3D Terrain Reconstruction by Small Unmanned Aerial Vehicle Using SIFT-Based Monocular SLAM

2011 ◽  
Vol 23 (2) ◽  
pp. 292-301 ◽  
Author(s):  
Taro Suzuki ◽  
◽  
Yoshiharu Amano ◽  
Takumi Hashizume ◽  
Shinji Suzuki ◽  
...  
Keyword(s):  
Unmanned Aerial Vehicle ◽  
Effective Means ◽  
3D Measurement ◽  
Scale Invariant ◽  
Practical Applications ◽  
Monocular Camera ◽  
3D Terrain ◽  
Localization And Mapping ◽  
Aerial Vehicle ◽  
Slam Algorithm

This paper describes a Simultaneous Localization And Mapping (SLAM) algorithm using a monocular camera for a small Unmanned Aerial Vehicle (UAV). A small UAV has attracted the attention for effective means of the collecting aerial information. However, there are few practical applications due to its small payloads for the 3D measurement. We propose extended Kalman filter SLAM to increase UAV position and attitude data and to construct 3D terrain maps using a small monocular camera. We propose 3D measurement based on Scale-Invariant Feature Transform (SIFT) triangulation features extracted from captured images. Field-experiment results show that our proposal effectively estimates position and attitude of the UAV and construct the 3D terrain map.

scholarly journals Simulation and Analysis of Particle Filter Based Slam System

2018 ◽  
Vol 25 (1) ◽  
pp. 137-153
Author(s):  
Piotr Kaniewski ◽  
Paweł Słowak
Keyword(s):  
Particle Filter ◽  
Unmanned Aerial Vehicle ◽  
Simultaneous Localization And Mapping ◽  
Flight Trajectory ◽  
Localization And Mapping ◽  
Aerial Vehicle ◽  
Simulation Results ◽  
Slam Algorithm

AbstractThe paper describes a problem and an algorithm for simultaneous localization and mapping (SLAM) for an unmanned aerial vehicle (UAV). The algorithm developed by the authors estimates the flight trajectory and builds a map of the terrain below the UAV. As a tool for estimating the UAV position and other parameters of flight, a particle filter was applied. The proposed algorithm was tested and analyzed by simulations and the paper presents a simulator developed by the authors and used for SLAM testing purposes. Chosen simulation results, including maps and UAV trajectories constructed by the SLAM algorithm are included in the paper.

scholarly journals Experimental Study on 3D Measurement Accuracy Detection of Low Altitude UAV for Repeated Observation of an Invariant Surface

Processes ◽  
2021 ◽  
Vol 10 (1) ◽  
pp. 4
Author(s):  
Sha Gao ◽  
Shu Gan ◽  
Xiping Yuan ◽  
Rui Bi ◽  
Raobo Li ◽  
...  
Keyword(s):  
Experimental Study ◽  
Unmanned Aerial Vehicle ◽  
Structure From Motion ◽  
Measurement Accuracy ◽  
Test Plot ◽  
3D Measurement ◽  
Difference Model ◽  
Repeated Observations ◽  
Aerial Vehicle ◽  
Low Altitude

Low-altitude unmanned aerial vehicle (UAV) photogrammetry combined with structure-from-motion (SFM) algorithms is the latest technological approach to imaging 3D stereo constructions. At present, derivative products have been widely used in landslide monitoring, landscape evolution, glacier movement, volume measurement, and landscape change detection. However, there is still a lack of research into the accuracy of 3D data positioning based on the structure-from-motion of unmanned aerial vehicle (UAV-SFM) technology, itself, which can affect the measurable effectiveness of the results in further applications of this technological approach. In this paper, validation work was carried out for the DJI Phantom 4 RTK UAV, for earth observation data related to 3D positioning accuracy. First, a test plot with a relatively stable surface was selected for repeated flight imaging observations. Specifically, three repeated flights were performed on the test plot to obtain three sorties of images; the structure from motion and multi-view stereo (SFM-MVS) key technology was used to process and construct a 3D scene model, and based on this model the digital surface model (DSM) and digital orthophoto map (DOM) data of the same plot with repeated observations were obtained. In order to check the level of 3D measurement accuracy of the UAV technology itself, a window selection-based method was used to sample the point cloud set data from the three-sortie repeat observation 3D model. The DSM and DOM data obtained from three repeated flights over the surface invariant test plots were used to calculate the repeat observation 3D point errors, taking into account the general methodology of redundant observation error analysis for topographic surveys. At the same time, to further analyze the limits of the UAV measurement technique, possible under equivalent observation conditions with the same processing environment, a difference model (DOD) was constructed for the DSM data from three sorties, to deepen the overall characterization of the differences between the DSMs obtained from repeated observations. The results of the experimental study concluded that both the analysis of the 3D point set measurements based on window sampling and the accuracy evaluation using the difference model were generally able to achieve a centimeter level of planimetric accuracy and vertical accuracy. In addition, the accuracy of the surface-stabilized hardened ground was better, overall, than the accuracy of the non-hardened ground. The results of this paper not only probe the measurement limits of this type of UAV, but also provide a quantitative reference for the accurate control and setting of an acquisition scheme of the UAV-based SfM-MVS method for geomorphological data acquisition and 3D reconstruction.

scholarly journals Rapid Mosaicking of Unmanned Aerial Vehicle (UAV) Images for Crop Growth Monitoring Using the SIFT Algorithm

