scholarly journals IMPROVING UAV TELEMETRY POSITIONING FOR DIRECT PHOTOGRAMMETRY

2021 ◽  
Vol XLIII-B2-2021 ◽  
pp. 61-68
Author(s):  
L. Rossi ◽  
F. Ioli ◽  
E. Capizzi ◽  
L. Pinto ◽  
M. Reguzzoni
Keyword(s):  
Low Cost ◽  
Three Dimensional ◽  
Control Points ◽  
Three Dimensional Model ◽  
Commercial Software ◽  
Ground Control Points ◽  
Lower Accuracy ◽  
Least Squares Adjustment ◽  
Gnss Receivers

Abstract. A fundamental step of UAV photogrammetric processes is to collect Ground Control Points (GCPs) by means of geodetic-quality GNSS receivers or total stations, thus obtaining an absolutely oriented model with a centimetric accuracy. This procedure is usually time-consuming, expensive and potentially dangerous for operators who sometimes need to reach inaccessible areas. UAVs equipped with low-cost GNSS/IMU sensors can provide information about position and attitude of the images. This telemetry information is not enough for a photogrammetric restitution with a centimetric accuracy, but it can be usefully exploited when a lower accuracy is required. The algorithm proposed in this paper aims at improving the quality of this information, in order to introduce it into a direct-photogrammetric process, without collecting GCPs. In particular, the estimation of an optimal trajectory is obtained by combining the camera positions derived from UAV telemetry and from the relative orientation of the acquired images, by means of a least squares adjustment. Then, the resulting trajectory is used as a direct observation of the camera positions into a commercial software, thus replacing the information of GCPs. The algorithm has been tested on different datasets, comparing the classical photogrammetric solution (with GCPs) with the proposed one. These case-studies showed that using the improved trajectory as input to the commercial software (without GCPs) the reconstruction of the three-dimensional model can be improved with respect to the solution computed by using the UAV raw telemetry only.

scholarly journals Assessing the Accuracy of Digital Surface Models Derived from Optical Imagery Acquired with Unmanned Aerial Systems

Drones ◽  
2019 ◽  
Vol 3 (1) ◽  
pp. 15 ◽  
Author(s):  
Salvatore Manfreda ◽  
Petr Dvorak ◽  
Jana Mullerova ◽  
Sorin Herban ◽  
Pietro Vuono ◽  
...  
Keyword(s):  
3D Model ◽  
Low Cost ◽  
Three Dimensional ◽  
Careful Consideration ◽  
Ground Control ◽  
Unmanned Aerial Systems ◽  
Control Points ◽  
Earthen Dam ◽  
Ground Control Points ◽  
Aerial Systems

Small unmanned aerial systems (UASs) equipped with an optical camera are a cost-effective strategy for topographic surveys. These low-cost UASs can provide useful information for three-dimensional (3D) reconstruction even if they are equipped with a low-quality navigation system. To ensure the production of high-quality topographic models, careful consideration of the flight mode and proper distribution of ground control points are required. To this end, a commercial UAS was adopted to monitor a small earthen dam using different combinations of flight configurations and by adopting a variable number of ground control points (GCPs). The results highlight that optimization of both the choice and combination of flight plans can reduce the relative error of the 3D model to within two meters without the need to include GCPs. However, the use of GCPs greatly improved the quality of the topographic survey, reducing error to the order of a few centimeters. The combined use of images extracted from two flights, one with a camera mounted at nadir and the second with a 20° angle, was found to be beneficial for increasing the overall accuracy of the 3D model and especially the vertical precision.

scholarly journals UAVS TO ASSESS THE EVOLUTION OF EMBRYO DUNES

2017 ◽  
Vol XLII-2/W6 ◽  
pp. 363-369 ◽  
Author(s):  
Y. Taddia ◽  
C. Corbau ◽  
E. Zambello ◽  
V. Russo ◽  
U. Simeoni ◽  
...  
Keyword(s):  
Cross Sections ◽  
Low Cost ◽  
Three Dimensional ◽  
Point Clouds ◽  
Coastal Environment ◽  
Three Dimensional Model ◽  
Dune System ◽  
Continuous Formation ◽  
Digital Elevation ◽  
Gnss Receivers

