Automatic Pipeline Surveillance Air-Vehicle

This thesis presents the developments of a vision-based system for aerial pipeline Right-of-Way surveillance using optical/Infrared sensors mounted on Unmanned Aerial Vehicles (UAV). The aim of research is to develop a highly automated, on-board system for detecting and following the pipelines; while simultaneously detecting any third-party interference. The proposed approach of using a UAV platform could potentially reduce the cost of monitoring and surveying pipelines when compared to manned aircraft. The main contributions of this thesis are the development of the image-analysis algorithms, the overall system architecture and validation of in hardware based on scaled down Test environment. To evaluate the performance of the system, the algorithms were coded using Python programming language. A small-scale test-rig of the pipeline structure, as well as expected third-party interference, was setup to simulate the operational environment and capture/record data for the algorithm testing and validation. The pipeline endpoints are identified by transforming the 16-bits depth data of the explored environment into 3D point clouds world coordinates. Then, using the Random Sample Consensus (RANSAC) approach, the foreground and background are separated based on the transformed 3D point cloud to extract the plane that corresponds to the ground. Simultaneously, the boundaries of the explored environment are detected based on the 16-bit depth data using a canny detector. Following that, these boundaries were filtered out, after being transformed into a 3D point cloud, based on the real height of the pipeline for fast and accurate measurements using a Euclidean distance of each boundary point, relative to the plane of the ground extracted previously. The filtered boundaries were used to detect the straight lines of the object boundary (Hough lines), once transformed into 16-bit depth data, using a Hough transform method. The pipeline is verified by estimating a centre line segment, using a 3D point cloud of each pair of the Hough line segments, (transformed into 3D). Then, the corresponding linearity of the pipeline points cloud is filtered within the width of the pipeline using Euclidean distance in the foreground point cloud. Then, the segment length of the detected centre line is enhanced to match the exact pipeline segment by extending it along the filtered point cloud of the pipeline. The third-party interference is detected based on four parameters, namely: foreground depth data; pipeline depth data; pipeline endpoints location in the 3D point cloud; and Right-of-Way distance. The techniques include detection, classification, and localization algorithms. Finally, a waypoints-based navigation system was implemented for the air- vehicle to fly over the course waypoints that were generated online by a heading angle demand to follow the pipeline structure in real-time based on the online identification of the pipeline endpoints relative to a camera frame

Calibration of full-waveform airborne laser scanning data for 3D object segmentation

Phd ThesisAirborne Laser Scanning (ALS) is a fully commercial technology, which has seen rapid uptake from the photogrammetry and remote sensing community to classify surface features and enhance automatic object recognition and extraction processes. 3D object segmentation is considered as one of the major research topics in the field of laser scanning for feature recognition and object extraction applications. The demand for automatic segmentation has significantly increased with the emergence of full-waveform (FWF) ALS, which potentially offers an unlimited number of return echoes. FWF has shown potential to improve available segmentation and classification techniques through exploiting the additional physical observables which are provided alongside the standard geometric information. However, use of the FWF additional information is not recommended without prior radiometric calibration, taking into consideration all the parameters affecting the backscattered energy. The main focus of this research is to calibrate the additional information from FWF to develop the potential of point clouds for segmentation algorithms. Echo amplitude normalisation as a function of local incidence angle was identified as a particularly critical aspect, and a novel echo amplitude normalisation approach, termed the Robust Surface Normal (RSN) method, has been developed. Following the radar equation, a comprehensive radiometric calibration routine is introduced to account for all variables affecting the backscattered laser signal. Thereafter, a segmentation algorithm is developed, which utilises the raw 3D point clouds to estimate the normal for individual echoes based on the RSN method. The segmentation criterion is selected as the normal vector augmented by the calibrated backscatter signals. The developed segmentation routine aims to fully integrate FWF data to improve feature recognition and 3D object segmentation applications. The routine was tested over various feature types from two datasets with different properties to assess its potential. The results are compared to those delivered through utilizing only geometric information, without the additional FWF radiometric information, to assess performance over existing methods. The results approved the potential of the FWF additional observables to improve segmentation algorithms. The new approach was validated against manual segmentation results, revealing a successful automatic implementation and achieving an accuracy of 82%

