Assessing the Accuracy of Georeferenced Point Clouds Produced via Multi-View Stereopsis from Unmanned Aerial Vehicle (UAV) Imagery

Study of the Precise Determination of Pipeline Geometries Using UAV Scanning Compared to Terrestrial Scanning, Aerial Scanning and UAV Photogrammetry

Transmission pipelines belong to technical infrastructure, the condition of which is subject to periodic monitoring. The research was to verify whether aerial measurement methods, especially UAV laser scanning, could determine the geometric shape of pipelines with a precision similar to that of terrestrial scanning, adopted as a reference method. The test object was a section of a district heating pipeline with two types of surfaces: matte and glossy. The pipeline was measured using four methods: terrestrial scanning, airborne scanning, UAV scanning and the structure from motion method. Then, based on the reference terrestrial scanning data, pipeline models were created, with which all methods were compared. The comparison made it possible to find that only the UAV scanning yielded results consistent with those of the terrestrial scanning for all the pipes. The differences usually did not exceed 10 mm, sometimes reaching 20 mm. The structure from motion method yielded unstable results. For the old, matte pipes, the results were similar to those of the UAV scan; however, for the new, shiny pipes, the differences were up to 60 mm.

Quantifying the Influence of Surface Texture and Shape on Structure from Motion 3D Reconstructions

In general, optical methods for geometrical measurements are influenced by the surface properties of the examined object. In Structure from Motion (SfM), local variations in surface color or topography are necessary for detecting feature points for point-cloud triangulation. Thus, the level of contrast or texture is important for an accurate reconstruction. However, quantitative studies of the influence of surface texture on geometrical reconstruction are largely missing. This study tries to remedy that by investigating the influence of object texture levels on reconstruction accuracy using a set of reference artifacts. The artifacts are designed with well-defined surface geometries, and quantitative metrics are introduced to evaluate the lateral resolution, vertical geometric variation, and spatial-frequency information of the reconstructions. The influence of texture level is compared to variations in capturing range. For the SfM measurements, the ContextCapture software solution and a 50 Mpx DSLR camera are used. The findings are compared to results using calibrated optical microscopes. The results show that the proposed pipeline can be used for investigating the influence of texture on SfM reconstructions. The introduced metrics allow for a quantitative comparison of the reconstructions at varying texture levels and ranges. Both range and texture level are seen to affect the reconstructed geometries although in different ways. While an increase in range at a fixed focal length reduces the spatial resolution, an insufficient texture level causes an increased noise level and may introduce errors in the reconstruction. The artifacts are designed to be easily replicable, and by providing a step-by-step procedure of our testing and comparison methodology, we hope that other researchers will make use of the proposed testing pipeline.

Herbage Mass, N Concentration, and N Uptake of Temperate Grasslands Can Adequately Be Estimated from UAV-Based Image Data Using Machine Learning

Precise and timely information on biomass yield and nitrogen uptake in intensively managed grasslands are essential for sustainable management decisions. Imaging sensors mounted on unmanned aerial vehicles (UAVs) along with photogrammetric structure-from-motion processing can provide timely data on crop traits rapidly and non-destructively with a high spatial resolution. The aim of this multi-temporal field study is to estimate aboveground dry matter yield (DMY), nitrogen concentration (N%) and uptake (Nup) of temperate grasslands from UAV-based image data using machine learning (ML) algorithms. The study is based on a two-year dataset from an experimental grassland trial. The experimental setup regarding climate conditions, N fertilizer treatments and slope yielded substantial variations in the dataset, covering a considerable amount of naturally occurring differences in the biomass and N status of grasslands in temperate regions with similar management strategies. Linear regression models and three ML algorithms, namely, random forest (RF), support vector machine (SVM), and partial least squares (PLS) regression were compared with and without a combination of both structural (sward height; SH) and spectral (vegetation indices and single bands) features. Prediction accuracy was quantified using a 10-fold 5-repeat cross-validation (CV) procedure. The results show a significant improvement of prediction accuracy when all structural and spectral features are combined, regardless of the algorithm. The PLS models were outperformed by their respective RF and SVM counterparts. At best, DMY was predicted with a median RMSECV of 197 kg ha−1, N% with a median RMSECV of 0.32%, and Nup with a median RMSECV of 7 kg ha−1. Furthermore, computationally less expensive models incorporating, e.g., only the single multispectral camera bands and SH metrics, or selected features based on variable importance achieved comparable results to the overall best models.

