Radar Imaging in Challenging Scenarios from Smart and Flexible Platforms

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Seafloor depth estimation by means of interferometric synthetic aperture sonar

The topic of this thesis is relative depth estimation using interferometric sidelooking sonar. We give a thorough description of the geometry of interferometric sonar and of time delay estimation techniques. We present a novel solution for the depth estimate using sidelooking sonar, and review the cross-correlation function, the cross-uncertainty function and the phase-differencing technique. We find an elegant solution to co-registration and unwrapping by interpolating the sonar data in ground-range. Two depth estimation techniques are developed: Cross-correlation based sidescan bathymetry and synthetic aperture sonar (SAS) interferometry. We define flank length as a measure of the horizontal resolution in bathymetric maps and find that both sidescan bathymetry and SAS interferometry achieve theoretical resolutions. The vertical precision of our two methods are close to the performance predicted from the measured coherence. We study absolute phase-difference estimation using bandwidth and find a very simple split-bandwidth approach which outperforms a standard 2D phase unwrapper on complicated objects. We also examine advanced filtering of depth maps. Finally, we present pipeline surveying as an example application of interferometric SAS

3D reconstruction and object recognition from 2D SONAR data

Accurate and meaningful representations of the environment are required for autonomy in underwater applications. Thanks to favourable propagation properties in water, acoustic sensors are commonly preferred to video cameras and lasers but do not provide direct 3D information. This thesis addresses the 3D reconstruction of underwater scenes from 2D imaging SONAR data as well as the recognition of objects of interest in the reconstructed scene. We present two 3D reconstruction methods and two model-based object recognition methods. We evaluate our algorithms on multiple scenarios including data gathered by an AUV. We show the ability to reconstruct underwater environments at centimetre-level accuracy using 2D SONARs of any aperture. We demonstrate the recognition of structures of interest on a medium-sized oil-field type environment providing accurate yet low memory footprint semantic world models. We conclude that accurate 3D semantic representations of partially-structured marine environments can be obtained from commonly embedded 2D SONARs, enabling online world modelling, relocalisation and model-based applications

Monitoring von Hangbewegungen mit InSAR Techniken im Gebiet Ciloto, Indonesien

In this doctoral thesis, the InSAR techniques are applied to detect the ground movement phenomenon and to assess the InSAR result geometrically in the Ciloto area, Indonesia. Mainly, one of those techniques, the SB-SDFP algorithm, overcomes the limitations of conventional InSAR in monitoring rural and agricultural areas and can observe extremely slow landslides. The InSAR strategy is positively known as a promising option to detect and quantify the kinematics of active landslides on a large areal scale. To minimize the bias of the InSAR displacement result, the correction of the tropospheric phase delay was carried out in a first step. This procedure is demonstrated in experiments both in the small study area in Ciloto and in a larger area. The latter is an area located in Northern Baja California, Mexico and is dominated by tectonic activity as well as groundwater-induced subsidence. A detailed investigation of the slope movement's behavior in the Ciloto district was conducted utilizing multi-temporal and multi-band SAR data from ERS1/2 (1996-1999), ALOS PALSAR (2007-2009) and Sentinel-1 (2014-2018) satellites. The region was successfully identified as a permanent active landslide prone area, especially in the vicinity of the Puncak Pass and Puncak Highway. The full 3D velocity field and the displacement time series were estimated using the inversion model. The velocity rate was classified from extremely slow to slow movement. To comprehend the landslide's behavior, a further examination of the relationship between InSAR results and physical characteristics of the area was carried out. For the long period of a slow-moving landslide, the relationship between precipitation and displacement trend shows a weak correlation. It is concluded that the extremely slow to slow deformation is not directly influenced by the rainfall intensity, yet it effectuates the subsurface and the groundwater flow. The run-off process with rainfall exceeding a soil's infiltration capacity was suspected as the main driver of the slow ground movement phenomenon. However, when analyzing rapid and extremely rapid landslide events at Puncak Pass, a significant increase in the correlation coefficient between precipitation and displacement rate could be observed.In dieser Doktorarbeit wird die Anwendung von erweiterten Verarbeitungsstrategien von InSAR Daten zur Erkennung und geometrischen Bewertung der Bodenbewegungen im Ciloto - Indonesien dargestellt. Dieser Ansatz überwindet die Beschränkungen konventioneller SAR-Interferometrie und ermöglicht sowohl ein kontinuierliches Monitoring dieses landwirtschaftich geprägten Gebietes als auch die Erfassung extrem langsamer Hangrutschungen. Um eine Verzerrung der InSAR Deformationsergebnisse zu minimieren, wurde zunächst eine Korrektur der troposphärischen Phase durchgeführt. Diese neuartige Strategie wird sowohl im Forschungsgebiet Ciloto als auch an einem größeren Gebiet demonstriert. Bei letzterem handelt es sich um einen Küstenstreifen im nördlichen Niederkalifornien, Mexiko, welcher durch hohe tektonische Aktivität und grundwasserinduzierte Landsetzungen charakterisiert ist. Die detaillierte Untersuchung des Verhaltens von Hangrutschungen im Ciloto erfolgte durch die Verarbeitung multi-temporaler SAR-Daten unter Nutzung verschiedener Frequenzbänder, darunter ESR1/2 (1996-1999), ALOS PALSAR (2007-2009) und Sentinel-1 (2014-2018) Daten. Die Region konnte erfolgreich als permanent aktives Hangrutschungsgebiet identifiziert werden, wobei der Puncak Pass und der Puncak Highway ein erhöhtes Gefahrenpotential aufweisen. Ein 3D- Geschwindig-keitsfeld der Deformation und die zugehörigen Zeitreihen wurden mit dem Inversionsmodell berechnet. Die Geschwindigkeitsrate wurde als langsam bis extrem langsam klassifiziert. Um das dynamische Verhalten der Hangrutschung zu verstehen wurde, in einer weiteren Untersuchung die Beziehung zwischen dem InSAR-Ergebnis und den physikalischen Begebenheiten im Forschungsgebiet analysiert. Es wird der Schluss gezogen, dass die langsame bis extrem langsame Verformung nicht direkt von der Niederschlagsintensität beeinflusst wird, diese sich aber auf den Untergrund und die Grundwasserströmung auswirkt. Es wird vermutet, dass der Oberflächenablauf, welcher die Infiltrationskapazität des Bodens übersteigt, ausschlaggebend für das Phänomen der langsamen Bodenbewegung ist. Für die schnellen und extrem schnellen Hangrutschungen jedoch konnte eine signifikante Erhöhung des Korrelationskoeffizienten zwischen Niederschlag und Verschiebungsrate bei Untersuchungen der Hangrutschung am Puncak-Pass nachgewiesen werden