The balance of a coastal environment is particularly complex: the continuous formation of dunes, their destruction as a result of violent storms, the growth of vegetation and the consequent growth of the dunes themselves are phenomena that significantly affect this balance. This work presents an approach to the long-term monitoring of a complex dune system by means of Unmanned Aerial Vehicles (UAVs). Four different surveys were carried out between November 2015 and November 2016. Aerial photogrammetric data were acquired during flights by a DJI Phantom 2 and a DJI Phantom 3 with cameras in a nadiral arrangement. GNSS receivers in Network Real Time Kinematic (NRTK) mode were used to frame models in the European Terrestrial Reference System. Processing of the captured images consisted in reconstruction of a three-dimensional model using the principles of Structure from Motion (SfM). Particular care was necessary due to the vegetation: filtering of the dense cloud, mainly based on slope detection, was performed to minimize this issue. Final products of the SfM approach were represented by Digital Elevation Models (DEMs) of the sandy coastal environment. Each model was validated by comparison through specially surveyed points. Other analyses were also performed, such as cross sections and computing elevation variations over time. The use of digital photogrammetry by UAVs is particularly reliable: fast acquisition of the images, reconstruction of high-density point clouds, high resolution of final elevation models, as well as flexibility, low cost and accuracy comparable with other available techniques.

scholarly journals Estimation of the Setting and Infrastructure Criterion of the UI GreenMetric Ranking Using Unmanned Aerial Vehicles

2021 ◽  
Vol 14 (1) ◽  
pp. 46
Author(s):  
Jose Eduardo Fuentes ◽  
Cesar Edwin Garcia ◽  
Robin Alexis Olaya
Keyword(s):  
Open Space ◽  
Biomass Conversion ◽  
Low Cost ◽  
Three Dimensional ◽  
Point Clouds ◽  
Allometric Equation ◽  
University Campus ◽  
Natural Forests ◽  
Three Dimensional Model ◽  
Ground Control Points

This study presents a methodology to estimate the seven indicators of the Setting and Infrastructure criterion of the UI GreenMetric World University Ranking based on three-dimensional data from a point cloud taken from an unmanned aerial vehicle (UAV). This study also estimated the potential aerial biomass, C and CO2, stored in the green spaces of a university campus using photogrammetric data analyzed in a Geographic Information System (GIS). The method was based on isolating classified point clouds using digital surface models (DSMs) and ground control points (GCPs) considering the canopy height model (CHM), the allometric equation (DBH, p, h), the biomass conversion factor, and carbon dioxide equivalents (CO2-e). The results confirmed that the national models for estimating the potential C reserves in natural forests are very close to reality and that the open space and green areas available to people on campus are adequate. The use of photogrammetric data facilitated the estimation of UI GreenMetric indicators from a highly detailed, low-cost three-dimensional model. The results of a case study revealed that the campus assimilates the CO2 emissions it produces and generates a surplus.

Design and operation of a tripod walking robot via dynamics simulation

Robotica ◽  
2010 ◽  
Vol 29 (5) ◽  
pp. 733-743 ◽  
Author(s):  
Conghui Liang ◽  
Hao Gu ◽  
Marco Ceccarelli ◽  
Giuseppe Carbone
Keyword(s):  
Mechanical Design ◽  
Low Cost ◽  
Three Dimensional ◽  
The Body ◽  
Dynamics Simulation ◽  
Walking Ability ◽  
Walking Robot ◽  
Three Dimensional Model ◽  
Software Environment ◽  
Leg Mechanisms