Combining Spectral, Spatial-Contextual, and Structural Information in Multispectral UAV Data for Spruce Crown Delineation

Precise delineation of individual tree crowns is critical for accurate forest biophysical parameter estimation, species classification, and ecosystem modelling. Multispectral optical remote sensors mounted on low-flying unmanned aerial vehicles (UAVs) can rapidly collect very-high-resolution (VHR) photogrammetric optical data that contain the spectral, spatial, and structural information of trees. State-of-the-art tree crown delineation approaches rely mostly on spectral information and underexploit the spatial-contextual and structural information in VHR photogrammetric multispectral data, resulting in crown delineation errors. Here, we propose the spectral, spatial-contextual, and structural information-based individual tree crown delineation (S3-ITD) method, which accurately delineates individual spruce crowns by minimizing the undesirable effects due to intracrown spectral variance and nonuniform illumination/shadowing in VHR multispectral data. We evaluate the performance of the S3-ITD crown delineation method over a white spruce forest in Quebec, Canada. The highest mean intersection over union (IoU) index of 0.83, and the lowest mean crown-area difference (CAD) of 0.14 m2, proves the superior crown delineation performance of the S3-ITD method over state-of-the-art methods. The reduction in error by 2.4 cm and 1.0 cm for the allometrically derived diameter at breast height (DBH) estimates compared with those from the WS-ITD and the BF-ITD approaches, respectively, demonstrates the effectiveness of the S3-ITD method to accurately estimate biophysical parameters.

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.

Monitoring Coastal Vulnerability by Using DEMs Based on UAV Spatial Data

The use of Unmanned Aerial Vehicles (UAVs) represents a rather innovative, quick, and low-cost methodological approach offering applications in several fields of investigation. The present study illustrates the developed method using Digital Elevation Models (DEMs) based on UAV-derived data for evaluating short-term morphological-topographic changes of the beach system and related implications for coastal vulnerability assessment. UAV surveys were performed during the summers of 2019 and 2020 along a beach stretch affected by erosion, located along the central Adriatic coast. Acquired high-resolution aerial photos were used to generate large-scale DEMs as well as orthophotos of the beach using the Structure from Motion (SfM) image processing tool. Comparison of the generated 2019 and 2020 DEMs highlighted significant morphological changes and a sediment volume loss of about 780 m3 within a surface area of about 4400 m2. Based on 20 m spaced beach profiles derived from the DEMs, a coastal vulnerability assessment was performed using the CVA approach that highlighted some significant variations in the CVA index between 2019 and 2020. Results evidence that UAV surveys provide high-resolution topographic data, suitable for specific beach monitoring activities and the updating of some parameters that enter in the CVA model contributing to its correct application.

Flower Mapping in Grasslands With Drones and Deep Learning

Manual assessment of flower abundance of different flowering plant species in grasslands is a time-consuming process. We present an automated approach to determine the flower abundance in grasslands from drone-based aerial images by using deep learning (Faster R-CNN) object detection approach, which was trained and evaluated on data from five flights at two sites. Our deep learning network was able to identify and classify individual flowers. The novel method allowed generating spatially explicit maps of flower abundance that met or exceeded the accuracy of the manual-count-data extrapolation method while being less labor intensive. The results were very good for some types of flowers, with precision and recall being close to or higher than 90%. Other flowers were detected poorly due to reasons such as lack of enough training data, appearance changes due to phenology, or flowers being too small to be reliably distinguishable on the aerial images. The method was able to give precise estimates of the abundance of many flowering plant species. In the future, the collection of more training data will allow better predictions for the flowers that are not well predicted yet. The developed pipeline can be applied to any sort of aerial object detection problem.

