Detail Enhancing Denoising of Digitized 3D Models from a Mobile Scanning System

The acquisition process of digitizing a large-scale environment produces an enormous amount of raw geometry data. This data is corrupted by system noise, which leads to 3D surfaces that are not smooth and details that are distorted. Any scanning system has noise associate with the scanning hardware, both digital quantization errors and measurement inaccuracies, but a mobile scanning system has additional system noise introduced by the pose estimation of the hardware during data acquisition. The combined system noise generates data that is not handled well by existing noise reduction and smoothing techniques. This research is focused on enhancing the 3D models acquired by mobile scanning systems used to digitize large-scale environments. These digitization systems combine a variety of sensors – including laser range scanners, video cameras, and pose estimation hardware – on a mobile platform for the quick acquisition of 3D models of real world environments. The data acquired by such systems are extremely noisy, often with significant details being on the same order of magnitude as the system noise. By utilizing a unique 3D signal analysis tool, a denoising algorithm was developed that identifies regions of detail and enhances their geometry, while removing the effects of noise on the overall model. The developed algorithm can be useful for a variety of digitized 3D models, not just those involving mobile scanning systems. The challenges faced in this study were the automatic processing needs of the enhancement algorithm, and the need to fill a hole in the area of 3D model analysis in order to reduce the effect of system noise on the 3D models. In this context, our main contributions are the automation and integration of a data enhancement method not well known to the computer vision community, and the development of a novel 3D signal decomposition and analysis tool. The new technologies featured in this document are intuitive extensions of existing methods to new dimensionality and applications. The totality of the research has been applied towards detail enhancing denoising of scanned data from a mobile range scanning system, and results from both synthetic and real models are presented

POPULATION VIABILITY AND CONNECTIVITY OF THE FEDERALLY THREATENED EASTERN INDIGO SNAKE IN CENTRAL PENINSULAR FLORIDA

Understanding the factors influencing the likelihood of persistence of real-world populations requires both an accurate understanding of the traits and behaviors of individuals within those populations (e.g., movement, habitat selection, survival, fecundity, dispersal) but also an understanding of how those traits and behaviors are influenced by landscape features. The federally threatened eastern indigo snake (EIS, Drymarchon couperi) has declined throughout its range primarily due to anthropogenically-induced habitat loss and fragmentation making spatially-explicit assessments of population viability and connectivity essential for understanding its current status and directing future conservation efforts. The primary goal of my dissertation was to understand how landscape features influence EIS population viability and connectivity in central peninsular Florida. I accomplished this through four components. First, I evaluated EIS movement patterns and space use including daily movement distance, home range size, within-individual home range overlap, and among-individual home range overlap and how these patterns varied by sex and season. Second, I conducted a multi-level, multi-scale habitat selection analysis to create spatially-explicit estimates of EIS habitat selection. Third, using the aforementioned data and previously published data, I developed an agent-based model for simulating EIS movement, survival, reproduction, and dispersal in central Florida. I used this model to determine how landscape features and conservation lands influence EIS occupancy across our study landscape. Finally, I used landscape genetics to determine how landscape features influenced genetic connectivity and to estimate resistance surfaces with which to model potential corridors. I found that male EIS maintain larger home ranges than females and move extensively during the breeding season in search of females. While seasonal home ranges within an individual strongly overlapped, individuals avoided home ranges of same-sex conspecifics. EIS selected home ranges and within-home range locations in areas of undeveloped upland habitat with high habitat heterogeneity and generally avoided urban. While EIS did not avoid roads, they rarely crossed primary and secondary roads. I used observed patterns of movement and habitat selection to calibrate my ABM. My ABM simulated larger male home ranges and smaller home ranges and lower survival in urbanized landscapes although simulated effect sizes were weaker than observed effect sizes. My model was unable to simulate observed patterns of within-individual home range overlap but accurately simulated survival in developed and undeveloped landscapes. EIS occupancy after a 15 year simulation was 56% and occupancy was most strongly affected, negatively, by urbanization. While the presence of conservation lands was not a strong driver of EIS occupancy, EIS occupancy was more consistently higher on conservation lands. EIS gene flow was most strongly associated with undeveloped uplands, urbanization, and habitat edge at the broadest scales we evaluated. Potential corridors were widespread in the southern half of our study area with substantial areas of potential habitat and corridor occurring outside of the existing conservation network. This work indicates that the LWR contains extensive areas capable of supporting EIS although increasing urbanization may have a negative impact on future persistence of EIS

