AUTOMATIC ROAD CRACK RECOGNITION BASED ON DEEP LEARNING NETWORKS FROM UAV IMAGERY

Roads are one of the essential transportation infrastructures that get damaged over time and affect economic development and social activities. Therefore, accurate and rapid recognition of road damage such as cracks is necessary to prevent further damage and repair it in time. The traditional methods for recognizing cracks are using survey vehicles equipped with various sensors, visual inspection of the road surface, and recognition algorithms in image processing. However, performing recognition operations using these methods is associated with high costs and low accuracy and speed. In recent years, the use of deep learning networks in object recognition and visual applications has increased, and these networks have become a suitable alternative to traditional methods. In this paper, the YOLOv4 deep learning network is used to recognize four types of cracks transverse, longitudinal, alligator, and oblique cracks utilizing a set of 2000 RGB visible images. The proposed network with multiple convolutional layers extracts accurate semantic feature maps from input images and classifies road cracks into four classes. This network performs the recognition process with an error of 1% in the training phase and 77% F1-Score, 80% precision, 80% mean average precision (mAP), 77% recall, and 81% intersection over union (IoU) in the testing phase. These results demonstrate the acceptable accuracy and appropriate performance of the model in road crack recognition

ARCHITECTURAL HERITAGE 3D MODELLING USING UNMANNED AERIAL VEHICLES MULTI-VIEW IMAGING

Today, Architectural Heritage 3D models are created using Unmanned Aerial Vehicles (UAV) imagery and processing through Computer Vision (CV) methods. They are becoming more acceptable as reliable sources for study, documentation, diagnostics, intervention planning, monitoring, and management decision-making. The Deir-e-Kaj caravanserai, located in Qom, Iran, is a massive and half-destroyed architectural heritage that belongs to the Seljuk era. The obstructed access due to illegal deep excavations and the extensive demolished structure did not allow for a complete mapping using traditional and terrestrial techniques. Considering the condition and vulnerability of the artifact, it looks necessary to use a safe, non-destructive, and remote method for 3D documenting. The literature review shows in most of the research UAVs are used for acquiring nadir images, which are combined with the terrestrially acquired data for complete 3D modelling. In this case, a multi-view UAV imaging strategy is considered for the as-is 3D modelling of Deire-e-Kaj. Three different imaging angles are designed and used to carry out the comprehensive and all-needed data acquisition. The nadir images are acquired to cover the plan and enclosure, and the horizontal and oblique images cover the façades and interior spaces of the artifact. Adopting a suitable photogrammetric process based on the SfM workflow allows for obtaining an accurate, high-quality, and textured 3D model of the caravanserai. Accuracy evaluation of the result using Ground Control Points shows a total accuracy of ±1 cm. This study demonstrates the efficiency of multi-view UAV photogrammetry as a rapid, safe, and precise method to create a complete 3D model of massive, hard-to-access, and vulnerable Architectural Heritage

DECISION-BASED FUSION OF PANSHARPENED VHR SATELLITE IMAGES USING TWO-LEVEL ROLLING SELF-GUIDANCE FILTERING AND EDGE INFORMATION

Pan-sharpening (PS) fuses low-resolution multispectral (LR MS) images with high-resolution panchromatic (HR PAN) bands to produce HR MS data. Current PS methods either better maintain the spectral information of MS images, or better transfer the PAN spatial details to the MS bands. In this study, we propose a decision-based fusion method that integrates two basic pan-sharpened very-high-resolution (VHR) satellite imageries taking advantage of both images simultaneously. It uses two-level rolling self-guidance filtering (RSGF) and Canny edge detection. The method is tested on Worldview (WV)-2 and WV-4 VHR satellite images on the San Fransisco and New York areas, using four PS algorithms. Results indicate that the proposed method increased the overall spectral-spatial quality of the base pan-sharpened images by 7.2% and 9.8% for the San Fransisco and New York areas, respectively. Our method therefore effectively addresses decision-level fusion of different base pan-sharpened images

EFFECT OF KEYFRAMES EXTRACTION FROM THERMAL INFRARED VIDEO STREAM TO GENERATE DENSE POINT CLOUD OF THE BUILDING'S FACADE

Keyframes extraction is required and effective for the 3D reconstruction of objects from a thermal video sequence to increase geometric accuracy, reduce the volume of aerial triangulation calculations, and generate the dense point cloud. The primary goal and focus of this paper are to assess the effect of keyframes extraction from the thermal infrared video sequence on the geometric accuracy of the dense point cloud generated. The method of keyframes extraction of thermal infrared video presented in this paper consists of three basic steps. (A) The ability to identify and remove blur frames from non-blur frames in a sequence of recorded frames. (B) The ability to apply the standard baseline condition between sequence frames to establish the overlap condition and prevent the creation of degeneracy conditions. (C) Evaluating degeneracy conditions and keyframes extraction using Geometric Robust Information Criteria (GRIC). The performance evaluation criteria for keyframes extraction in the generation of the thermal infrared dense point cloud in this paper are to assess the increase in density of the generated three-dimensional point cloud and reduce reprojection error. Based on the results and assessments presented in this paper, using keyframes increases the density of the thermal infrared dense point cloud by about 0.03% to 0.10% of points per square meter. It reduces the reprojection error by about 0.005% of pixels (2 times)

Building Fuzzy Elevation Maps from a Ground-based 3D Laser Scan for Outdoor Mobile Robots