Semi-Automated DIRSIG scene modeling from 3D lidar and passive imagery

The Digital Imaging and Remote Sensing Image Generation (DIRSIG) model is an established, first-principles based scene simulation tool that produces synthetic multispectral and hyperspectral images from the visible to long wave infrared (0.4 to 20 microns). Over the last few years, significant enhancements such as spectral polarimetric and active Light Detection and Ranging (lidar) models have also been incorporated into the software, providing an extremely powerful tool for multi-sensor algorithm testing and sensor evaluation. However, the extensive time required to create large-scale scenes has limited DIRSIG’s ability to generate scenes ”on demand.” To date, scene generation has been a laborious, time-intensive process, as the terrain model, CAD objects and background maps have to be created and attributed manually. To shorten the time required for this process, this research developed an approach to reduce the man-in-the-loop requirements for several aspects of synthetic scene construction. Through a fusion of 3D lidar data with passive imagery, we were able to semi-automate several of the required tasks in the DIRSIG scene creation process. Additionally, many of the remaining tasks realized a shortened implementation time through this application of multi-modal imagery. Lidar data is exploited to identify ground and object features as well as to define initial tree location and building parameter estimates. These estimates are then refined by analyzing high-resolution frame array imagery using the concepts of projective geometry in lieu of the more common Euclidean approach found in most traditional photogrammetric references. Spectral imagery is also used to assign material characteristics to the modeled geometric objects. This is achieved through a modified atmospheric compensation applied to raw hyperspectral imagery. These techniques have been successfully applied to imagery collected over the RIT campus and the greater Rochester area. The data used include multiple-return point information provided by an Optech lidar linescanning sensor, multispectral frame array imagery from the Wildfire Airborne Sensor Program (WASP) and WASP-lite sensors, and hyperspectral data from the Modular Imaging Spectrometer Instrument (MISI) and the COMPact Airborne Spectral Sensor (COMPASS). Information from these image sources was fused and processed using the semi-automated approach to provide the DIRSIG input files used to define a synthetic scene. When compared to the standard manual process for creating these files, we achieved approximately a tenfold increase in speed, as well as a significant increase in geometric accuracy

Automated and robust geometric and spectral fusion of multi-sensor, multi-spectral satellite images