SUMMARYA mechanical design and dynamics walking simulation of a novel tripod walking robot are presented in this paper. The tripod walking robot consists of three 1-degree-of-freedom (DOF) Chebyshev–Pantograph leg mechanisms with linkage architecture. A balancing mechanism is mounted on the body of the tripod walking robot to adjust its center of gravity (COG) during walking for balancing purpose. A statically stable tripod walking gait is performed by synchronizing the motions of the three leg mechanisms and the balancing mechanism. A three-dimensional model has been elaborated in SolidWorks® engineering software environment for a characterization of a feasible mechanical design. Dynamics simulation has been carried out in the MSC.ADAMS® environment with the aim to characterize and to evaluate the dynamic walking performances of the proposed design with low-cost easy-operation features. Simulation results show that the proposed tripod walking robot with proper input torques, gives limited reaction forces at the linkage joints, and a practical feasible walking ability on a flatten ground.

Real-time and near real-time ZTD from a local network of low-cost dual-frequency GNSS receivers.

2021 ◽  
Author(s):  
Tomasz Hadas ◽  
Grzegorz Marut ◽  
Jan Kapłon ◽  
Witold Rohm
Keyword(s):  
Water Vapor ◽  
Real Time ◽  
Low Cost ◽  
Weather Prediction ◽  
Local Network ◽  
System Component ◽  
Dual Frequency ◽  
Lower Accuracy ◽  
Gnss Receivers ◽  
The Impact

<p>The dynamics of water vapor distribution in the troposphere, measured with Global Navigation Satellite Systems (GNSS), is a subject of weather research and climate studies. With GNSS, remote sensing of the troposphere in Europe is performed continuously and operationally under the E-GVAP (http://egvap.dmi.dk/) program with more than 2000 permanent stations. These data are one of the assimilation system component of mesoscale weather prediction models (10 km scale) for many nations across Europe. However, advancing precise local forecasts for severe weather requires high resolution models and observing system.   Further densification of the tracking network, e.g. in urban or mountain areas, will be costly when considering geodetic-grade equipment. However, the rapid development of GNSS-based applications results in a dynamic release of mass-market GNSS receivers. It has been demonstrated that post-processing of GPS-data from a dual-frequency low-cost receiver allows retrieving ZTD with high accuracy. Although low-cost receivers are a promising solution to the problem of densifying GNSS networks for water vapor monitoring, there are still some technological limitations and they require further development and calibration.</p><p>We have developed a low-cost GNSS station, dedicated to real-time GNSS meteorology, which provides GPS, GLONASS and Galileo dual-frequency observations either in RINEX v3.04 format or via RTCM v3.3 stream, with either Ethernet or GSM data transmission. The first two units are deployed in a close vicinity of permanent station WROC, which belongs to the International GNSS Service (IGS) network. Therefore, we compare results from real-time and near real-time processing of GNSS observations from a low-cost unit with IGS Final products. We also investigate the impact of replacing a standard patch antenna with an inexpensive survey-grade antenna. Finally, we deploy a local network of low-cost receivers in and around the city of Wroclaw, Poland, in order to analyze the dynamics of troposphere delay at a very high spatial resolution.</p><p>As a measure of accuracy, we use the standard deviation of ZTD differences between estimated ZTD and IGS Final product. For the near real-time mode, that accuracy is 5 mm and 6 mm, for single- (L1) and dual-frequency (L1/L5,E5b) solution, respectively. Lower accuracy of the dual-frequency relative solution we justify by the missing antenna phase center correction model for L5 and E5b frequencies. With the real-time Precise Point Positioning technique, we estimate ZTD with the accuracy of 7.5 – 8.6 mm. After antenna replacement, the accuracy is improved almost by a factor of 2 (to 4.1 mm), which is close to the 3.1 mm accuracy which we obtain in real-time using data from the WROC station.</p>

scholarly journals Accuracy of 3D Landscape Reconstruction without Ground Control Points Using Different UAS Platforms