Mandow, A; Cantador, T.J.; Reina, A.J.; Martínez, J.L.; Morales, J.; García-Cerezo, A. "Building Fuzzy Elevation Maps from a Ground-based 3D Laser Scan for Outdoor Mobile Robots," Robot2015: Second Iberian Robotics Conference, Advances in Robotics, (2016) Advances in Intelligent Systems and Computing, vol. 418. This is a self-archiving copy of the author’s accepted manuscript. The final publication is available at Springer via http://link.springer.com/book/10.1007/978-3-319-27149-1.The paper addresses terrain modeling for mobile robots with fuzzy elevation maps by improving computational speed and performance over previous work on fuzzy terrain identification from a three-dimensional (3D) scan. To this end, spherical sub-sampling of the raw scan is proposed to select training data that does not filter out salient obstacles. Besides, rule structure is systematically defined by considering triangular sets with an unevenly distributed standard fuzzy partition and zero order Sugeno-type consequents. This structure, which favors a faster training time and reduces the number of rule parameters, also serves to compute a fuzzy reliability mask for the continuous fuzzy surface. The paper offers a case study using a Hokuyo-based 3D rangefinder to model terrain with and without outstanding obstacles. Performance regarding error and model size is compared favorably with respect to a solution that uses quadric-based surface simplification (QSlim).This work was partially supported by the Spanish CICYT project DPI 2011-22443, the Andalusian project PE-2010 TEP-6101, and Universidad de Málaga-Andalucía Tech

Intelligent evacuation management systems: A review

Crowd and evacuation management have been active areas of research and study in the recent past. Various developments continue to take place in the process of efficient evacuation of crowds in mass gatherings. This article is intended to provide a review of intelligent evacuation management systems covering the aspects of crowd monitoring, crowd disaster prediction, evacuation modelling, and evacuation path guidelines. Soft computing approaches play a vital role in the design and deployment of intelligent evacuation applications pertaining to crowd control management. While the review deals with video and nonvideo based aspects of crowd monitoring and crowd disaster prediction, evacuation techniques are reviewed via the theme of soft computing, along with a brief review on the evacuation navigation path. We believe that this review will assist researchers in developing reliable automated evacuation systems that will help in ensuring the safety of the evacuees especially during emergency evacuation scenarios

Object Recognition Based on the Context Aware Decision-Level Fusion in Multiviews Imagery

Spectral similarities and spatial adjacencies between various kinds of objects, shadow, and occluded areas behind high-rise objects as well as the complex relationships between various object types lead to the difficulties and ambiguities in object recognition in urban areas. Using a knowledge base containing the contextual information together with the multiviews imagery may improve the object recognition results in such a situation. The proposed object recognition strategy in this paper has two main stages: single view and multiviews processes. In the single view process, defining region’s properties for each of the segmented regions, the object-based image analysis (OBIA) is performed independently on the individual views. In the second stage, the classified objects of all views are fused together through a decision-level fusion based on the scene contextual information in order to refine the classification results. Sensory information, analyzing visibility maps, height, and the structural characteristics of the multiviews classified objects define the scene contextual information. Evaluation of the capabilities of the proposed context aware object recognition methodology is performed on two datasets: 1) multiangular Worldview-2 satellite images over Rio de Janeiro in Brazil and 2) multiviews digital modular camera (DMC) aerial images over a complex urban area in Germany. The obtained results represent that using the contextual information together with a decision-level fusion of multiviews, the object recognition difficulties and ambiguities are decreased and the overall accuracy and the kappa are gradually improved for both of theWorldView-2 and the DMC datasets

STATISTICAL EVALUATION OF FITTING ACCURACY OF GLOBAL AND LOCAL DIGITAL ELEVATION MODELS IN IRAN

Digital Elevation Models (DEMs) are one of the most important data for various applications such as hydrological studies, topography mapping and ortho image generation. There are well-known DEMs of the whole world that represent the terrain's surface at variable resolution and they are also freely available for 99% of the globe. However, it is necessary to assess the quality of the global DEMs for the regional scale applications.These models are evaluated by differencing with other reference DEMs or ground control points (GCPs) in order to estimate the quality and accuracy parameters over different land cover types. In this paper, a comparison of ASTER GDEM ver2, SRTM DEM with more than 800 reference GCPs and also with a local elevation model over the area of Iran is presented. This study investigates DEM’s characteristics such as systematic error (bias), vertical accuracy and outliers for DEMs using both the usual (Mean error, Root Mean Square Error, Standard Deviation) and the robust (Median, Normalized Median Absolute Deviation, Sample Quantiles) descriptors. Also, the visual assessment tools are used to illustrate the quality of DEMs, such as normalized histograms and Q-Q plots. The results of the study confirmed that there is a negative elevation bias of approximately 5 meters of GDEM ver2. The measured RMSE and NMAD for elevation differences of GDEM-GCPs are 7.1 m and 3.2 m, respectively, while these values for SRTM and GCPs are 9.0 m and 4.4 m. On the other hand, in comparison with the local DEM, GDEM ver2 exhibits the RMSE of about 6.7 m, a little higher than the RMSE of SRTM (5.1 m).The results of height difference classification and other statistical analysis of GDEM ver2-local DEM and SRTM-local DEM reveal that SRTM is slightly more accurate than GDEM ver2. Accordingly, SRTM has no noticeable bias and shift from Local DEM and they have more consistency to each other, while GDEM ver2 has always a negative bias