UAV Photogrammetry Accuracy Assessment for Corridor Mapping Based on the Number and Distribution of Ground Control Points

Low-cost tools for virtual reconstruction of traffic accident scenarios

Investigations into traffic accidents that lead to the determination of their causes and consequences are useful to all interested parties, both in the public and private sectors. One of the phases of investigation is the capture of data enabling the complete reconstruction of the accident scene, which is usually the point at which a conflict arises between the slow process of information gathering and the need to restore normal traffic flow. To reduce to a minimum the time the traffic is halted, this paper follows a methodology to reconstruct traffic accidents and puts forward a series of procedures and tools that are applicable to both large and small scenarios. The methodology uses low-cost UAV-SfM in combination with UAS aerial image capture systems and inexpensive GNSS equipment costing less than €900. This paper describes numerous tests and assessments that were carried out on four potential work scenarios (E-1 and E-2 urban roads with several intersections; E-3, an urban crossing with medium slopes; and E-4, a complex road section with different land morphologies), assessing the impact of using simple or double strip flights and the number of GCPs, their spacing distance and different distribution patterns. From the different configurations tested, the best results were achieved in those offset-type distributions where the GCPs were placed on both sides of the working area and at each end, with a spacing between 100 and 50 m and using double strip flights. Our conclusion is that the application of this protocol would be highly efficient and economical in the reconstruction of traffic accidents, provide simplicity in implementation, speed of capture and data processing, and provide reliable results quite economically and with a high degree of accuracy with RMSE values below 5 cm.

Thermal Water Prospection with UAV, Low-Cost Sensors and GIS. Application to the Case of La Hermida

The geothermal resource is one of the great sources of energy on the planet. The conventional prospecting of this type of energy is a slow process that requires a great amount of time and significant investments. Nowadays, geophysical techniques have experienced an important evolution due to the irruption of UAVs, which combined with infrared sensors can provide great contributions in this field. The novelty of this technology involves the lack of tested methodologies for their implementation in this type of activities. The research developed is focused on the proposal of a methodology for the exploration of hydrothermal resources in an easy, economic, and rapid way. The combination of photogrammetry techniques with visual and thermal images taken with UAVs allows the generation of temperature maps or thermal orthomosaics, which analyzed with GIS tools permit the quasi-automatic identification of zones of potential geothermal interest along rivers or lakes. The proposed methodology has been applied to a case study in La Hermida (Cantabria, Spain), where it has allowed the identification of an effluent with temperatures close to 40 °C, according to the verification measurements performed on the geothermal interest area. These results allow validation of the potential of the method, which is strongly influenced by the particular characteristics of the study area.

Accuracy assessment of UAV-post-processing kinematic (PPK) and UAV-traditional (with ground control points) georeferencing methods

The use of unmanned aerial vehicles (UAV) in photogrammetric mapping/surveying facilities has increased recently due to the developments on photogrammetric instruments and algorithms that enhance high-quality final products (orthoimages, digital surface model-DSM, etc.) in fast, accurate, and economical way. The aim of this study was to assess the accuracy of a UAV-based post-processing kinematic (PPK) solution. To do that, two methods were implemented with PPK solution and georeferencing with ground control points (GCPs). According to the statistical results, root mean square error (RMSE) values obtained from the GCPs and PPK solutions in the horizontal component are 6.5 cm and 5.4 cm, respectively. The RMSE values in the vertical component (ellipsoidal heights) were obtained as 4.8 cm (GCPs) and 5.2 cm (PPK), respectively. The results show that UAV-PPK method can also be used to produce photogrammetric products where high accuracy (≤ 10 cm) is required without GCPs. In addition, the results obtained regarding the use of this method clearly show that it can be applied in many different fields such as agriculture, forestry, natural disasters, and geomatics.

UAV-Based Multitemporal Remote Sensing Surveys of Volcano Unstable Flanks: A Case Study from Stromboli

