Fast Segmentation of Industrial Quality Pavement Images using Laws Texture Energy Measures and k-Means Clustering

Thousands of pavement images are collected by road authorities daily for condition monitoring surveys. These images typically have intensity variations and texture non-uniformities making their segmentation challenging. The automated segmentation of such pavement images is crucial for accurate, thorough and expedited health monitoring of roads. In the pavement monitoring area, well known texture descriptors such as gray-level co-occurrence matrices and local binary patterns are often used for surface segmentation and identification. These, despite being the established methods for texture discrimination, are inherently slow. This work evaluates Laws texture energy measures as a viable alternative for pavement images for the first time. k-means clustering is used to partition the feature space, limiting the human subjectivity in the process. Data classification, hence image segmentation, is performed by the k-nearest neighbor method. Laws texture energy masks are shown to perform well with resulting accuracy and precision values of more than 80%. The implementations of the algorithm, in both MATLAB and OpenCV/C++, are extensively compared against the state of the art for execution speed, clearly showing the advantages of the proposed method. Furthermore, the OpenCV based segmentation shows a 100% increase in processing speed when compared to the fastest algorithm available in literature

Enhancing Road Infrastructure Monitoring: Integrating Drones for Weather-Aware Pothole Detection

The abstract outlines the research proposal focused on the utilization of Unmanned Aerial Vehicles (UAVs) for monitoring potholes in road infrastructure affected by various weather conditions. The study aims to investigate how different materials used to fill potholes, such as water, grass, sand, and snow-ice, are impacted by seasonal weather changes, ultimately affecting the performance of pavement structures. By integrating weather-aware monitoring techniques, the research seeks to enhance the rigidity and resilience of road surfaces, thereby contributing to more effective pavement management systems. The proposed methodology involves UAV image-based monitoring combined with advanced super-resolution algorithms to improve image refinement, particularly at high flight altitudes. Through case studies and experimental analysis, the study aims to assess the geometric precision of 3D models generated from aerial images, with a specific focus on road pavement distress monitoring. Overall, the research aims to address the challenges of traditional road failure detection methods by exploring cost-effective 3D detection techniques using UAV technology, thereby ensuring safer roadways for all users

Multisource Data Integration in Remote Sensing

Papers presented at the workshop on Multisource Data Integration in Remote Sensing are compiled. The full text of these papers is included. New instruments and new sensors are discussed that can provide us with a large variety of new views of the real world. This huge amount of data has to be combined and integrated in a (computer-) model of this world. Multiple sources may give complimentary views of the world - consistent observations from different (and independent) data sources support each other and increase their credibility, while contradictions may be caused by noise, errors during processing, or misinterpretations, and can be identified as such. As a consequence, integration results are very reliable and represent a valid source of information for any geographical information system

A methodology to produce geographical information for land planning using very-high resolution images

