Ground Control Point Distribution for Accurate Kilometre-Scale Topographic Mapping Using an RTK-GNSS Unmanned Aerial Vehicle and SfM Photogrammetry

Feasibility of UAV photogrammetry for shoreline profile changes on critical beach area: a case study at Pantai Mengabang Telipot

This study evaluates the effectiveness of unmanned aerial vehicles (UAVs) in monitoring coastal changes at Pantai Mengabang Telipot, Kuala Terengganu, Malaysia. Addressing the limitations of traditional monitoring methods, such as ground-based surveys and satellite imagery, the research underscores the critical need for timely and precise coastal monitoring using drone technology. The study employs a comprehensive four-phase methodology involving area identification, data acquisition through UAV imagery, data processing, and accuracy analysis. The orthophoto accuracy achieved, compared to detailed shoreline surveys, is 0.064 m. Analysis of shoreline changes over two observation periods reveals a retreat of 0.056 m per day over 14 days, escalating to 0.180 m per day during the subsequent 20 days. These findings highlight the influence of the Southwest Monsoon and man-made structures on coastal dynamics. The results contribute significantly to advancing UAV-based coastal change assessments, emphasizing their pivotal role in precision-driven decision-making for sustainable coastal management.

UAV Photogrammetry for Estimating Stand Parameters of an Old Japanese Larch Plantation Using Different Filtering Methods at Two Flight Altitudes

Old plantations are iconic sites, and estimating stand parameters is crucial for valuation and management. This study aimed to estimate stand parameters of a 115-year-old Japanese larch (Larix kaempferi (Lamb.) Carrière) plantation at the University of Tokyo Hokkaido Forest (UTHF) in central Hokkaido, northern Japan, using unmanned aerial vehicle (UAV) photogrammetry. High-resolution RGB imagery was collected using a DJI Matrice 300 real-time kinematic (RTK) at altitudes of 80 and 120 m. Structure from motion (SfM) technology was applied to generate 3D point clouds and orthomosaics. We used different filtering methods, search radii, and window sizes for individual tree detection (ITD), and tree height (TH) and crown area (CA) were estimated from a canopy height model (CHM). Additionally, a freely available shiny R package (SRP) and manually digitalized CA were used. A multiple linear regression (MLR) model was used to estimate the diameter at breast height (DBH), stem volume (V), and carbon stock (CST). Higher accuracy was obtained for ITD (F-score: 0.8-0.87) and TH (R2: 0.76-0.77; RMSE: 1.45-1.55 m) than for other stand parameters. Overall, the flying altitude of the UAV and selected filtering methods influenced the success of stand parameter estimation in old-aged plantations, with the UAV at 80 m generating more accurate results for ITD, CA, and DBH, while the UAV at 120 m produced higher accuracy for TH, V, and CST with Gaussian and mean filtering.

Mastodon footprints found to be water erosion in the Quebrada de Chalán (Licto, Ecuador)

The Chalan ravine is a deep bed creek that runs through Licto (Ecuador). It has been known since the 19th century for the abundance of paleontological remains of Pleiostocene fauna and megafauna in its profiles, where entire remains of mastodons were recovered. The abundance of these remains made one of the high areas, where marmites exist in different forms, was traditionally considered as mastodon footprints. Archaeological prospecting, geographic information system (GIS) technology, unmanned aerial vehicle (UAV), photogrammetry, and the geological study of the place, allowed us to determine that the mythical traces of mastodon were marmites made by the water erosion produced in the same ravine over time.

An Innovative Low-Power, Low-Cost, Multi-Constellation Geodetic-Grade Global Navigation Satellite System Reference Station for the Densification of Permanent Networks: The GREAT Project

Geodetic-grade Global Navigation Satellite System (GNSS) receivers designed to implement permanent stations represent the most complex and costly technology in the field of GNSS instrumentation. On the other hand, a large number of innovative applications, highly demanding in terms of positioning precision and accuracy, is pushing the implementation of networks of permanent stations with a higher and higher spatial density. In this scenario, the development of brand new GNSS reference stations, which combine the most advanced technologies in the field of data availability and integrity together with reduced costs (of instrumentation, installation and management) is becoming of paramount importance. For this reason, in 2019 the EU Agency for the Space Programme (EUSPA) has financed a research project, called "next Generation gnss REference stATion-GREAT", aimed at developing and demonstrating the potentiality of a brand new GNSS receiver suitable to implement permanent stations. This paper describes the solution developed by the project consortium, composed of four Small or Medium Enterprises (SMEs) based in Italy, France and Belgium, and the preliminary results achieved in the field tests.