Drones ◽  
2020 ◽  
Vol 4 (2) ◽  
pp. 13 ◽  
Author(s):  
Margaret Kalacska ◽  
Oliver Lucanus ◽  
J. Pablo Arroyo-Mora ◽  
Étienne Laliberté ◽  
Kathryn Elmer ◽  
...  
Keyword(s):  
Low Cost ◽  
Ground Control ◽  
Unmanned Aerial Systems ◽  
Control Points ◽  
Model Errors ◽  
Positional Accuracy ◽  
Ground Control Points ◽  
Digital Elevation ◽  
High Level ◽  
Aerial Systems

The rapid increase of low-cost consumer-grade to enterprise-level unmanned aerial systems (UASs) has resulted in the exponential use of these systems in many applications. Structure from motion with multiview stereo (SfM-MVS) photogrammetry is now the baseline for the development of orthoimages and 3D surfaces (e.g., digital elevation models). The horizontal and vertical positional accuracies (x, y and z) of these products in general, rely heavily on the use of ground control points (GCPs). However, for many applications, the use of GCPs is not possible. Here we tested 14 UASs to assess the positional and within-model accuracy of SfM-MVS reconstructions of low-relief landscapes without GCPs ranging from consumer to enterprise-grade vertical takeoff and landing (VTOL) platforms. We found that high positional accuracy is not necessarily related to the platform cost or grade, rather the most important aspect is the use of post-processing kinetic (PPK) or real-time kinetic (RTK) solutions for geotagging the photographs. SfM-MVS products generated from UAS with onboard geotagging, regardless of grade, results in greater positional accuracies and lower within-model errors. We conclude that where repeatability and adherence to a high level of accuracy are needed, only RTK and PPK systems should be used without GCPs.

scholarly journals GEOREFERENCING AND REPROJECTION ERROR INVESTIGATION ON IMAGE BASED 3D DIGITIZATION AND MAPPING OF HISTORICAL BUILDINGS

2019 ◽  
Vol XLII-2/W11 ◽  
pp. 71-75
Author(s):  
C. Altuntas
Keyword(s):  
Point Cloud ◽  
Large Scale ◽  
Cloud Model ◽  
Low Cost ◽  
Three Dimensional ◽  
Control Points ◽  
Historical Buildings ◽  
Reprojection Error ◽  
Dense Point ◽  
Point Cloud Model

<p><strong>Abstract.</strong> Image based dense point cloud creation is easy and low-cost application for three dimensional digitization of small and large scale objects and surfaces. It is especially attractive method for cultural heritage documentation. Reprojection error on conjugate keypoints indicates accuracy of the model and keypoint localisation in this method. In addition, sequential registration of the images from large scale historical buildings creates big cumulative registration error. Thus, accuracy of the model should be increased with the control points or loop close imaging. The registration of point point cloud model into the georeference system is performed using control points. In this study historical Sultan Selim Mosque that was built in sixteen century by Great Architect Sinan was modelled via photogrammetric dense point cloud. The reprojection error and number of keypoints were evaluated for different base/length ratio. In addition, georeferencing accuracy was evaluated with many configuration of control points with loop and without loop closure imaging.</p>

scholarly journals Application of stakeholder theory to corporate environmental disclosures

2009 ◽  
Vol 7 (1) ◽  
pp. 394-410 ◽  
Author(s):  
Pamela Kent ◽  
Christopher Chan
Keyword(s):  
Social Responsibility ◽  
Stakeholder Theory ◽  
Mission Statement ◽  
Three Dimensional ◽  
Annual Reports ◽  
Dimensional Model ◽  
Three Dimensional Model ◽  
Environmental Disclosures ◽  
Significant Support

Ullmann’s (1985) three-dimensional model of social responsibility disclosure is tested to determine whether it can be operationalized to help explain the quantity and quality of environmental disclosures in Australian annual reports. The stakeholder power dimension of Ullmann’s framework is significant in explaining environmental disclosures while content of the mission statement and existence or otherwise of environmental or social responsibility committees also find strong statistically significant support in the results. Ullmanns’ stakeholder theory has previously been applied to explain social disclosures in general (Roberts, 1992) and is an important theory because it introduces a measure of strategy. The current paper demonstrates how this theory can be applied to a specific social disclosure using variables that are idiosyncratically applicable to the types of disclosures.