Nitrogen Estimation for Wheat Using UAV-Based and Satellite Multispectral Imagery, Topographic Metrics, Leaf Area Index, Plant Height, Soil Moisture, and Machine Learning Methods

To improve productivity, reduce production costs, and minimize the environmental impacts of agriculture, the advancement of nitrogen (N) fertilizer management methods is needed. The objective of this study is to compare the use of Unmanned Aerial Vehicle (UAV) multispectral imagery and PlanetScope satellite imagery, together with plant height, leaf area index (LAI), soil moisture, and field topographic metrics to predict the canopy nitrogen weight (g/m2) of wheat fields in southwestern Ontario, Canada. Random Forests (RF) and support vector regression (SVR) models, applied to either UAV imagery or satellite imagery, were evaluated for canopy nitrogen weight prediction. The top-performing UAV imagery-based validation model used SVR with seven selected variables (plant height, LAI, four VIs, and the NIR band) with an R2 of 0.80 and an RMSE of 2.62 g/m2. The best satellite imagery-based validation model was RF, which used 17 variables including plant height, LAI, the four PlanetScope bands, and 11 VIs, resulting in an R2 of 0.92 and an RMSE of 1.75 g/m2. The model information can be used to improve field nitrogen predictions for the effective management of N fertilizer.

A Double Swath Configuration for Improving Throughput and Accuracy of Trait Estimate from UAV Images

Multispectral observations from unmanned aerial vehicles (UAVs) are currently used for precision agriculture and crop phenotyping applications to monitor a series of traits allowing the characterization of the vegetation status. However, the limited autonomy of UAVs makes the completion of flights difficult when sampling large areas. Increasing the throughput of data acquisition while not degrading the ground sample distance (GSD) is, therefore, a critical issue to be solved. We propose here a new image acquisition configuration based on the combination of two focal length (f) optics: an optics with f = 4.2 mm is added to the standard f = 8 mm (SS: single swath) of the multispectral camera (DS: double swath, double of the standard one). Two flights were completed consecutively in 2018 over a maize field using the AIRPHEN multispectral camera at 52 m altitude. The DS flight plan was designed to get 80% overlap with the 4.2 mm optics, while the SS one was designed to get 80% overlap with the 8 mm optics. As a result, the time required to cover the same area is halved for the DS as compared to the SS. The georeferencing accuracy was improved for the DS configuration, particularly for the Z dimension due to the larger view angles available with the small focal length optics. Application to plant height estimates demonstrates that the DS configuration provides similar results as the SS one. However, for both the DS and SS configurations, degrading the quality level used to generate the 3D point cloud significantly decreases the plant height estimates.

Toys or Tools? Utilization of Unmanned Aerial Systems in Mosquito and Vector Control Programs

Organized mosquito control programs (MCP) in the United States have been protecting public health since the early 1900s. These programs utilize integrated mosquito management for surveillance and control measures to enhance quality of life and protect the public from mosquito-borne diseases. Because much of the equipment and insecticides are developed for agriculture, MCP are left to innovate and adapt what is available to accomplish their core missions. Unmanned aerial systems (UAS) are one such innovation that are quickly being adopted by MCP. The advantages of UAS are no longer conjectural. In addition to locating mosquito larval habitats, UAS affords MCP real-time imagery, improved accuracy of aerial insecticide applications, mosquito larval detection and sampling. UAS are also leveraged for applying larvicides to water in habitats that range in size from multi-acre wetlands to small containers in urban settings. Employing UAS can reduce staff exposure to hazards and the impact associated with the use of heavy equipment in sensitive habitats. UAS are utilized by MCP nationally and their use will continue to increase as technology advances and regulations change. Current impediments include a dearth of major UAS manufacturers of equipment that is tailor-made for mosquito control, pesticides that are optimized for application via UAS and regulations that limit the access of UAS to national airspace. This manuscript highlights the strengths and weaknesses of UAS within MCP, provides an update on systems and methods used, and charts the future direction of UAS technology within MCP tasked with public health protection.