Application and Communication Optimization Technology of Unmanned Distribution Car under Deep Learning in Logistics Express of COVID-19

This work aims to solve the problem that the daily necessities of urban residents cannot be delivered during coronavirus disease 2019 (COVID-19), thereby reducing the possibility of the delivery personnel contracting COVID-19 due to the need to transport medicines to the hospital during the epidemic. Firstly, this work studies the application and communication optimization technology of unmanned delivery cars based on deep learning (DL) under COVID-19. Secondly, a route planning method for unmanned delivery cars based on the DL method is proposed under the influence of factors such as maximum flight time, load, and road conditions. This work analyzes and introduces unmanned delivery cars from four aspects combined with the actual operation of unmanned delivery cars and related literature: the characteristics, delivery mode, economy, and limitations of unmanned delivery cars. The unmanned delivery car is in the promotion stage. A basic AVRPTW model is established that minimizes the total delivery cost without considering the charging behavior under the restriction of some routes, delivery time, load, and other factors. The path optimization problem of unmanned delivery cars in various situations is considered. A multiobjective optimization model of the unmanned delivery car in the charging/swap mode is established with the goal of minimizing the total delivery cost and maximizing customer satisfaction under the premise of meeting the car driving requirements. An improved genetic algorithm is designed to solve the established model. Finally, the model is tested, and its results are analyzed. The effectiveness of this route planning method is proved through case analysis. Customer satisfaction, delivery time, cost input, and other aspects have been greatly improved through the improvement and optimization of the unmanned delivery car line, which has been well applied in practice. In addition, unmanned delivery cars are affected by many factors such as load, and the service time required for delivery is longer. Therefore, this work chooses an unmanned distribution car with strong endurance to improve distribution efficiency. The new hospital contactless distribution mode discussed here will play an important role in promoting future development.

Unmanned Aircraft System (UAS) Structure-From-Motion (SfM) for Monitoring the Changed Flow Paths and Wetness in Minerotrophic Peatland Restoration

Peatland restoration aims to achieve pristine water pathway conditions to recover dispersed wetness, water quality, biodiversity and carbon sequestration. Restoration monitoring needs new methods for understanding the spatial effects of restoration in peatlands. We introduce an approach using high-resolution data produced with an unmanned aircraft system (UAS) and supported by the available light detection and ranging (LiDAR) data to reveal the hydrological impacts of elevation changes in peatlands due to restoration. The impacts were assessed by analyzing flow accumulation and the SAGA Wetness Index (SWI). UAS campaigns were implemented at two boreal minerotrophic peatland sites in degraded and restored states. Simultaneously, the control campaigns mapped pristine sites to reveal the method sensitivity of external factors. The results revealed that the data accuracy is sufficient for describing the primary elevation changes caused by excavation. The cell-wise root mean square error in elevation was on average 48 mm when two pristine UAS campaigns were compared with each other, and 98 mm when each UAS campaign was compared with the LiDAR data. Furthermore, spatial patterns of more subtle peat swelling and subsidence were found. The restorations were assessed as successful, as dispersing the flows increased the mean wetness by 2.9–6.9%, while the absolute changes at the pristine sites were 0.4–2.4%. The wetness also became more evenly distributed as the standard deviation decreased by 13–15% (a 3.1–3.6% change for pristine). The total length of the main flow routes increased by 25–37% (a 3.1–8.1% change for pristine), representing the increased dispersion and convolution of flow. The validity of the method was supported by the field-determined soil water content (SWC), which showed a statistically significant correlation (R2 = 0.26–0.42) for the restoration sites but not for the control sites, possibly due to their upslope catchment areas being too small. Despite the uncertainties related to the heterogenic soil properties and complex groundwater interactions, we conclude the method to have potential for estimating changed flow paths and wetness following peatland restoration.

