Object-based differential Localization of Mobile Robots using sparse 2D Lidar Data

Traditional remote sensing approach for mapping aquaculture ponds typically involves the use of aerial photography and high resolution images. The current study demonstrates the use of object-based image processing and analyses of LiDAR-data-generated derivative images with 1-meter resolution, namely: CHM (canopy height model) layer, DSM (digital surface model) layer, DTM (digital terrain model) layer, Hillshade layer, Intensity layer, NumRet (number of returns) layer, and Slope layer. A Canny edge detection algorithm was also performed on the Hillshade layer in order to create a new image (Canny layer) with more defined edges. These derivative images were then used as input layers to perform a multi-resolution segmentation algorithm best fit to delineate the aquaculture ponds. In order to extract the aquaculture pond feature, three major classes were identified for classification, including land, vegetation and water. Classification was first performed by using assign class algorithm to classify Flat Surfaces to segments with mean Slope values of 10 or lower. Out of these Flat Surfaces, assign class algorithm was then performed to determine Water feature by using a threshold value of 63.5. The segments identified as Water were then merged together to form larger bodies of water which comprises the aquaculture ponds. The present study shows that LiDAR data coupled with object-based classification can be an effective approach for mapping coastal aquaculture ponds. The workflow currently presented can be used as a model to map other areas in the Philippines where aquaculture ponds exist.

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MAPPING OF HIGH VALUE CROPS THROUGH AN OBJECT-BASED SVM MODEL USING LIDAR DATA AND ORTHOPHOTO IN AGUSAN DEL NORTE PHILIPPINES

ISPRS Annals of Photogrammetry Remote Sensing and Spatial Information Sciences ◽

10.5194/isprsannals-iii-7-165-2016 ◽

2016 ◽

Vol III-7 ◽

pp. 165-172 ◽

Cited By ~ 1

Author(s):

Rudolph Joshua Candare ◽

Michelle Japitana ◽

James Earl Cubillas ◽

Cherry Bryan Ramirez

Keyword(s):

Regularization Parameter ◽

Optimization Procedure ◽

Feature Space ◽

Resource Assessment ◽

Support Vector ◽

Lidar Data ◽

High Resolution Data ◽

Object Based ◽

Rule Sets ◽

Rule Set

This research describes the methods involved in the mapping of different high value crops in Agusan del Norte Philippines using LiDAR. This project is part of the Phil-LiDAR 2 Program which aims to conduct a nationwide resource assessment using LiDAR. Because of the high resolution data involved, the methodology described here utilizes object-based image analysis and the use of optimal features from LiDAR data and Orthophoto. Object-based classification was primarily done by developing rule-sets in eCognition. Several features from the LiDAR data and Orthophotos were used in the development of rule-sets for classification. Generally, classes of objects can't be separated by simple thresholds from different features making it difficult to develop a rule-set. To resolve this problem, the image-objects were subjected to Support Vector Machine learning. SVMs have gained popularity because of their ability to generalize well given a limited number of training samples. However, SVMs also suffer from parameter assignment issues that can significantly affect the classification results. More specifically, the regularization parameter C in linear SVM has to be optimized through cross validation to increase the overall accuracy. After performing the segmentation in eCognition, the optimization procedure as well as the extraction of the equations of the hyper-planes was done in Matlab. The learned hyper-planes separating one class from another in the multi-dimensional feature-space can be thought of as super-features which were then used in developing the classifier rule set in eCognition. In this study, we report an overall classification accuracy of greater than 90% in different areas.

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