2019 ◽  
Vol 11 (10) ◽  
pp. 1226 ◽  
Author(s):  
Jianqing Zhao ◽  
Xiaohu Zhang ◽  
Chenxi Gao ◽  
Xiaolei Qiu ◽  
Yongchao Tian ◽  
...  
Keyword(s):  
Unmanned Aerial Vehicle ◽  
Near Infrared ◽  
Similarity Index ◽  
Crop Growth ◽  
Contrast Threshold ◽  
Growth Monitoring ◽  
Scale Invariant ◽  
Sift Algorithm ◽  
Aerial Vehicle ◽  
Uav Images

To improve the efficiency and effectiveness of mosaicking unmanned aerial vehicle (UAV) images, we propose in this paper a rapid mosaicking method based on scale-invariant feature transform (SIFT) for mosaicking UAV images used for crop growth monitoring. The proposed method dynamically sets the appropriate contrast threshold in the difference of Gaussian (DOG) scale-space according to the contrast characteristics of UAV images used for crop growth monitoring. Therefore, this method adjusts and optimizes the number of matched feature point pairs in UAV images and increases the mosaicking efficiency. Meanwhile, based on the relative location relationship of UAV images used for crop growth monitoring, the random sample consensus (RANSAC) algorithm is integrated to eliminate the influence of mismatched point pairs in UAV images on mosaicking and to keep the accuracy and quality of mosaicking. Mosaicking experiments were conducted by setting three types of UAV images in crop growth monitoring: visible, near-infrared, and thermal infrared. The results indicate that compared to the standard SIFT algorithm and frequently used commercial mosaicking software, the method proposed here significantly improves the applicability, efficiency, and accuracy of mosaicking UAV images in crop growth monitoring. In comparison with image mosaicking based on the standard SIFT algorithm, the time efficiency of the proposed method is higher by 30%, and its structural similarity index of mosaicking accuracy is about 0.9. Meanwhile, the approach successfully mosaics low-resolution UAV images used for crop growth monitoring and improves the applicability of the SIFT algorithm, providing a technical reference for UAV application used for crop growth and phenotypic monitoring.

Performance Analysis in Object Diameter Estimation based on Single and Multiple Non-Destructive and Discrete Infrared Sensors

2014 ◽  
Vol 67 (1) ◽  
Author(s):  
Norashikin M. Thamrin ◽  
Norhashim Mohd. Arshad ◽  
Ramli Adnan ◽  
Rosidah Sam ◽  
Noorfazdli Abd. Razak ◽  
...  
Keyword(s):  
Unmanned Aerial Vehicle ◽  
Laser Scanning ◽  
Pass Rate ◽  
Small Scale ◽  
Infrared Sensors ◽  
Scanning Method ◽  
Average Percentage ◽  
Multiple Sensors ◽  
Localization And Mapping ◽  
Aerial Vehicle

In Simultaneous Localization and Mapping (SLAM) technique, recognizing and marking the landmarks in the environment is very important. Therefore, in a commercial farm, rows of trees, borderline of rows as well as the trees and other features are mostly used by the researchers in realizing the automation process in this field. In this paper, the detection of the tree based on its diameter is focused. There are few techniques available in determining the size of the tree trunk inclusive of the laser scanning method as well as image-based measurements. However, those techniques require heavy computations and equipments which become constraints in a lightweight unmanned aerial vehicle implementation. Therefore, in this paper, the detection of an object by using a single and multiple infrared sensors on a non-stationary automated vehicle platform is discussed. The experiments were executed on different size of objects in order to investigate the effectiveness of this proposed method. This work is initially tested on the ground, based in the lab environment by using an omni directional vehicle which later will be adapted on a small-scale unmanned aerial vehicle implementation for tree diameter estimation in the agriculture farm.  In the current study, comparing multiple sensors with single sensor orientation showed that the average percentage of the pass rate in the pole recognition for the former is relatively more accurate than the latter with 93.2 percent and 74.2 percent, respectively. 

scholarly journals Meta-analysis of Unmanned Aerial Vehicle (UAV) Imagery for Agro-environmental Monitoring Using Machine Learning and Statistical Models

2020 ◽  
Vol 12 (21) ◽  
pp. 3511
Author(s):  
Roghieh Eskandari ◽  
Masoud Mahdianpari ◽  
Fariba Mohammadimanesh ◽  
Bahram Salehi ◽  
Brian Brisco ◽  
...  
Keyword(s):  
Machine Learning ◽  
Remote Sensing ◽  
Environmental Monitoring ◽  
Unmanned Aerial Vehicle ◽  
Meta Analysis ◽  
Learning Algorithms ◽  
Effective Means ◽  
Machine Learning Algorithms ◽  
Sensor Technology ◽  
Aerial Vehicle

Unmanned Aerial Vehicle (UAV) imaging systems have recently gained significant attention from researchers and practitioners as a cost-effective means for agro-environmental applications. In particular, machine learning algorithms have been applied to UAV-based remote sensing data for enhancing the UAV capabilities of various applications. This systematic review was performed on studies through a statistical meta-analysis of UAV applications along with machine learning algorithms in agro-environmental monitoring. For this purpose, a total number of 163 peer-reviewed articles published in 13 high-impact remote sensing journals over the past 20 years were reviewed focusing on several features, including study area, application, sensor type, platform type, and spatial resolution. The meta-analysis revealed that 62% and 38% of the studies applied regression and classification models, respectively. Visible sensor technology was the most frequently used sensor with the highest overall accuracy among classification articles. Regarding regression models, linear regression and random forest were the most frequently applied models in UAV remote sensing imagery processing. Finally, the results of this study confirm that applying machine learning approaches on UAV imagery produces fast and reliable results. Agriculture, forestry, and grassland mapping were found as the top three UAV applications in this review, in 42%, 22%, and 8% of the studies, respectively.

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