Mapping in urban environment for autonomous vehicle

Ph.DDOCTOR OF PHILOSOPH

Towards secure & robust PNT for automated systems

This dissertation makes four contributions in support of secure and robust position, navigation, and timing (PNT) for automated systems. The first two relate to PNT security while the latter two address robust positioning for automated ground vehicles. The first contribution is a fundamental theory for provably-secure clock synchronization between two agents in a distributed automated system. All one-way synchronization protocols, such as those based on the Global Positioning System (GPS) and other Global Navigation Satellite Systems (GNSS), are shown to be vulnerable to man-in-the-middle delay attacks. This contribution is the first to identify the necessary and sufficient conditions for provably secure clock synchronization. The second contribution, also related to PNT security, is a three-year study of the world-wide GPS interference landscape based on data from a dual-frequency GNSS receiver operating continuously on the International Space Station (ISS). This work is the first publicly-reported space-based survey of GNSS interference, and unveils previously-unreported GNSS interference activity. The third contribution is a novel ground vehicle positioning technique that is robust to GNSS signal blockage, poor lighting conditions, and adverse weather events such as heavy rain and dense fog. The technique relies on sensors that are commonly available on automated vehicles and are insensitive to lighting and inclement weather: automotive radar, low-cost inertial measurement units (IMUs), and GNSS. Remarkably, it is shown that, given a prior radar map, the proposed technique operating on data from off-the-shelf all-weather automotive sensors can maintain sub-50-cm horizontal position accuracy during 60 min of GNSS-denied driving in downtown Austin, TX. This dissertation’s final contribution is an analysis and demonstration of the feasibility of crowd-sourced digital mapping for automated vehicles. Localization techniques, such as the one described in the previous contribution, rely on such digital maps for accuracy and robustness. A key enabler for large-scale up-to-date maps is enlisting the help of the very consumer vehicles that need the map to build and update it. A method for fusing multi-session vision data into a unified digital map is developed. The asymptotic limit of such a map’s globally-referenced position accuracy is explored for the case in which the mapping agents rely on low-cost GNSS receivers performing standard code-phase-based navigation. Experimental validation along a semi-urban route shows that low-cost consumer vehicles incrementally tighten the accuracy of the jointly-optimized digital map over time enough to support sub-lane-level positioning in a global frame of reference.Electrical and Computer Engineerin

Mapping and Localization in Urban Environments Using Cameras

In this work we present a system to fully automatically create a highly accurate visual feature map from image data aquired from within a moving vehicle. Moreover, a system for high precision self localization is presented. Furthermore, we present a method to automatically learn a visual descriptor. The map relative self localization is centimeter accurate and allows autonomous driving

Ponderosa pine ecosystems restoration and conservation: Steps toward stewardship

This volume is divided into three sections: (1) Ecological, Biological, and Physical Science; (2) Social and Cultural; and (3) Economics and Utilization. Effective ecological restoration requires a combination of science and management. The authors of the first section exemplified this integration in the course of addressing a broad range of topics, from detailed microsite and small-scale changes in fungal, plant, and animal communities, up through landscape, regional, and subcontinental scales. Although the themes were diverse, papers were linked by underscoring the relationship between restorative management actions and ecological effects. Social sciences play a key role in ecosystem restoration because collaboration, development of common goals, and political and economic feasibility are essential for success. The authors of the second section focused on public attitudes, partnerships, and the relationship between social and ecological factors. In the third section, the economics and utilization of products from forest restoration were compared in several Western locations. Both the markets for these products and the range of utilization opportunitiesfrom small-diameter logs to energy creationwill surely evolve rapidly as society moves to address the fire hazards and other problems caused by stressed and weakened ecosystems. The turn of the century is an appropriate point to capture dramatic changes in perspective: consider how attitudes toward Western forests have evolved between 1900 and 2000. The papers in this volume chronicle adaptive research that continues to deepen our understanding of restoration in ecosystems and social systems