Actualmente, os municípios são obrigados a produzir, no âmbito da elaboração dos instrumentos de gestão territorial, cartografia homologada pela autoridade nacional. O Plano Director Municipal (PDM) tem um período de vigência de 10 anos. Porém, no que diz respeito à cartografia para estes planos, principalmente em municípios onde a pressão urbanística é elevada, esta periodicidade não é compatível com a dinâmica de alteração de uso do solo. Emerge assim, a necessidade de um processo de produção mais eficaz, que permita a obtenção de uma nova cartografia de base e temática mais frequentemente. Em Portugal recorre-se à fotografia aérea como informação de base para a produção de cartografia de grande escala. Por um lado, embora este suporte de informação resulte em mapas bastante rigorosos e detalhados, a sua produção têm custos muito elevados e consomem muito tempo. As imagens de satélite de muito alta-resolução espacial podem constituir uma alternativa, mas sem substituir as fotografias aéreas na produção de cartografia temática, a grande escala. O tema da tese trata assim da satisfação das necessidades municipais em informação geográfica actualizada. Para melhor conhecer o valor e utilidade desta informação, realizou-se um inquérito aos municípios Portugueses. Este passo foi essencial para avaliar a pertinência e a utilidade da introdução de imagens de satélite de muito alta-resolução espacial na cadeia de procedimentos de actualização de alguns temas, quer na cartografia de base quer na cartografia temática. A abordagem proposta para solução do problema identificado baseia-se no uso de imagens de satélite e outros dados digitais em ambiente de Sistemas de Informação Geográfica. A experimentação teve como objectivo a extracção automática de elementos de interesse municipal a partir de imagens de muito alta-resolução espacial (fotografias aéreas ortorectificadas, imagem QuickBird, e imagem IKONOS), bem como de dados altimétricos (dados LiDAR). Avaliaram-se as potencialidades da informação geográfica extraídas das imagens para fins cartográficos e analíticos. Desenvolveram-se quatro casos de estudo que reflectem diferentes usos para os dados geográficos a nível municipal, e que traduzem aplicações com exigências diferentes. No primeiro caso de estudo, propõe-se uma metodologia para actualização periódica de cartografia a grande escala, que faz uso de fotografias aéreas vi ortorectificadas na área da Alta de Lisboa. Esta é uma aplicação quantitativa onde as qualidades posicionais e geométricas dos elementos extraídos são mais exigentes. No segundo caso de estudo, criou-se um sistema de alarme para áreas potencialmente alteradas, com recurso a uma imagem QuickBird e dados LiDAR, no Bairro da Madre de Deus, com objectivo de auxiliar a actualização de cartografia de grande escala. No terceiro caso de estudo avaliou-se o potencial solar de topos de edifícios nas Avenidas Novas, com recurso a dados LiDAR. No quarto caso de estudo, propõe-se uma série de indicadores municipais de monitorização territorial, obtidos pelo processamento de uma imagem IKONOS que cobre toda a área do concelho de Lisboa. Esta é uma aplicação com fins analíticos onde a qualidade temática da extracção é mais relevante.Currently, the Portuguese municipalities are required to produce homologated cartography, under the Territorial Management Instruments framework. The Municipal Master Plan (PDM) has to be revised every 10 years, as well as the topographic and thematic maps that describe the municipal territory. However, this period is inadequate for representing counties where urban pressure is high, and where the changes in the land use are very dynamic. Consequently, emerges the need for a more efficient mapping process, allowing obtaining recent geographic information more often. Several countries, including Portugal, continue to use aerial photography for large-scale mapping. Although this data enables highly accurate maps, its acquisition and visual interpretation are very costly and time consuming. Very-High Resolution (VHR) satellite imagery can be an alternative data source, without replacing the aerial images, for producing large-scale thematic cartography. The focus of the thesis is the demand for updated geographic information in the land planning process. To better understand the value and usefulness of this information, a survey of all Portuguese municipalities was carried out. This step was essential for assessing the relevance and usefulness of the introduction of VHR satellite imagery in the chain of procedures for updating land information. The proposed methodology is based on the use of VHR satellite imagery, and other digital data, in a Geographic Information Systems (GIS) environment. Different algorithms for feature extraction that take into account the variation in texture, color and shape of objects in the image, were tested. The trials aimed for automatic extraction of features of municipal interest, based on aerial and satellite high-resolution (orthophotos, QuickBird and IKONOS imagery) as well as elevation data (altimetric information and LiDAR data). To evaluate the potential of geographic information extracted from VHR images, two areas of application were identified: mapping and analytical purposes. Four case studies that reflect different uses of geographic data at the municipal level, with different accuracy requirements, were considered. The first case study presents a methodology for periodic updating of large-scale maps based on orthophotos, in the area of Alta de Lisboa. This is a situation where the positional and geometric accuracy of the extracted information are more demanding, since technical mapping standards must be complied. In the second case study, an alarm system that indicates the location of potential changes in building areas, using a QuickBird image and LiDAR data, was developed for the area of Bairro da Madre de Deus. The goal of the system is to assist the updating of large scale mapping, providing a layer that can be used by the municipal technicians as the basis for manual editing. In the third case study, the analysis of the most suitable roof-tops for installing solar systems, using LiDAR data, was performed in the area of Avenidas Novas. A set of urban environment indicators obtained from VHR imagery is presented. The concept is demonstrated for the entire city of Lisbon, through IKONOS imagery processing. In this analytical application, the positional quality issue of extraction is less relevant.GEOSAT – Methodologies to extract large scale GEOgraphical information from very high resolution SATellite images (PTDC/GEO/64826/2006), e-GEO – Centro de Estudos de Geografia e Planeamento Regional, da Faculdade de Ciências Sociais e Humanas, no quadro do Grupo de Investigação Modelação Geográfica, Cidades e Ordenamento do Territóri