UAV-based photogrammetry is becoming increasingly popular even in application fields that, until recently, were deemed unsuitable for this technique. Depending on the characteristics of the investigated scenario, the generation of three-dimensional (3D) topographic models may in fact be affected by significant inaccuracies unless site-specific adaptations are implemented into the data collection and processing routines. In this paper, an ad hoc procedure to exploit high-resolution aerial photogrammetry for the multitemporal analysis of the unstable Sciara del Fuoco (SdF) slope at Stromboli Island (Italy) is presented. Use of the technique is inherently problematic because of the homogeneous aspect of the gray ash slope, which prevents a straightforward identification of match points in continuous frames. Moreover, due to site accessibility restrictions enforced by local authorities after the volcanic paroxysm in July 2019, Ground Control Points (GCPs) cannot be positioned to constrain georeferencing. Therefore, all 3D point clouds were georeferenced using GCPs acquired in a 2019 (pre-paroxysm) survey, together with stable Virtual Ground Control Points (VGCPs) belonging to a LiDAR survey carried out in 2012. Alignment refinement was then performed by means of an iterative algorithm based on the closest points. The procedure succeeded in correctly georeferencing six high-resolution point clouds acquired from April 2017 to July 2021, whose time-focused analysis made it possible to track several geomorphological structures associated with the continued volcanic activity. The procedure can be further extended to smaller-scale analyses such as the estimation of locally eroded/accumulated volumes and pave the way for rapid UAV-based georeferenced surveys in emergency conditions at the SdF.

New Supplementary Photography Methods after the Anomalous of Ground Control Points in UAV Structure-from-Motion Photogrammetry

Recently, multirotor UAVs have been widely used in high-precision terrain mapping, cadastral surveys and other fields due to their low cost, flexibility, and high efficiency. Indirect georeferencing of ground control points (GCPs) is often required to obtain highly accurate topographic products such as orthoimages and digital surface models. However, in practical projects, GCPs are susceptible to anomalies caused by external factors (GCPs covered by foreign objects such as crops and cars, vandalism, etc.), resulting in a reduced availability of UAV images. The errors associated with the loss of GCPs are apparent. The widely used solution of using natural feature points as ground control points often fails to meet the high accuracy requirements. For the problem of control point anomalies, this paper innovatively presents two new methods of completing data fusion by supplementing photos via UAV at a later stage. In this study, 72 sets of experiments were set up, including three control experiments for analysis. Two parameters were used for accuracy assessment: Root Mean Square Error (RMSE) and Multiscale Model to Model Cloud Comparison (M3C2). The study shows that the two new methods can meet the reference accuracy requirements in horizontal direction and elevation direction (RMSEX = 70.40 mm, RMSEY = 53.90 mm, RMSEZ = 87.70 mm). In contrast, the natural feature points as ground control points showed poor accuracy, with RMSEX = 94.80 mm, RMSEY = 68.80 mm, and RMSEZ = 104.40 mm for the checkpoints. This research considers and solves the problems of anomalous GCPs in the photogrammetry project from a unique perspective of supplementary photography, and proposes two new methods that greatly expand the means of solving the problem. In UAV high-precision projects, they can be used as an effective means to ensure accuracy when the GCP is anomalous, which has significant potential for application promotion. Compared with previous methods, they can be applied in more scenarios and have higher compatibility and operability. These two methods can be widely applied in cadastral surveys, geomorphological surveys, heritage conservation, and other fields.

Analyzing Impact of Types of UAV-Derived Images on the Object-Based Classification of Land Cover in an Urban Area

The development of UAV sensors has made it possible to obtain a diverse array of spectral images in a single flight. In this study, high-resolution UAV-derived images of urban areas were employed to create land cover maps, including car-road, sidewalk, and street vegetation. A total of nine orthoimages were produced, and the variables effective in producing UAV-based land cover maps were identified. Based on analyses of the object-based images, 126 variables were derived by computing 14 statistical values for each image. The random forest (RF) classifier was used to evaluate the priority of the 126 variables. This was followed by optimizing the RF through variable reduction and by comparing the initial and optimized RF, the utility of the high-priority variable was evaluated. Computing variable importance, the most influential variables were evaluated in the order of normalized digital surface model (nDSM), normalized difference vegetation index (NDVI), land surface temperature (LST), soil adjusted vegetation index (SAVI), blue, green, red, rededge. Finally, no significant changes between initial and optimized RF in the classification were observed from a series of analyses even though the reduced variables number was applied for the classification.

