to 2018 IEEE International Conference on Acoustics, Speech and Signal Processing (ICASSP) 15-20 April 2018 in Calgary, Alberta, Canada. arXiv admin note: text overlap with arXiv:1612.0350

A graph-spectral approach to shape-from-shading

In this paper, we explore how graph-spectral methods can be used to develop a new shape-from-shading algorithm. We characterize the field of surface normals using a weight matrix whose elements are computed from the sectional curvature between different image locations and penalize large changes in surface normal direction. Modeling the blocks of the weight matrix as distinct surface patches, we use a graph seriation method to find a surface integration path that maximizes the sum of curvature-dependent weights and that can be used for the purposes of height reconstruction. To smooth the reconstructed surface, we fit quadrics to the height data for each patch. The smoothed surface normal directions are updated ensuring compliance with Lambert's law. The processes of height recovery and surface normal adjustment are interleaved and iterated until a stable surface is obtained. We provide results on synthetic and real-world imagery