Rapid-DEM: Rapid Topographic Updates through Satellite Change Detection and UAS Data Fusion

As rapid urbanization occurs in cities worldwide, the importance of maintaining updated digital elevation models (DEM) will continue to increase. However, due to the cost of generating high-resolution DEM over large spatial extents, the temporal resolution of DEMs is coarse in many regions. Low-cost unmanned aerial vehicles (UAS) and DEM data fusion provide a partial solution to improving the temporal resolution of DEM but do not identify which areas of a DEM require updates. We present Rapid-DEM, a framework that identifies and prioritizes locations with a high likelihood of an urban topographic change to target UAS data acquisition and fusion to provide up-to-date DEM. The framework uses PlanetScope 3 m satellite imagery, Google Earth Engine, and OpenStreetMap for land cover classification. GRASS GIS generates a contextualized priority queue from the land cover data and outputs polygons for UAS flight planning. Low-cost UAS fly the identified areas, and WebODM generates a DEM from the UAS survey data. The UAS data is fused with an existing DEM and uploaded to a public data repository. To demonstrate Rapid-DEM a case study in the Walnut Creek Watershed in Wake County, North Carolina is presented. Two land cover classification models were generated using random forests with an overall accuracy of 89% (kappa 0.86) and 91% (kappa 0.88). The priority queue identified 109 priority locations representing 1.5% area of the watershed. Large forest clearings were the highest priority locations, followed by newly constructed buildings. The highest priority site was a 0.5 km2 forest clearing that was mapped with UAS, generating a 15 cm DEM. The UAS DEM was resampled to 3 m resolution and fused with USGS NED 1/9 arc-second DEM data. Surface water flow was simulated over the original and updated DEM to illustrate the impact of the topographic change on flow patterns and highlight the importance of timely DEM updates.

Digital Terrain Modelling by Remotely Piloted Aircraft: Optimization and Geometric Uncertainties in Precision Coffee Growing Projects

The implantation of coffee crop plantations requires cartographic data for dimensioning areas and planning the planting line. Digital terrain models (DTMs) obtained from remotely piloted aircraft (RPA) can contribute to efficient data collection for topography making this technique applicable to precision coffee projects. Aiming to achieve efficiency in the collection, processing and photogrammetric products quality, flight configurations and image processing were evaluated. Two hundred sixty-five points obtained by Global Navigation Satellite System (GNSS) receivers characterized the topographic surface. Then eighteen flight missions were carried out by RPA in the configurations of altitude above ground level (AGL) and frontal and lateral image overlay. In addition, different point cloud formats evaluated the image processing (time) efficiency in DTM. Flights performed at 120 m AGL and 80 × 80% overlap showed higher assertiveness and efficiency in generation DTMs. The 90 m AGL flight showed great terrain detail, causing significant surface differences concerning the topography obtained by GNSS. An increase in image overlap requires longer processing times, not contributing linearly to the geometric quality of orthomosaic. Slope ranges up to 20% are considered reliable for precision coffee growing projects; above 20% overestimates the slope values of the land. Changes in flight settings and image processing are satisfactory for precision coffee projects. Image overlap reduction was significant in reducing the processing time without influencing the quality of the DTMs. In addition, image processing performed in shallow point clouds did not interfere with the DTMs quality.

A Comparative Analysis of Unmanned Aircraft Systems in Low Altitude Photogrammetric Surveys

Comparing photogrammetric performances of four user-grade unmanned aircraft systems (UAS) is the main aim of this paper. This study investigates what is the more suitable UAS for specific applications considering the required scale factor, such as for architectural, environmental and restoration purposes. Some photogrammetric surveys were conducted in a 5 ha area using a Phantom 4 Adv, Mavic 2 Pro, Mavic Air 2 and Mavic Mini 2. These unmanned aircrafts are commercial systems used mainly by private professionals. Some photogrammetric reconstructions were carried out by varying flight altitude and camera settings of the 4 UAS. Structure-from-motion (SfM) algorithms were applied to the images taken from the UASs. The surveys’ quality was analyzed by comparing the ground targets’ coordinates measured on the field with indirect georeferencing through global navigation satellite system (GNSS). Fifty targets were installed and arranged following a kind of regular grid. For each photogrammetric flight, the boundary conditions were maintained the same, as well as the flight trajectories and the ground control point distribution. Altimetric and planimetric residuals were reported and compared for each photogrammetric survey. Using a regular grid of ground targets, the result obtained from Phantom 4 is one order of magnitude better than the ones obtained from the other UASs. Mavic Mini 2 leads to an error average of about 5 cm. Remembering that the Mavic Mini 2 is an ultralight drone (it does not require a pilot’s license), it could significantly reduce costs compared to all the others.