Post-Nourishment Changes of an Artificial Gravel Pocket Beach Using UAV Imagery

Monitoring and analysis of changes in the volume and area of nourished beaches is crucial to inform any beach renourishment programme. The aim of this study is to utilise UAV surveys and SfM photogrammetry to assess the beach nourishment performance of an artificial gravel beach exposed to a range of external forcing, including storms. The paper presents results from nineteen UAV surveys conducted between January 2020 and January 2021 at Ploče, an artificial beach in Rijeka (Croatia). The beach was nourished twice and eleven storm events, ranging from weak to strong, were recorded during this period. The Agisoft Metashape software was used to obtain point clouds and digital elevation models (DEM) from UAV images; Matlab and CloudCompare were used for further analysis of the DEMs. The accuracy and precision of the DEMs was assessed and uncertainty levels of ±5 cm were applied to all derived DEMs. The study provides new insights into the response of the emerged part of the beach to storms. Predictably, the largest changes were recorded after the first storm following beach nourishment. The longshore variability in the beach response to storms was identified from full 3D point clouds. Most of the lost sediment was from the east side of the beach, while the rest of the beach aligned with the predominant wave direction through cross-shore and longshore processes. Offshore/onshore sediment exchange between the lower and upper beach face on the western side manifested itself in beach profile steepening and berm formations. Overall, changes in beach volume and area were small, indicating that this artificial beach is relatively stable. The embayed layout following the natural coastal configuration appears to be effective in retaining nourished sediment on the beach. This work highlights the need to consider pocket embayed beaches in three dimensions, as traditional transect studies can overlook the three-dimensional behaviour. This study also highlighted the wider potential of UAVs and SfM for studies of high-resolution elevation changes on natural and artificial beaches, as well as for coastal monitoring of beach nourishment.

Laser scanner and drone photogrammetry: A statistical comparison between 3-dimensional models and its impacts on outdoor crime scene registration

This work evaluated the accuracy of 3D models generated by a DJI Mavic Pro drone with 3DF Zephyr software photogrammetry. The models were compared to models generated by a Trimble X7 laser scanner. The tests were performed in the outdoor area of a vehicle parking inbound to simulate the characteristics of a crime scene. Ground control points (GCPs) were distributed in ten positions within the surroundings. In manual flight, the drone performed nadiral photographs from one side to the other side and with an elliptical 45° center pointed. Three altitudes where tested: 10 m, 20 m and 40 m. The Trimble X7 laser scanner performed six scans and generated one set of point clouds. Drone photogrammetry returned eligible data for distances of 20 m and 40 m with errors of ~0.25 mm. To increase the overlay in the photogrammetry procedure, all photographs from distances of 10-40 m were processed, returning an error of ~0.53 mm. The results of the measured distances, which were manually picked from the GCPs, from the 3D-scanned model and photogrammetric 3D models were then statistically analyzed. The Trimble X7 laser scanner showed an average error of 3 cm, which was approximately equivalent to the results obtained with all images or when using a known scale value for the drone photographs, presenting no significant differences among the evaluated methods.

Camera Self-Calibration with GNSS Constrained Bundle Adjustment for Weakly Structured Long Corridor UAV Images

Camera self-calibration determines the precision and robustness of AT (aerial triangulation) for UAV (unmanned aerial vehicle) images. The UAV images collected from long transmission line corridors are critical configurations, which may lead to the “bowl effect” with camera self-calibration. To solve such problems, traditional methods rely on more than three GCPs (ground control points), while this study designs a new self-calibration method with only one GCP. First, existing camera distortion models are grouped into two categories, i.e., physical and mathematical models, and their mathematical formulas are exploited in detail. Second, within an incremental SfM (Structure from Motion) framework, a camera self-calibration method is designed, which combines the strategies for initializing camera distortion parameters and fusing high-precision GNSS (Global Navigation Satellite System) observations. The former is achieved by using an iterative optimization algorithm that progressively optimizes camera parameters; the latter is implemented through inequality constrained BA (bundle adjustment). Finally, by using four UAV datasets collected from two sites with two data acquisition modes, the proposed algorithm is comprehensively analyzed and verified, and the experimental results demonstrate that the proposed method can dramatically alleviate the “bowl effect” of self-calibration for weakly structured long corridor UAV images, and the horizontal and vertical accuracy can reach 0.04 m and 0.05 m, respectively, when using one GCP. In addition, compared with open-source and commercial software, the proposed method achieves competitive or better performance.

A Novel Method for Fast Positioning of Non-Standardized Ground Control Points in Drone Images

Positioning the pixels of ground control points (GCPs) in drone images is an issue of great concern in the field of drone photogrammetry. The current mainstream automatic approaches are based on standardized markers, such as circular coded targets and point coded targets. There is no denying that introducing standardized markers improves the efficiency of positioning GCP pixels. However, the low flexibility leads to some drawbacks, such as the heavy logistical input in placing and maintaining GCP markers. Especially as drone photogrammetry steps into the era of large scenes, the logistical input in maintaining GCP markers becomes much more costly. This paper proposes a novel positioning method applicable for non-standardized GCPs. Firstly, regions of interest (ROIs) are extracted from drone images with stereovision technologies. Secondly, the quality of ROIs is evaluated using image entropy, and then the outliers are filtered by an adjusted boxplot. Thirdly, pixels of interest are searched with a corner detector, and the precise imagery coordinates are obtained by subpixel optimization. Finally, the verification was carried out in an urban scene, and the results show that this method has good applicability to the GCPs on road traffic signs, and the accuracy rate is over 95%.

