A Low Cost UWB Based Solution for Direct Georeferencing UAV Photogrammetry

Thanks to their flexibility and availability at reduced costs, Unmanned Aerial Vehicles (UAVs) have been recently used on a wide range of applications and conditions. Among these, they can play an important role in monitoring critical events (e.g., disaster monitoring) when the presence of humans close to the scene shall be avoided for safety reasons, in precision farming and surveying. Despite the very large number of possible applications, their usage is mainly limited by the availability of the Global Navigation Satellite System (GNSS) in the considered environment: indeed, GNSS is of fundamental importance in order to reduce positioning error derived by the drift of (low-cost) Micro-Electro-Mechanical Systems (MEMS) internal sensors. In order to make the usage of UAVs possible even in critical environments (when GNSS is not available or not reliable, e.g., close to mountains or in city centers, close to high buildings), this paper considers the use of a low cost Ultra Wide-Band (UWB) system as the positioning method. Furthermore, assuming the use of a calibrated camera, UWB positioning is exploited to achieve metric reconstruction on a local coordinate system. Once the georeferenced position of at least three points (e.g., positions of three UWB devices) is known, then georeferencing can be obtained, as well. The proposed approach is validated on a specific case study, the reconstruction of the façade of a university building. Average error on 90 check points distributed over the building façade, obtained by georeferencing by means of the georeferenced positions of four UWB devices at fixed positions, is 0.29 m. For comparison, the average error obtained by using four ground control points is 0.18 m

Comparison of four UAV georeferencing methods for environmental monitoring purposes focusing on the combined use with airborne and satellite remote sensing platforms

Altres ajuts: C.P. is a recipient of a FI-DGR scholarship grant (2016B_00410). X.P. is a recipient of an ICREA Academia Excellence in Research Grant ().This work is aimed at the environmental remote sensing community that uses UAV optical frame imagery in combination with airborne and satellite data. Taking into account the economic costs involved and the time investment, we evaluated the fit-for-purpose accuracy of four positioning methods of UAV-acquired imagery: 1) direct georeferencing using the onboard raw GNSS (GNSSNAV) data, 2) direct georeferencing using Post-Processed Kinematic single-frequency carrier-phase without in situ ground support (PPK1), 3) direct georeferencing using Post-Processed Kinematic double-frequency carrier-phase GNSS data with in situ ground support (PPK2), and 4) indirect georeferencing using Ground Control Points (GCP). We tested a multispectral sensor and an RGB sensor, onboard multicopter platforms. Orthophotomosaics at <0.05 m spatial resolution were generated with photogrammetric software. The UAV image absolute accuracy was evaluated according to the ASPRS standards, wherein we used a set of GCPs as reference coordinates, which we surveyed with a differential GNSS static receiver. The raw onboard GNSSNAV solution yielded horizontal (radial) accuracies of RMSEr≤1.062 m and vertical accuracies of RMSEz≤4.209 m; PPK1 solution gave decimetric accuracies of RMSEr≤0.256 m and RMSEz≤0.238 m; PPK2 solution, gave centimetric accuracies of RMSEr≤0.036 m and RMSEz≤0.036 m. These results were further improved by using the GCP solution, which yielded accuracies of RMSEr≤0.023 m and RMSEz≤0.030 m. GNSSNAV solution is a fast and low-cost option that is useful for UAV imagery in combination with remote sensing products, such as Sentinel-2 satellite data. PPK1, which can register UAV imagery with remote sensing products up to 0.25 m pixel size, as WorldView-like satellite imagery, airborne lidar or orthoimagery, has a higher economic cost than the GNSSNAV solution. PPK2 is an acceptable option for registering remote sensing products of up to 0.05 m pixel size, as with other UAV images. Moreover, PPK2 can obtain accuracies that are approximate to the usual UAV pixel size (e.g. co-register in multitemporal studies), but it is more expensive than PPK1. Although indirect georeferencing can obtain the highest accuracy, it is nevertheless a time-consuming task, particularly if many GCPs have to be placed. The paper also provides the approximate cost of each solution

Quantifying marine macro litter abundance on a sandy beach using unmanned aerial systems and object-oriented machine learning methods

UIDB 00308/2020 REM/30324/2017 IT057-18-7252 UIDB/04292/2020Unmanned aerial systems (UASs) have recently been proven to be valuable remote sensing tools for detecting marine macro litter (MML), with the potential of supporting pollution monitoring programs on coasts. Very low altitude images, acquired with a low-cost RGB camera onboard a UAS on a sandy beach, were used to characterize the abundance of stranded macro litter. We developed an object-oriented classification strategy for automatically identifying the marine macro litter items on a UAS-based orthomosaic. A comparison is presented among three automated object-oriented machine learning (OOML) techniques, namely random forest (RF), support vector machine (SVM), and k-nearest neighbor (KNN). Overall, the detection was satisfactory for the three techniques, with mean F-scores of 65% for KNN, 68% for SVM, and 72% for RF. A comparison with manual detection showed that the RF technique was the most accurate OOML macro litter detector, as it returned the best overall detection quality (F-score) with the lowest number of false positives. Because the number of tuning parameters varied among the three automated machine learning techniques and considering that the three generated abundance maps correlated similarly with the abundance map produced manually, the simplest KNN classifier was preferred to the more complex RF. This work contributes to advances in remote sensing marine litter surveys on coasts, optimizing the automated detection on UAS-derived orthomosaics. MML abundance maps, produced by UAS surveys, assist coastal managers and authorities through environmental pollution monitoring programs. In addition, they contribute to search and evaluation of the mitigation measures and improve clean-up operations on coastal environments.publishersversionpublishe