Image processing algorithms in the assessment of grain damage degree

2021 ◽  
Vol 0 (0) ◽  
Author(s):  
Wojciech Maliga ◽  
Włodzimierz Dudziński ◽  
Magdalena Łabowska ◽  
Jerzy Detyna ◽  
Marcin Łopusiewicz ◽  
...  
Keyword(s):  
Image Processing ◽  
Cross Sections ◽  
Three Dimensional ◽  
Sample Volume ◽  
Three Dimensional Model ◽  
Time Intervals ◽  
Damage Degree ◽  
Grain Damage ◽  
Analyse Sample

Abstract Objectives The paper presents preliminary results on the assessment of algorithms used in image processing of the grain damage degree. The purpose of the work is developing a tool allowing to analyse sample cross-sections of rye germs. Methods The analysis of the grain cross-sections was carried out on the basis of a series their photos taken at equal time intervals at a set depth. The cross-sections will be used to create additional virtual cross-sections allowing to analyse the whole sample volume. The ultimate plan is to generate two cross-sections perpendicular to each other. Based on volumetric data read from the sample section, a three-dimensional model of an object will be generated. Results The analysis of model surface will allowed us to detect possible grain damage. The developed method of preparing the research material and the proprietary application allowed for the identification of internal defects in the biological material (cereal grains). Conclusions The presented methodology may be used in the agri-food industry in the future. However, much research remains to be done. These works should primarily aim at significantly reducing the time-consuming nature of individual stages, as well as improving the quality of the reconstructed image.

scholarly journals A Low-Cost Water Quality Monitoring System for the Ayeyarwady River in Myanmar Using a Participatory Approach

Water ◽  
2019 ◽  
Vol 11 (10) ◽  
pp. 1984 ◽  
Author(s):  
Thanda Thatoe Nwe Win ◽  
Thom Bogaard ◽  
Nick van de Giesen
Keyword(s):  
Water Quality ◽  
Mobile Phone ◽  
Low Cost ◽  
School Teacher ◽  
Water Quality Monitoring ◽  
Quality Monitoring ◽  
Quality Data ◽  
Water Quality Data ◽  
Lower Accuracy

Newly developed mobile phone applications in combination with citizen science are used in different fields of research, such as public health monitoring, environmental monitoring, precipitation monitoring, noise pollution measurement and mapping, earth observation. In this paper, we present a low-cost water quality mobile phone measurement technique combined with sensor and test strips, and reported the weekly-collected data of three years of the Ayeyarwady River system by volunteers at seven locations and compared these results with the measurements collected by the lab technicians. We assessed the quality of the collected data and their reliability based on several indicators, such as data accuracy, consistency, and completeness. In this study, six local governmental staffs and one middle school teacher collected baseline water quality data with high temporal and spatial resolution. The quality of the data collected by volunteers was comparable to the data of the experienced lab technicians for sensor-based measurement of electrical conductivity and transparency. However, the lower accuracy (higher uncertainty range) of the indicator strips made them less useful in the Ayeyarwady with its relatively small water quality variations. We showed that participatory water quality monitoring in Myanmar can be a serious alternative for a more classical water sampling and lab analysis-based monitoring network, particularly as it results in much higher spatial and temporal resolution of water quality information against the very modest investment and running costs. This approach can help solving the invisible water crisis of unknown water quality (changes) in river and lake systems all over the world.

Sign in / Sign up

Export Citation Format

Share Document