Evaluation of Soil Properties, Topographic Metrics, Plant Height, and Unmanned Aerial Vehicle Multispectral Imagery Using Machine Learning Methods to Estimate Canopy Nitrogen Weight in Corn

Management of nitrogen (N) fertilizers is an important agricultural practice and field of research to minimize environmental impacts and the cost of production. To apply N fertilizer at the right rate, time, and place depends on the crop type, desired yield, and field conditions. The objective of this study is to use Unmanned Aerial Vehicle (UAV) multispectral imagery, vegetation indices (VI), crop height, field topographic metrics, and soil properties to predict canopy nitrogen weight (g/m2) of a corn field in southwestern Ontario, Canada. Random Forests (RF) and support vector regression (SVR) models were evaluated for canopy nitrogen weight prediction from 29 variables. RF consistently had better performance than SVR, and the top-performing validation model was RF using 15 selected height, spectral, and topographic variables with an R2 of 0.73 and Root Mean Square Error (RMSE) of 2.21 g/m2. Of the model’s 15 variables, crop height was the most important predictor, followed by 10 VIs, three MicaSense band reflectance mosaics (blue, red, and green), and topographic profile curvature. The model information can be used to improve field nitrogen prediction, leading to more effective and efficient N fertilizer management.

A Systematic Review of Best Practices for UAS Data Collection in Forestry-Related Applications

Recent advancements in unmanned aerial systems and GPS technology, allowing for centimeter precision without ground-based surveys, have been groundbreaking for applications in the field of forestry. As this technology becomes integrated into forest management approaches, it is important to consider the implementation of proper safety and data collection strategies. The creation of such documentation is beneficial, because it allows for those aspiring to create a UAS program to learn from others’ experiences, without bearing the consequences of past blunders associated with the development of these practices. When establishing a UAS program, it is pertinent to deeply research the necessary equipment, create documentation that establishes operational norms, and develop standards for in-field operations. Regarding multispectral vs. RGB sensor payloads, the sensor selection should be based upon what type of information is desired from the imagery acquired. It is also important to consider the methods for obtaining the most precise geolocation linked to the aerial imagery collected by the sensor. While selecting the proper UAS platform and sensor are key to establishing a UAS operation, other logistical strategies, such as flight crew training and operational planning, are equally important. Following the acquisition of proper equipment, further preparations must be made in order to ensure safe and efficient operations. The creation of crew resource management and safety management system documentation is an integral part of any successful UAS program. Standard operating procedure documents for individual tasks and undertakings are also a necessity. Standardized practices for the scheduling, communication, and management of the UAS fleet must also be formulated. Once field operations are set in motion, the continuous improvement of the documentation and best practices is paramount.

Unmanned Aerial Vehicles (UAVs) for Physical Progress Monitoring of Construction

The physical progress of a construction project is monitored by an inspector responsible for verifying and backing up progress information, usually through site photography. Progress monitoring has improved, thanks to advances in image acquisition, computer vision, and the development of unmanned aerial vehicles (UAVs). However, no comprehensive and simple methodology exists to guide practitioners and facilitate the use of these methods. This research provides recommendations for the periodic recording of the physical progress of a construction site through the manual operation of UAVs and the use of point clouds obtained under photogrammetric techniques. The programmed progress is then compared with the actual progress made in a 4D BIM environment. This methodology was applied in the construction of a reinforced concrete residential building. The results showed the methodology is effective for UAV operation in the work site and the use of the photogrammetric visual records for the monitoring of the physical progress and the communication of the work performed to the project stakeholders.

Comparing High Accuracy t-LiDAR and UAV-SfM Derived Point Clouds for Geomorphological Change Detection

Analysis of two small semi-mountainous catchments in central Evia island, Greece, highlights the advantages of Unmanned Aerial Vehicle (UAV) and Terrestrial Laser Scanning (TLS) based change detection methods. We use point clouds derived by both methods in two sites (S1 & S2), to analyse the effects of a recent wildfire on soil erosion. Results indicate that topsoil’s movements in the order of a few centimetres, occurring within a few months, can be estimated. Erosion at S2 is precisely delineated by both methods, yielding a mean value of 1.5 cm within four months. At S1, UAV-derived point clouds’ comparison quantifies annual soil erosion more accurately, showing a maximum annual erosion rate of 48 cm. UAV-derived point clouds appear to be more accurate for channel erosion display and measurement, while the slope wash is more precisely estimated using TLS. Analysis of Point Cloud time series is a reliable and fast process for soil erosion assessment, especially in rapidly changing environments with difficult access for direct measurement methods. This study will contribute to proper georesource management by defining the best-suited methodology for soil erosion assessment after a wildfire in Mediterranean environments.