Die in den letzten Jahrzehnten aufgenommenen Satellitenbilder zur Erdbeobachtung bieten eine ideale Grundlage für eine genaue Langzeitüberwachung und Kartierung der Erdoberfläche und Atmosphäre. Unterschiedliche Sensoreigenschaften verhindern jedoch oft eine synergetische Nutzung. Daher besteht ein dringender Bedarf heterogene Multisensordaten zu kombinieren und als geometrisch und spektral harmonisierte Zeitreihen nutzbar zu machen. Diese Dissertation liefert einen vorwiegend methodischen Beitrag und stellt zwei neu entwickelte Open-Source-Algorithmen zur Sensorfusion vor, die gründlich evaluiert, getestet und validiert werden. AROSICS, ein neuer Algorithmus zur Co-Registrierung und geometrischen Harmonisierung von Multisensor-Daten, ermöglicht eine robuste und automatische Erkennung und Korrektur von Lageverschiebungen und richtet die Daten an einem gemeinsamen Koordinatengitter aus. Der zweite Algorithmus, SpecHomo, wurde entwickelt, um unterschiedliche spektrale Sensorcharakteristika zu vereinheitlichen. Auf Basis von materialspezifischen Regressoren für verschiedene Landbedeckungsklassen ermöglicht er nicht nur höhere Transformationsgenauigkeiten, sondern auch die Abschätzung einseitig fehlender Spektralbänder. Darauf aufbauend wurde in einer dritten Studie untersucht, inwieweit sich die Abschätzung von Brandschäden aus Landsat mittels synthetischer Red-Edge-Bänder und der Verwendung dichter Zeitreihen, ermöglicht durch Sensorfusion, verbessern lässt. Die Ergebnisse zeigen die Effektivität der entwickelten Algorithmen zur Verringerung von Inkonsistenzen bei Multisensor- und Multitemporaldaten sowie den Mehrwert einer geometrischen und spektralen Harmonisierung für nachfolgende Produkte. Synthetische Red-Edge-Bänder erwiesen sich als wertvoll bei der Abschätzung vegetationsbezogener Parameter wie z. B. Brandschweregraden. Zudem zeigt die Arbeit das große Potenzial zur genaueren Überwachung und Kartierung von sich schnell entwickelnden Umweltprozessen, das sich aus einer Sensorfusion ergibt.Earth observation satellite data acquired in recent years and decades provide an ideal data basis for accurate long-term monitoring and mapping of the Earth's surface and atmosphere. However, the vast diversity of different sensor characteristics often prevents synergetic use. Hence, there is an urgent need to combine heterogeneous multi-sensor data to generate geometrically and spectrally harmonized time series of analysis-ready satellite data. This dissertation provides a mainly methodical contribution by presenting two newly developed, open-source algorithms for sensor fusion, which are both thoroughly evaluated as well as tested and validated in practical applications. AROSICS, a novel algorithm for multi-sensor image co-registration and geometric harmonization, provides a robust and automated detection and correction of positional shifts and aligns the data to a common coordinate grid. The second algorithm, SpecHomo, was developed to unify differing spectral sensor characteristics. It relies on separate material-specific regressors for different land cover classes enabling higher transformation accuracies and the estimation of unilaterally missing spectral bands. Based on these algorithms, a third study investigated the added value of synthesized red edge bands and the use of dense time series, enabled by sensor fusion, for the estimation of burn severity and mapping of fire damage from Landsat. The results illustrate the effectiveness of the developed algorithms to reduce multi-sensor, multi-temporal data inconsistencies and demonstrate the added value of geometric and spectral harmonization for subsequent products. Synthesized red edge information has proven valuable when retrieving vegetation-related parameters such as burn severity. Moreover, using sensor fusion for combining multi-sensor time series was shown to offer great potential for more accurate monitoring and mapping of quickly evolving environmental processes

Tools and Methods for the Registration and Fusion of Remotely Sensed Data

Tools and methods for image registration were reviewed. Methods for the registration of remotely sensed data at NASA were discussed. Image fusion techniques were reviewed. Challenges in registration of remotely sensed data were discussed. Examples of image registration and image fusion were given

Forest structure from terrestrial laser scanning – in support of remote sensing calibration/validation and operational inventory

Forests are an important part of the natural ecosystem, providing resources such as timber and fuel, performing services such as energy exchange and carbon storage, and presenting risks, such as fire damage and invasive species impacts. Improved characterization of forest structural attributes is desirable, as it could improve our understanding and management of these natural resources. However, the traditional, systematic collection of forest information – dubbed “forest inventory” – is time-consuming, expensive, and coarse when compared to novel 3-D measurement technologies. Remote sensing estimates, on the other hand, provide synoptic coverage, but often fail to capture the fine- scale structural variation of the forest environment. Terrestrial laser scanning (TLS) has demonstrated a potential to address these limitations, but its operational use has remained limited due to unsatisfactory performance characteristics vs. budgetary constraints of many end-users. To address this gap, my dissertation advanced affordable mobile laser scanning capabilities for operational forest structure assessment. We developed geometric reconstruction of forest structure from rapid-scan, low-resolution point cloud data, providing for automatic extraction of standard forest inventory metrics. To augment these results over larger areas, we designed a view-invariant feature descriptor to enable marker-free registration of TLS data pairs, without knowledge of the initial sensor pose. Finally, a graph-theory framework was integrated to perform multi-view registration between a network of disconnected scans, which provided improved assessment of forest inventory variables. This work addresses a major limitation related to the inability of TLS to assess forest structure at an operational scale, and may facilitate improved understanding of the phenomenology of airborne sensing systems, by providing fine-scale reference data with which to interpret the active or passive electromagnetic radiation interactions with forest structure. Outputs are being utilized to provide antecedent science data for NASA’s HyspIRI mission and to support the National Ecological Observatory Network’s (NEON) long-term environmental monitoring initiatives