Spatial Data Performance Test of Mid-cost UAS with Direct Georeferencing

Recent development of lightweight and small size multi-frequency GNSS receivers allows determination of the precise position of the moving platform and spatial data acquisition without the need for setting up and measuring of ground control points. The main advantage of this approach is a higher operational capacity with reduced time and cost of field measurement. This relates to fieldwork in inaccessible areas with demanding terrain configuration. In this paper development and use of a UAS with direct georeferencing of camera sensor for spatial data acquisition is described, and the possibility of 3D scene reconstruction based on the precise position of the camera with predetermined interior parameters is examined. Modern computer vision-based SfM photogrammetry algorithms are used for determining attitude parameters and reconstruction of the scene. For that purpose, several tests on two different test fields were performed using various system parameters for collecting and analysis of several spatial data sets. The presented results demonstrate a satisfactory accuracy (3.1 cm planar and 6.4 cm spatial) of the system for various applications in geodesy

Image Processing in Dense Forest Areas using Unmanned Aerial System (UAS)

Description: A detailed workflow using Structure from Motion (SfM) techniques for processing high-resolution Unmanned Aerial System (UAS) NIR and RGB imagery in a dense forest environment where obtaining control points is difficult due to limited access and safety issues. Abstract: Imagery collected via Unmanned Aerial System (UAS) platforms has become popular in recent years due to improvements in a Digital Single-Lens Reflex (DSLR) camera (centimeter and sub-centimeter), lower operation costs as compared to human piloted aircraft, and the ability to collect data over areas with limited ground access. Many different application (e.g., forestry, agriculture, geology, archaeology) are already using and utilizing the advantages of UAS data. Although, there are numerous UAS image processing workflows, for each application the approach can be different. In this study, we developed a processing workflow of UAS imagery collected in a dense forest (e.g., coniferous/deciduous forest and contiguous wetlands) area allowing users to process large datasets with acceptable mosaicking and georeferencing errors. Imagery was acquired with near-infrared (NIR) and red, green, blue (RGB) cameras with no ground control points. Image quality of two different UAS collection platforms were observed. Agisoft Metashape, a photogrammetric suite, which uses SfM (Structure from Motion) techniques, was used to process the imagery. The results showed that an UAS having a consumer grade Global Navigation Satellite System (GNSS) onboard had better image alignment than an UAS with lower quality GNSS

Using Unmanned Aerial Systems for Deriving Forest Stand Characteristics in Mixed Hardwoods of West Virginia

Forest inventory information is a principle driver for forest management decisions. Information gathered through these inventories provides a summary of the condition of forested stands. The method by which remote sensing aids land managers is changing rapidly. Imagery produced from unmanned aerial systems (UAS) offer high temporal and spatial resolutions to small-scale forest management. UAS imagery is less expensive and easier to coordinate to meet project needs compared to traditional manned aerial imagery. This study focused on producing an efficient and approachable work flow for producing forest stand board volume estimates from UAS imagery in mixed hardwood stands of West Virginia. A supplementary aim of this project was to evaluate which season was best to collect imagery for forest inventory. True color imagery was collected with a DJI Phantom 3 Professional UAS and was processed in Agisoft Photoscan Professional. Automated tree crown segmentation was performed with Trimble eCognition Developer’s multi-resolution segmentation function with manual optimization of parameters through an iterative process. Individual tree volume metrics were derived from field data relationships and volume estimates were processed in EZ CRUZ forest inventory software. The software, at best, correctly segmented 43% of the individual tree crowns. No correlation between season of imagery acquisition and quality of segmentation was shown. Volume and other stand characteristics were not accurately estimated and were faulted by poor segmentation. However, the imagery was able to capture gaps consistently and provide a visualization of forest health. Difficulties, successes and time required for these procedures were thoroughly noted

3-D uncertainty-based topographic change detection with structure-from-motion photogrammetry: precision maps for ground control and directly georeferenced surveys