Forest Restoration Monitoring Protocol with a Low-Cost Remotely Piloted Aircraft: Lessons Learned from a Case Study in the Brazilian Atlantic Forest

Traditional forest restoration (FR) monitoring methods employ spreadsheets and photos taken at the ground level. Since remotely piloted aircraft (RPA) generate a panoramic high resolution and georeferenced view of the entire area of interest, this technology has high potential to improve the traditional FR monitoring methods. This study evaluates how low-cost RPA data may contribute to FR monitoring of the Brazilian Atlantic Forest by the automatic remote measurement of Tree Density, Tree Height, Vegetation Cover (area covered by trees), and Grass Infestation. The point cloud data was processed to map the Tree Density, Tree Height, and Vegetation Cover parameters. The orthomosaic was used for a Random Forest classification that considered trees and grasses as a single land cover class. The Grass Infestation parameter was mapped by the difference between this land cover class (which considered trees and grasses) and the Vegetation Cover results (obtained by the point cloud data processing). Tree Density, Vegetation Cover, and Grass Infestation parameters presented F_scores of 0.92, 0.85, and 0.64, respectively. Tree Height accuracy was indicated by the Error Percentage considering the traditional fieldwork and the RPA results. The Error Percentage was equal to 0.13 and was considered accurate because it estimated a 13% shorter height for trees that averaged 1.93 m tall. Thus, this study showed that the FR structural parameters were accurately measured by the low-cost RPA, a technology that contributes to FR monitoring. Despite accurately measuring the structural parameters, this study reinforced the challenge of measuring the Biodiversity parameter via remote sensing because the classification of tree species was not possible. After all, the Brazilian Atlantic Forest is a biodiversity hotspot, and thus different species have similar spectral responses in the visible spectrum and similar geometric forms. Therefore, until improved automatic classification methods become available for tree species, traditional fieldwork remains necessary for a complete FR monitoring diagnostic.

Data Delivery in a Disaster or Quarantined Area Divided into Triangles Using DTN-Based Algorithms for Unmanned Aerial Vehicles

The communication in quarantined areas, e.g., due to the new COVID-19 pandemic, between isolated areas and in areas with technical damage has resulted in a great deal of interest concerning the safety of the population. A new method for ensuring communication between different areas, using unmanned aerial vehicle (UAV) networks with a well-established mobility schedule is proposed. UAVs fly based on a mission plan using regular polygons covering an area from a map. The area is considered to be equidistantly covered with points, grouped in triangles which are further grouped into hexagons. In this paper, UAVs, including battery charging or battery swapping stations and light weight Wi-Fi boards, are used for the data transfer among drones and stations using delivery protocols. UAV network analysis and evaluation (lengths of the arcs in seconds) based on experimental preliminary flight tests are proposed. Multiple simulations are performed based on six DTN algorithms, single-copy, and multiple-copies algorithms, and the efficiency of data transmission (delivery rate and latency) is analyzed. A very good delivery rate of 0.973 is obtained using the newly introduced TD-UAV Dijkstra algorithm.

Digital Terrain Models Generated with Low-Cost UAV Photogrammetry: Methodology and Accuracy

Digital terrain model (DTM) generation is essential to recreating terrain morphology once the external elements are removed. Traditional survey methods are still used to collect accurate geographic data on the land surface. Given the emergence of unmanned aerial vehicles (UAVs) equipped with low-cost digital cameras and better photogrammetric methods for digital mapping, efficient approaches are necessary to allow rapid land surveys with high accuracy. This paper provides a review, complemented with the authors’ experience, regarding the UAV photogrammetric process and field survey parameters for DTM generation using popular commercial photogrammetric software to process images obtained with fixed-wing or multicopter UAVs. We analyzed the quality and accuracy of the DTMs based on four categories: (i) the UAV system (UAV platforms and camera); (ii) flight planning and image acquisition (flight altitude, image overlap, UAV speed, orientation of the flight line, camera configuration, and georeferencing); (iii) photogrammetric DTM generation (software, image alignment, dense point cloud generation, and ground filtering); (iv) geomorphology and land use/cover. For flat terrain, UAV photogrammetry provided a horizontal root mean square error (RMSE) between 1 to 3 × the ground sample distance (GSD) and a vertical RMSE between 1 to 4.5 × GSD, and, for complex topography, a horizontal RMSE between 1 to 7 × GSD and a vertical RMSE between 1.5 to 5 × GSD. Finally, we stress that UAV photogrammetry can provide DTMs with high accuracy when the photogrammetric process variables are optimized.