Elevation and Deformation Extraction from TomoSAR

3D SAR tomography (TomoSAR) and 4D SAR differential tomography (Diff-TomoSAR) exploit multi-baseline SAR data stacks to provide an essential innovation of SAR Interferometry for many applications, sensing complex scenes with multiple scatterers mapped into the same SAR pixel cell. However, these are still influenced by DEM uncertainty, temporal decorrelation, orbital, tropospheric and ionospheric phase distortion and height blurring. In this thesis, these techniques are explored. As part of this exploration, the systematic procedures for DEM generation, DEM quality assessment, DEM quality improvement and DEM applications are first studied. Besides, this thesis focuses on the whole cycle of systematic methods for 3D & 4D TomoSAR imaging for height and deformation retrieval, from the problem formation phase, through the development of methods to testing on real SAR data. After DEM generation introduction from spaceborne bistatic InSAR (TanDEM-X) and airborne photogrammetry (Bluesky), a new DEM co-registration method with line feature validation (river network line, ridgeline, valley line, crater boundary feature and so on) is developed and demonstrated to assist the study of a wide area DEM data quality. This DEM co-registration method aligns two DEMs irrespective of the linear distortion model, which improves the quality of DEM vertical comparison accuracy significantly and is suitable and helpful for DEM quality assessment. A systematic TomoSAR algorithm and method have been established, tested, analysed and demonstrated for various applications (urban buildings, bridges, dams) to achieve better 3D & 4D tomographic SAR imaging results. These include applying Cosmo-Skymed X band single-polarisation data over the Zipingpu dam, Dujiangyan, Sichuan, China, to map topography; and using ALOS L band data in the San Francisco Bay region to map urban building and bridge. A new ionospheric correction method based on the tile method employing IGS TEC data, a split-spectrum and an ionospheric model via least squares are developed to correct ionospheric distortion to improve the accuracy of 3D & 4D tomographic SAR imaging. Meanwhile, a pixel by pixel orbit baseline estimation method is developed to address the research gaps of baseline estimation for 3D & 4D spaceborne SAR tomography imaging. Moreover, a SAR tomography imaging algorithm and a differential tomography four-dimensional SAR imaging algorithm based on compressive sensing, SAR interferometry phase (InSAR) calibration reference to DEM with DEM error correction, a new phase error calibration and compensation algorithm, based on PS, SVD, PGA, weighted least squares and minimum entropy, are developed to obtain accurate 3D & 4D tomographic SAR imaging results. The new baseline estimation method and consequent TomoSAR processing results showed that an accurate baseline estimation is essential to build up the TomoSAR model. After baseline estimation, phase calibration experiments (via FFT and Capon method) indicate that a phase calibration step is indispensable for TomoSAR imaging, which eventually influences the inversion results. A super-resolution reconstruction CS based study demonstrates X band data with the CS method does not fit for forest reconstruction but works for reconstruction of large civil engineering structures such as dams and urban buildings. Meanwhile, the L band data with FFT, Capon and the CS method are shown to work for the reconstruction of large manmade structures (such as bridges) and urban buildings