Accuracy Assessment of a UAV Direct Georeferencing Method and Impact of the Configuration of Ground Control Points

Unmanned aerial vehicles (UAVs) can obtain high-resolution topography data flexibly and efficiently at low cost. However, the georeferencing process involves the use of ground control points (GCPs), which limits time and cost effectiveness. Direct georeferencing, using onboard positioning sensors, can significantly improve work efficiency. The purpose of this study was to evaluate the accuracy of the Global Navigation Satellite System (GNSS)-assisted UAV direct georeferencing method and the influence of the number and distribution of GCPs. A FEIMA D2000 UAV was used to collect data, and several photogrammetric projects were established. Among them, the number and distribution of GCPs used in the bundle adjustment (BA) process were varied. Two parameters were considered when evaluating the different projects: the ground-measured checkpoints (CPs) root mean square error (RMSE) and the Multiscale Model to Model Cloud Comparison (M3C2) distance. The results show that the vertical and horizontal RMSE of the direct georeferencing were 0.087 and 0.041 m, respectively. As the number of GCPs increased, the RMSE gradually decreased until a specific GCP density was reached. GCPs should be uniformly distributed in the study area and contain at least one GCP near the center of the domain. Additionally, as the distance to the nearest GCP increased, the local accuracy of the DSM decreased. In general, UAV direct georeferencing has an acceptable positional accuracy level.

Large-Scale Reality Modeling of a University Campus Using Combined UAV and Terrestrial Photogrammetry for Historical Preservation and Practical Use

Unmanned aerial vehicles (UAV) enable detailed historical preservation of large-scale infrastructure and contribute to cultural heritage preservation, improved maintenance, public relations, and development planning. Aerial and terrestrial photo data coupled with high accuracy GPS create hyper-realistic mesh and texture models, high resolution point clouds, orthophotos, and digital elevation models (DEMs) that preserve a snapshot of history. A case study is presented of the development of a hyper-realistic 3D model that spans the complex 1.7 km2 area of the Brigham Young University campus in Provo, Utah, USA and includes over 75 significant structures. The model leverages photos obtained during the historic COVID-19 pandemic during a mandatory and rare campus closure and details a large scale modeling workflow and best practice data acquisition and processing techniques. The model utilizes 80,384 images and high accuracy GPS surveying points to create a 1.65 trillion-pixel textured structure-from-motion (SfM) model with an average ground sampling distance (GSD) near structures of 0.5 cm and maximum of 4 cm. Separate model segments (31) taken from data gathered between April and August 2020 are combined into one cohesive final model with an average absolute error of 3.3 cm and a full model absolute error of <1 cm (relative accuracies from 0.25 cm to 1.03 cm). Optimized and automated UAV techniques complement the data acquisition of the large-scale model, and opportunities are explored to archive as-is building and campus information to enable historical building preservation, facility maintenance, campus planning, public outreach, 3D-printed miniatures, and the possibility of education through virtual reality (VR) and augmented reality (AR) tours.

UAV Block Geometry Design and Camera Calibration: A Simulation Study

Acknowledged guidelines and standards such as those formerly governing project planning in analogue aerial photogrammetry are still missing in UAV photogrammetry. The reasons are many, from a great variety of projects goals to the number of parameters involved: camera features, flight plan design, block control and georeferencing options, Structure from Motion settings, etc. Above all, perhaps, stands camera calibration with the alternative between pre- and on-the-job approaches. In this paper we present a Monte Carlo simulation study where the accuracy estimation of camera parameters and tie points’ ground coordinates is evaluated as a function of various project parameters. A set of UAV (Unmanned Aerial Vehicle) synthetic photogrammetric blocks, built by varying terrain shape, surveyed area shape, block control (ground and aerial), strip type (longitudinal, cross and oblique), image observation and control data precision has been synthetically generated, overall considering 144 combinations in on-the-job self-calibration. Bias in ground coordinates (dome effect) due to inaccurate pre-calibration has also been investigated. Under the test scenario, the accuracy gap between different block configurations can be close to an order of magnitude. Oblique imaging is confirmed as key requisite in flat terrain, while ground control density is not. Aerial control by accurate camera station positions is overall more accurate and efficient than GCP in flat terrain.