Recent Advances in Signal Processing

The signal processing task is a very critical issue in the majority of new technological inventions and challenges in a variety of applications in both science and engineering fields. Classical signal processing techniques have largely worked with mathematical models that are linear, local, stationary, and Gaussian. They have always favored closed-form tractability over real-world accuracy. These constraints were imposed by the lack of powerful computing tools. During the last few decades, signal processing theories, developments, and applications have matured rapidly and now include tools from many areas of mathematics, computer science, physics, and engineering. This book is targeted primarily toward both students and researchers who want to be exposed to a wide variety of signal processing techniques and algorithms. It includes 27 chapters that can be categorized into five different areas depending on the application at hand. These five categories are ordered to address image processing, speech processing, communication systems, time-series analysis, and educational packages respectively. The book has the advantage of providing a collection of applications that are completely independent and self-contained; thus, the interested reader can choose any chapter and skip to another without losing continuity

Variational methods and its applications to computer vision

Many computer vision applications such as image segmentation can be formulated in a ''variational'' way as energy minimization problems. Unfortunately, the computational task of minimizing these energies is usually difficult as it generally involves non convex functions in a space with thousands of dimensions and often the associated combinatorial problems are NP-hard to solve. Furthermore, they are ill-posed inverse problems and therefore are extremely sensitive to perturbations (e.g. noise). For this reason in order to compute a physically reliable approximation from given noisy data, it is necessary to incorporate into the mathematical model appropriate regularizations that require complex computations. The main aim of this work is to describe variational segmentation methods that are particularly effective for curvilinear structures. Due to their complex geometry, classical regularization techniques cannot be adopted because they lead to the loss of most of low contrasted details. In contrast, the proposed method not only better preserves curvilinear structures, but also reconnects some parts that may have been disconnected by noise. Moreover, it can be easily extensible to graphs and successfully applied to different types of data such as medical imagery (i.e. vessels, hearth coronaries etc), material samples (i.e. concrete) and satellite signals (i.e. streets, rivers etc.). In particular, we will show results and performances about an implementation targeting new generation of High Performance Computing (HPC) architectures where different types of coprocessors cooperate. The involved dataset consists of approximately 200 images of cracks, captured in three different tunnels by a robotic machine designed for the European ROBO-SPECT project.Open Acces

Pattern Recognition

A wealth of advanced pattern recognition algorithms are emerging from the interdiscipline between technologies of effective visual features and the human-brain cognition process. Effective visual features are made possible through the rapid developments in appropriate sensor equipments, novel filter designs, and viable information processing architectures. While the understanding of human-brain cognition process broadens the way in which the computer can perform pattern recognition tasks. The present book is intended to collect representative researches around the globe focusing on low-level vision, filter design, features and image descriptors, data mining and analysis, and biologically inspired algorithms. The 27 chapters coved in this book disclose recent advances and new ideas in promoting the techniques, technology and applications of pattern recognition