Framework for Automatic Identification of Paper Watermarks with Chain Codes

Title from PDF of title page viewed May 21, 2018Dissertation advisor: Reza DerakhshaniVitaIncludes bibliographical references (pages 220-235)Thesis (Ph.D.)--School of Computing and Engineering. University of Missouri--Kansas City, 2017In this dissertation, I present a new framework for automated description, archiving, and identification of paper watermarks found in historical documents and manuscripts. The early manufacturers of paper have introduced the embedding of identifying marks and patterns as a sign of a distinct origin and perhaps as a signature of quality. Thousands of watermarks have been studied, classified, and archived. Most of the classification categories are based on image similarity and are searchable based on a set of defined contextual descriptors. The novel method presented here is for automatic classification, identification (matching) and retrieval of watermark images based on chain code descriptors (CC). The approach for generation of unique CC includes a novel image preprocessing method to provide a solution for rotation and scale invariant representation of watermarks. The unique codes are truly reversible, providing high ratio lossless compression, fast searching, and image matching. The development of a novel distance measure for CC comparison is also presented. Examples for the complete process are given using the recently acquired watermarks digitized with hyper-spectral imaging of Summa Theologica, the work of Antonino Pierozzi (1389 – 1459). The performance of the algorithm on large datasets is demonstrated using watermarks datasets from well-known library catalogue collections.Introduction -- Paper and paper watermarks -- Automatic identification of paper watermarks -- Rotation, Scale and translation invariant chain code -- Comparison of RST_Invariant chain code -- Automatic identification of watermarks with chain codes -- Watermark composite feature vector -- Summary -- Appendix A. Watermarks from the Bernstein Collection used in this study -- Appendix B. The original and transformed images of watermarks -- Appendix C. The transformed and scaled images of watermarks -- Appendix D. Example of chain cod

Wide Field of View Spectroscopy Using Fabry-Perot Interferometers

We present a high resolution spectrometer consisting of dual solid Fabry-Perot Interferometers (FPIs). This work is intended to be an all inclusive documentation of the instrument including discussion of the design of this instrument, the methods used in data reduction, and the analysis of these data. Each FPI is made of a single piece of L-BBH2 glass which has a high index of refraction n~2.07 with a thickness on the order of 100 μm. Each is then coated with partially reflective mirrors to create a resonant cavity and thus achieve a spectral resolution of R~30,000. Running the FPIs in tandem reduces the overlapping orders and allows for a much wider free spectral range and higher contrast. We will also discuss the properties of the FPIs which we have measured. This includes the tuning of the FPIs which is achieved by adjusting the temperature and thus changing the FPI gap and the refractive index of the material. The spectrometer then moves spatially in order to get spectral information at every point in the field of view. We select spectral lines for further analysis and create maps of the line depths across the field. Using this technique we are able to measure the fluorescence of chlorophyll in plants and attempt to observe zodiacal light. In the chlorophyll analysis we are able to detect chlorophyll fluorescence using the line depth in a plant using the sky as a reference solar spectrum. This instrument has possible applications in either a cubesat or aerial observations to measure bulk plant activity over large areas

Hyperspectral Imaging from Ground Based Mobile Platforms and Applications in Precision Agriculture

This thesis focuses on the use of line scanning hyperspectral sensors on mobile ground based platforms and applying them to agricultural applications. First this work deals with the geometric and radiometric calibration and correction of acquired hyperspectral data. When operating at low altitudes, changing lighting conditions are common and inevitable, complicating the retrieval of a surface's reflectance, which is solely a function of its physical structure and chemical composition. Therefore, this thesis contributes the evaluation of an approach to compensate for changes in illumination and obtain reflectance that is less labour intensive than traditional empirical methods. Convenient field protocols are produced that only require a representative set of illumination and reflectance spectral samples. In addition, a method for determining a line scanning camera's rigid 6 degree of freedom (DOF) offset and uncertainty with respect to a navigation system is developed, enabling accurate georegistration and sensor fusion. The thesis then applies the data captured from the platform to two different agricultural applications. The first is a self-supervised weed detection framework that allows training of a per-pixel classifier using hyperspectral data without manual labelling. The experiments support the effectiveness of the framework, rivalling classifiers trained on hand labelled training data. Then the thesis demonstrates the mapping of mango maturity using hyperspectral data on an orchard wide scale using efficient image scanning techniques, which is a world first result. A novel classification, regression and mapping pipeline is proposed to generate per tree mango maturity averages. The results confirm that maturity prediction in mango orchards is possible in natural daylight using a hyperspectral camera, despite complex micro-illumination-climates under the canopy