Shipborne Mobile Photogrammetry for 3D Mapping and Landslide Detection of the Water-Level Fluctuation Zone in the Three Gorges Reservoir Area, China

The water-level fluctuation zone (WLFZ) of the Three Gorges Reservoir is a serious landslide-prone area. However, current remote sensing methods for landslide mapping and detection in the WLFZ are insufficient because of difficulties in data acquisition and lack of facade information. We proposed a novel shipborne mobile photogrammetry approach for 3D mapping and landslide detection in the WLFZ for the first time, containing a self-designed shipborne hardware platform and a data acquisition and processing workflow. To evaluate the accuracy and usability of the resultant 3D models in the WLFZ, four bundle block adjustment (BBA) control configurations were developed and adopted. In the four configurations, the raw Global Navigation Satellite System (GNSS) data, the raw GNSS data and fixed camera height, the GCPs extracted from aerial photogrammetric products, and the mobile Light Detection and Ranging (LiDAR) point cloud were used. A comprehensive accuracy assessment of the 3D models was conducted, and the comparative results indicated the BBA with GCPs extracted from the aerial photogrammetric products was the most practical configuration (RMSE 2.00 m in plane, RMSE 0.46 m in height), while the BBA with the mobile LiDAR point cloud as a control provided the highest georeferencing accuracy (RMSE 0.59 m in plane, RMSE 0.40 m in height). Subsequently, the landslide detection ability of the proposed approach was compared with multisource remote sensing images through visual interpretation, which showed that the proposed approach provided the highest landslide detection rate and unique advantages in small landslide detection as well as in steep terrains due to the more detailed features of landslides provided by the shipborne 3D models. The approach is an effective and flexible supplement to traditional remote sensing methods.

A Practical Cross-View Image Matching Method between UAV and Satellite for UAV-Based Geo-Localization

Cross-view image matching has attracted extensive attention due to its huge potential applications, such as localization and navigation. Unmanned aerial vehicle (UAV) technology has been developed rapidly in recent years, and people have more opportunities to obtain and use UAV-view images than ever before. However, the algorithms of cross-view image matching between the UAV view (oblique view) and the satellite view (vertical view) are still in their beginning stage, and the matching accuracy is expected to be further improved when applied in real situations. Within this context, in this study, we proposed a cross-view matching method based on location classification (hereinafter referred to LCM), in which the similarity between UAV and satellite views is considered, and we implemented the method with the newest UAV-based geo-localization dataset (University-1652). LCM is able to solve the imbalance of the input sample number between the satellite images and the UAV images. In the training stage, LCM can simplify the retrieval problem into a classification problem and consider the influence of the feature vector size on the matching accuracy. Compared with one study, LCM shows higher accuracies, and Recall@K (K ∈ {1, 5, 10}) and the average precision (AP) were improved by 5–10%. The expansion of satellite-view images and multiple queries proposed by the LCM are capable of improving the matching accuracy during the experiment. In addition, the influences of different feature sizes on the LCM’s accuracy are determined, and we found that 512 is the optimal feature size. Finally, the LCM model trained based on synthetic UAV-view images was evaluated in real-world situations, and the evaluation result shows that it still has satisfactory matching accuracy. The LCM can realize the bidirectional matching between the UAV-view image and the satellite-view image and can contribute to two applications: (i) UAV-view image localization (i.e., predicting the geographic location of UAV-view images based on satellite-view images with geo-tags) and (ii) UAV navigation (i.e., driving the UAV to the region of interest in the satellite-view image based on the flight record).

Affordable and Faster Transradial Prosthetic Socket Production Using Photogrammetry and 3D Printing

This study aims to invent a new, low-cost, and faster method of prosthetic socket fabrication, especially in Indonesia. In this paper, the photogrammetry with the 3D printing method is introduced as the new applicative way for transradial prosthetic making. Photogrammetry is used to retrieve a 3D model of the amputated hand stump using a digital camera. A digital camera is used for photogrammetry technique and the resulting 3D model is printed using a circular 3D printer with Polylactic acid (PLA) material. The conventional casting socket fabrication method was also conducted in this study as a comparison. Both prosthetic sockets were analyzed for usability, and sectional area conformities to determine the size deviation using the image processing method. This study concludes that the manufacturing of transradial prosthetic sockets incorporating the photogrammetry technique reduces the total man-hour production. Based on the results, it can be implied that the photogrammetry technique is a more efficient and economical method compared to the conventional casting method. The 3D printed socket resulting from the photogrammetry method has a 5–19% area deviation to the casting socket but it is still preferable and adjustable for the transradial amputee when applied to the stump of the remaining hand.