Improvement of Workflow for Topographic Surveys in Long Highwalls of Open Pit Mines with an Unmanned Aerial Vehicle and Structure from Motion

Conducting topographic surveys in active mines is challenging due ongoing operations and hazards, particularly in highwalls subject to constant and active mass movements (rock and earth falls, slides and flows). These vertical and long surfaces are the core of most mines, as the mineral feeding mining production originates there. They often lack easy and safe access paths. This framework highlights the importance of accomplishing non-contact high-accuracy and detailed topographies to detect instabilities prior to their occurrence. We have conducted drone flights in search of the best settings in terms of altitude mode and camera angle, to produce digital representation of topographies using Structure from Motion. Identification of discontinuities was evaluated, as they are a reliable indicator of potential failure areas. Natural shapes were used as control/check points and were surveyed using a robotic total station with a coaxial camera. The study was conducted in an active kaolin mine near the Alto Tajo Natural Park of East-Central Spain. Here the 140 m highwall is formed by layers of limestone, marls and sands. We demonstrate that for this vertical landscape, a facade drone flight mode combined with a nadir camera angle, and automatically programmed with a computer-based mission planning software, provides the most accurate and detailed topographies, in the shortest time and with increased flight safety. Contrary to previous reports, adding oblique images does not improve accuracy for this configuration. Moreover, neither extra sets of images nor an expert pilot are required. These topographies allowed the detection of 93.5% more discontinuities than the Above Mean Sea Level surveys, the common approach used in mining areas. Our findings improve the present SfM-UAV survey workflows in long highwalls. The versatile topographies are useful for the management and stabilization of highwalls during phases of operation, as well closure-reclamation.

Estimating Floodplain Vegetative Roughness Using Drone-Based Laser Scanning and Structure from Motion Photogrammetry

Vegetation heights derived from drone laser scanning (DLS), and structure from motion (SfM) photogrammetry at the Virginia Tech StREAM Lab were utilized to determine hydraulic roughness (Manning’s roughness coefficients). We determined hydraulic roughness at three spatial scales: reach, patch, and pixel. For the reach scale, one roughness value was set for the channel, and one value for the entire floodplain. For the patch scale, vegetation heights were used to classify the floodplain into grass, scrub, and small and large trees, with a single roughness value for each. The roughness values for the reach and patch methods were calibrated using a two-dimensional (2D) hydrodynamic model (HEC-RAS) and data from in situ velocity sensors. For the pixel method, we applied empirical equations that directly estimated roughness from vegetation height for each pixel of the raster (no calibration necessary). Model simulations incorporating these roughness datasets in 2D HEC-RAS were validated against water surface elevations (WSE) from seventeen groundwater wells for seven high-flow events during the Fall of 2018 and 2019, and compared to marked flood extents. The reach method tended to overestimate while the pixel method tended to underestimate the flood extent. There were no visual differences between DLS and SfM within the pixel and patch methods when comparing flood extents. All model simulations were not significantly different with respect to the well WSEs (p > 0.05). The pixel methods had the lowest WSE RMSEs (SfM: 0.136 m, DLS: 0.124 m). The other methods had RMSE values 0.01–0.02 m larger than the DLS pixel method. Models with DLS data also had lower WSE RMSEs by 0.01 m when compared to models utilizing SfM. This difference might not justify the increased cost of a DLS setup over SfM (~150,000 vs. ~2000 USD for this study), though our use of the DLS DEM to determine SfM vegetation heights might explain this minimal difference. We expect a poorer performance of the SfM-derived vegetation heights/roughness values if we were using a SfM DEM, although further work is needed. These results will help improve hydrodynamic modeling efforts, which are becoming increasingly important for management and planning in response to climate change, specifically in regions were high flow events are increasing.

Using UAV to Capture and Record Torrent Bed and Banks, Flood Debris, and Riparian Areas

Capturing and recording fluvio-geomorphological events is essential since these events can be very sudden and hazardous. Climate change is expected to increase flash floods intensity and frequency in the Mediterranean region, thus enhancing such events will also impact the adjacent riparian vegetation. The aim of this study was to capture and record the fluvial-geomorphological changes of the torrent bed and banks and flood debris events with the use of UAV images along a reach of Kallifytos torrent in northern Greece. In addition, a novel approach to detecting changes and assessing the conditions of the riparian vegetation was conducted by using UAV images that were validated with field data based on a visual protocol. Three flights were conducted using the DJI Spark UAV. Based on the images collected from these flights, orthomosaics were developed. The orthomosaics clearly identified changes in the torrent bed and detected debris flow events after major flood events. In addition, the results on the assessment of riparian vegetation conditions were satisfactory. Utilizing UAV images shows great potential to capture, record, and monitor fluvio-geomorphological events and riparian vegetation. Their utilization would help water managers to develop more sustainable management solutions based on actual field data.