Perception of Unstructured Environments for Autonomous Off-Road Vehicles

Autonome Fahrzeuge benötigen die Fähigkeit zur Perzeption als eine notwendige Voraussetzung für eine kontrollierbare und sichere Interaktion, um ihre Umgebung wahrzunehmen und zu verstehen. Perzeption für strukturierte Innen- und Außenumgebungen deckt wirtschaftlich lukrative Bereiche, wie den autonomen Personentransport oder die Industrierobotik ab, während die Perzeption unstrukturierter Umgebungen im Forschungsfeld der Umgebungswahrnehmung stark unterrepräsentiert ist. Die analysierten unstrukturierten Umgebungen stellen eine besondere Herausforderung dar, da die vorhandenen, natürlichen und gewachsenen Geometrien meist keine homogene Struktur aufweisen und ähnliche Texturen sowie schwer zu trennende Objekte dominieren. Dies erschwert die Erfassung dieser Umgebungen und deren Interpretation, sodass Perzeptionsmethoden speziell für diesen Anwendungsbereich konzipiert und optimiert werden müssen. In dieser Dissertation werden neuartige und optimierte Perzeptionsmethoden für unstrukturierte Umgebungen vorgeschlagen und in einer ganzheitlichen, dreistufigen Pipeline für autonome Geländefahrzeuge kombiniert: Low-Level-, Mid-Level- und High-Level-Perzeption. Die vorgeschlagenen klassischen Methoden und maschinellen Lernmethoden (ML) zur Perzeption bzw.~Wahrnehmung ergänzen sich gegenseitig. Darüber hinaus ermöglicht die Kombination von Perzeptions- und Validierungsmethoden für jede Ebene eine zuverlässige Wahrnehmung der möglicherweise unbekannten Umgebung, wobei lose und eng gekoppelte Validierungsmethoden kombiniert werden, um eine ausreichende, aber flexible Bewertung der vorgeschlagenen Perzeptionsmethoden zu gewährleisten. Alle Methoden wurden als einzelne Module innerhalb der in dieser Arbeit vorgeschlagenen Perzeptions- und Validierungspipeline entwickelt, und ihre flexible Kombination ermöglicht verschiedene Pipelinedesigns für eine Vielzahl von Geländefahrzeugen und Anwendungsfällen je nach Bedarf. Low-Level-Perzeption gewährleistet eine eng gekoppelte Konfidenzbewertung für rohe 2D- und 3D-Sensordaten, um Sensorausfälle zu erkennen und eine ausreichende Genauigkeit der Sensordaten zu gewährleisten. Darüber hinaus werden neuartige Kalibrierungs- und Registrierungsansätze für Multisensorsysteme in der Perzeption vorgestellt, welche lediglich die Struktur der Umgebung nutzen, um die erfassten Sensordaten zu registrieren: ein halbautomatischer Registrierungsansatz zur Registrierung mehrerer 3D~Light Detection and Ranging (LiDAR) Sensoren und ein vertrauensbasiertes Framework, welches verschiedene Registrierungsmethoden kombiniert und die Registrierung verschiedener Sensoren mit unterschiedlichen Messprinzipien ermöglicht. Dabei validiert die Kombination mehrerer Registrierungsmethoden die Registrierungsergebnisse in einer eng gekoppelten Weise. Mid-Level-Perzeption ermöglicht die 3D-Rekonstruktion unstrukturierter Umgebungen mit zwei Verfahren zur Schätzung der Disparität von Stereobildern: ein klassisches, korrelationsbasiertes Verfahren für Hyperspektralbilder, welches eine begrenzte Menge an Test- und Validierungsdaten erfordert, und ein zweites Verfahren, welches die Disparität aus Graustufenbildern mit neuronalen Faltungsnetzen (CNNs) schätzt. Neuartige Disparitätsfehlermetriken und eine Evaluierungs-Toolbox für die 3D-Rekonstruktion von Stereobildern ergänzen die vorgeschlagenen Methoden zur Disparitätsschätzung aus Stereobildern und ermöglichen deren lose gekoppelte Validierung. High-Level-Perzeption konzentriert sich auf die Interpretation von einzelnen 3D-Punktwolken zur Befahrbarkeitsanalyse, Objekterkennung und Hindernisvermeidung. Eine Domänentransferanalyse für State-of-the-art-Methoden zur semantischen 3D-Segmentierung liefert Empfehlungen für eine möglichst exakte Segmentierung in neuen Zieldomänen ohne eine Generierung neuer Trainingsdaten. Der vorgestellte Trainingsansatz für 3D-Segmentierungsverfahren mit CNNs kann die benötigte Menge an Trainingsdaten weiter reduzieren. Methoden zur Erklärbarkeit künstlicher Intelligenz vor und nach der Modellierung ermöglichen eine lose gekoppelte Validierung der vorgeschlagenen High-Level-Methoden mit Datensatzbewertung und modellunabhängigen Erklärungen für CNN-Vorhersagen. Altlastensanierung und Militärlogistik sind die beiden Hauptanwendungsfälle in unstrukturierten Umgebungen, welche in dieser Arbeit behandelt werden. Diese Anwendungsszenarien zeigen auch, wie die Lücke zwischen der Entwicklung einzelner Methoden und ihrer Integration in die Verarbeitungskette für autonome Geländefahrzeuge mit Lokalisierung, Kartierung, Planung und Steuerung geschlossen werden kann. Zusammenfassend lässt sich sagen, dass die vorgeschlagene Pipeline flexible Perzeptionslösungen für autonome Geländefahrzeuge bietet und die begleitende Validierung eine exakte und vertrauenswürdige Perzeption unstrukturierter Umgebungen gewährleistet