Evaluation of Skylab (EREP) data for forest and rangeland surveys

The author has identified the following significant results. Four widely separated sites (near Augusta, Georgia; Lead, South Dakota; Manitou, Colorado; and Redding, California) were selected as typical sites for forest inventory, forest stress, rangeland inventory, and atmospheric and solar measurements, respectively. Results indicated that Skylab S190B color photography is good for classification of Level 1 forest and nonforest land (90 to 95 percent correct) and could be used as a data base for sampling by small and medium scale photography using regression techniques. The accuracy of Level 2 forest and nonforest classes, however, varied from fair to poor. Results of plant community classification tests indicate that both visual and microdensitometric techniques can separate deciduous, conifirous, and grassland classes to the region level in the Ecoclass hierarchical classification system. There was no consistency in classifying tree categories at the series level by visual photointerpretation. The relationship between ground measurements and large scale photo measurements of foliar cover had a correlation coefficient of greater than 0.75. Some of the relationships, however, were site dependent

Localization and Mapping for Autonomous Driving: Fault Detection and Reliability Analysis

Autonomous driving has advanced rapidly during the past decades and has expanded its application for multiple fields, both indoor and outdoor. One of the significant issues associated with a highly automated vehicle (HAV) is how to increase the safety level. A key requirement to ensure the safety of automated driving is the ability of reliable localization and navigation, with which intelligent vehicle/robot systems could successfully make reliable decisions for the driving path or react to the sudden events occurring within the path. A map with rich environment information is essential to support autonomous driving system to meet these high requirements. Therefore, multi-sensor-based localization and mapping methods are studied in this Thesis. Although some studies have been conducted in this area, a full quality control scheme to guarantee the reliability and to detect outliers in localization and mapping systems is still lacking. The quality of the integration system has not been sufficiently evaluated. In this research, an extended Kalman filter and smoother based quality control (EKF/KS QC) scheme is investigated and has been successfully applied for different localization and mapping scenarios. An EKF/KS QC toolbox is developed in MATLAB, which can be easily embedded and applied into different localization and mapping scenarios. The major contributions of this research are: a) The equivalence between least squares and smoothing is discussed, and an extended Kalman filter-smoother quality control method is developed according to this equivalence, which can not only be used to deal with system model outlier with detection, and identification, can also be used to analyse, control and improve the system quality. Relevant mathematical models of this quality control method have been developed to deal with issues such as singular measurement covariance matrices, and numerical instability of smoothing. b) Quality control analysis is conducted for different positioning system, including Global Navigation Satellite System (GNSS) multi constellation integration for both Real Time Kinematic (RTK) and Post Processing Kinematic (PPK), and the integration of GNSS and Inertial Navigation System (INS). The results indicate PPK method can provide more reliable positioning results than RTK. With the proposed quality control method, the influence of the detected outlier can be mitigated by directly correcting the input measurement with the estimated outlier value, or by adapting the final estimation results with the estimated outlier’s influence value. c) Mathematical modelling and quality control aspects for online simultaneous localization and mapping (SLAM) are examined. A smoother based offline SLAM method is investigated with quality control. Both outdoor and indoor datasets have been tested with these SLAM methods. Geometry analysis for the SLAM system has been done according to the quality control results. The system reliability analysis is essential for the SLAM designer as it can be conducted at the early stage without real-world measurement. d) A least squares based localization method is proposed that treats the High-Definition (HD) map as a sensor source. This map-based sensor information is integrated with other perception sensors, which significantly improves localization efficiency and accuracy. Geometry analysis is undertaken with the quality measures to analyse the influence of the geometry upon the estimation solution and the system quality, which can be hints for future design of the localization system. e) A GNSS/INS aided LiDAR mapping and localization procedure is developed. A high-density map is generated offline, then, LiDAR-based localization can be undertaken online with this pre-generated map. Quality control is conducted for this system. The results demonstrate that the LiDAR based localization within map can effectively improve the accuracy and reliability compared to the GNSS/INS only system, especially during the period that GNSS signal is lost