Relating Multimodal Imagery Data in 3D

This research develops and improves the fundamental mathematical approaches and techniques required to relate imagery and imagery derived multimodal products in 3D. Image registration, in a 2D sense, will always be limited by the 3D effects of viewing geometry on the target. Therefore, effects such as occlusion, parallax, shadowing, and terrain/building elevation can often be mitigated with even a modest amounts of 3D target modeling. Additionally, the imaged scene may appear radically different based on the sensed modality of interest; this is evident from the differences in visible, infrared, polarimetric, and radar imagery of the same site. This thesis develops a `model-centric\u27 approach to relating multimodal imagery in a 3D environment. By correctly modeling a site of interest, both geometrically and physically, it is possible to remove/mitigate some of the most difficult challenges associated with multimodal image registration. In order to accomplish this feat, the mathematical framework necessary to relate imagery to geometric models is thoroughly examined. Since geometric models may need to be generated to apply this `model-centric\u27 approach, this research develops methods to derive 3D models from imagery and LIDAR data. Of critical note, is the implementation of complimentary techniques for relating multimodal imagery that utilize the geometric model in concert with physics based modeling to simulate scene appearance under diverse imaging scenarios. Finally, the often neglected final phase of mapping localized image registration results back to the world coordinate system model for final data archival are addressed. In short, once a target site is properly modeled, both geometrically and physically, it is possible to orient the 3D model to the same viewing perspective as a captured image to enable proper registration. If done accurately, the synthetic model\u27s physical appearance can simulate the imaged modality of interest while simultaneously removing the 3-D ambiguity between the model and the captured image. Once registered, the captured image can then be archived as a texture map on the geometric site model. In this way, the 3D information that was lost when the image was acquired can be regained and properly related with other datasets for data fusion and analysis

Urban Deformation Monitoring using Persistent Scatterer Interferometry and SAR tomography

This book focuses on remote sensing for urban deformation monitoring. In particular, it highlights how deformation monitoring in urban areas can be carried out using Persistent Scatterer Interferometry (PSI) and Synthetic Aperture Radar (SAR) Tomography (TomoSAR). Several contributions show the capabilities of Interferometric SAR (InSAR) and PSI techniques for urban deformation monitoring. Some of them show the advantages of TomoSAR in un-mixing multiple scatterers for urban mapping and monitoring. This book is dedicated to the technical and scientific community interested in urban applications. It is useful for choosing the appropriate technique and gaining an assessment of the expected performance. The book will also be useful to researchers, as it provides information on the state-of-the-art and new trends in this fiel