Structure-from-motion (SfM) photogrammetry is revolutionising the collection of detailed topographic data, but insight into geomorphological processes is currently restricted by our limited understanding of SfM survey uncertainties. Here, we present an approach that, for the first time, specifically accounts for the spatially variable precision inherent to photo-based surveys, and enables confidence-bounded quantification of 3-D topographic change. The method uses novel 3-D precision maps that describe the 3-D photogrammetric and georeferencing uncertainty, and determines change through an adapted state-of-the-art fully 3-D point-cloud comparison (M3C2; Lague, et al., 2013), which is particularly valuable for complex topography. We introduce this method by: (1) using simulated UAV surveys, processed in photogrammetric software, to illustrate the spatial variability of precision and the relative influences of photogrammetric (e.g. image network geometry, tie point quality) and georeferencing (e.g. control measurement) considerations; (2) we then present a new Monte Carlo procedure for deriving this information using standard SfM software and integrate it into confidence-bounded change detection; before (3) demonstrating geomorphological application in which we use benchmark TLS data for validation and then estimate sediment budgets through differencing annual SfM surveys of an eroding badland. We show how 3-D precision maps enable more probable erosion patterns to be identified than existing analyses, and how a similar overall survey precision could have been achieved with direct survey georeferencing for camera position data with precision half as good as the GCPs’. Where precision is limited by weak georeferencing (e.g. camera positions with multi-metre precision, such as from a consumer UAV), then overall survey precision can scale as n-½ of the control precision (n = number of images). Our method also provides variance-covariance information for all parameters. Thus, we now open the door for SfM practitioners to use the comprehensive analyses that have underpinned rigorous photogrammetric approaches over the last half-century

Mapping the fractional coverage of the invasive shrub Ulex europaeus with multi-temporal Sentinel-2 imagery utilizing UAV orthoimages and a new spatial optimization approach

Mapping the occurrence patterns of invasive plant species and understanding their invasion dynamics is a crucial requirement for preventing further spread to so far unaffected regions. An established approach to map invasive species across large areas is based on the combination of satellite or aerial remote sensing data with ground truth data from fieldwork. Unmanned aerial vehicles (UAV, also referred to as unmanned aerial systems (UAS)) may represent an interesting and low-cost alternative to labor-intensive fieldwork. Despite the increasing use of UAVs in the field of remote sensing in the last years, operational methods to combine UAV and satellite data are still sparse. Here, we present a new methodological framework to estimate the fractional coverage (FC%) of the invasive shrub species Ulex europaeus (common gorse) on Chilo´e Island (south-central Chile), based on ultrahigh- resolution UAV images and a medium resolution intra-annual time-series of Sentinel-2. Our framework is based on three steps: 1) Land cover classification of the UAV orthoimages, 2) reduce the spatial shift between UAV-based land cover classification maps and Sentinel-2 imagery and 3) identify optimal satellite acquisition dates for estimating the actual distribution of Ulex europaeus. In Step 2 we translate the challenging co-registration task between two datasets with very different spatial resolutions into an (machine learning) optimization problem where the UAV-based land cover classification maps obtained in Step 1 are systematically shifted against the satellite images. Based on several Random Forest (RF) models, an optimal fit between varying land cover fractions and the spectral information of Sentinel-2 is identified to correct the spatial offset between both datasets. Considering the spatial shifts of the UAV orthoimages and using optimally timed Sentinel-2 acquisitions led to a significant improvement for the estimation of the current distribution of Ulex europaeus. Furthermore, we found that the Sentinel-2 acquisition from November (flowering time of Ulex europaeus) was particularly important in distinguishing Ulex europaeus from other plant species. Our mapping results could support local efforts in controlling Ulex europaeus. Furthermore, the proposed workflow should be transferable to other use cases where individual target species that are visually detectable in UAV imagery are considered. These findings confirm and underline the great potential of UAV-based groundtruth data for detecting invasive species

Technical Challenges for Multi-Temporal and Multi-Sensor Image Processing Surveyed by UAV for Mapping and Monitoring in Precision Agriculture

Precision Agriculture (PA) is an approach to maximizing crop productivity in a sustainable manner. PA requires up-to-date, accurate and georeferenced information on crops, which can be collected from different sensors from ground, aerial or satellite platforms. The use of optical and thermal sensors from Unmanned Aerial Vehicle (UAV) platform is an emerging solution for mapping and monitoring in PA, yet many technological challenges are still open. This technical note discusses the choice of UAV type and its scientific payload for surveying a sample area of 5 hectares, as well as the procedures for replicating the study on a larger scale. This case study is an ideal opportunity to test the best practices to combine the requirements of PA surveys with the limitations imposed by local UAV regulations. In the field area, to follow crop development at various stages, nine flights over a period of four months were planned and executed. The usage of ground control points for optimal georeferencing and accurate alignment of maps created by multi-temporal processing is analyzed. Output maps are produced in both visible and thermal bands, after appropriate strip alignment, mosaicking, sensor calibration, and processing with Structure from Motion techniques. The discussion of strategies, checklists, workflow, and processing is backed by data from more than 5000 optical and radiometric thermal images taken during five hours of flight time in nine flights throughout the crop season. The geomatics challenges of a georeferenced survey for PA using UAVs are the key focus of this technical note. Accurate maps derived from these multi-temporal and multi-sensor surveys feed Geographic Information Systems (GIS) and Decision Support Systems (DSS) to benefit PA in a multidisciplinary approach