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.

High-Resolution Monitoring of Tidal Systems Using UAV: A Case Study on Poplar Island, MD (USA)

Tidal processes regulating sediment accretion rates and vegetated platform erosion in tidal systems strongly affect salt marsh evolution. A balance between erosion and deposition in a restored salt marsh is crucial for analyzing restoration strategies to be adopted within a natural context. Marsh morphology is also coupled with tidal mudflats and channel networks and this makes micro-tidal systems crucial for a detailed assessment of restoration interventions. Here, we present a methodological approach for monitoring channel morphodynamics and vegetation variations over a time frame of six years in a low tidal energy salt marsh of the Paul S. Sarbanes Ecosystem Restoration Project at Poplar Island (Maryland, USA). The project is a restoration site where sediment dredged from the shipping channels in the upper Chesapeake Bay is used to restore a tidal marsh habitat in mid-Chesapeake Bay. Aerial surveys with an Unmanned Aerial Vehicle (UAV) have been performed for the high-resolution mapping of a small tidal system. Flight missions were planned to obtain a Ground Sample Distance (GSD) of 2 cm. Structure-from-Motion (SfM) and Multi-View-Stereo (MVS) algorithms have been used to reconstruct the 3D geometry of the site. The mapping of channel morphology and an elevation assessment on the mudflat were performed using orthomosaics, Digital Terrain Models (DTMs) and GNSS survey. The results highlight that the workflow adopted in this pilot work is suitable to assess the geomorphological evolution over time in a micro-tidal system. However, issues were encountered for salt marsh due to the presence of dense vegetation. The UAV-based photogrammetry approach with GNSS RTK ground surveys can hence be replicated in similar sites all over the world to evaluate restoration interventions and to develop new strategies for a better management of existing shorelines.

UAV Based Estimation of Forest Leaf Area Index (LAI) through Oblique Photogrammetry

As a key canopy structure parameter, the estimation method of the Leaf Area Index (LAI) has always attracted attention. To explore a potential method to estimate forest LAI from 3D point cloud at low cost, we took photos from different angles of the drone and set five schemes (O (0°), T15 (15°), T30 (30°), OT15 (0° and 15°) and OT30 (0° and 30°)), which were used to reconstruct 3D point cloud of forest canopy based on photogrammetry. Subsequently, the LAI values and the leaf area distribution in the vertical direction derived from five schemes were calculated based on the voxelized model. Our results show that the serious lack of leaf area in the middle and lower layers determines that the LAI estimate of O is inaccurate. For oblique photogrammetry, schemes with 30° photos always provided better LAI estimates than schemes with 15° photos (T30 better than T15, OT30 better than OT15), mainly reflected in the lower part of the canopy, which is particularly obvious in low-LAI areas. The overall structure of the single-tilt angle scheme (T15, T30) was relatively complete, but the rough point cloud details could not reflect the actual situation of LAI well. Multi-angle schemes (OT15, OT30) provided excellent leaf area estimation (OT15: R2 = 0.8225, RMSE = 0.3334 m2/m2; OT30: R2 = 0.9119, RMSE = 0.1790 m2/m2). OT30 provided the best LAI estimation accuracy at a sub-voxel size of 0.09 m and the best checkpoint accuracy (OT30: RMSE [H] = 0.2917 m, RMSE [V] = 0.1797 m). The results highlight that coupling oblique photography and nadiral photography can be an effective solution to estimate forest LAI.

Spatio-Temporal Change Monitoring of Outside Manure Piles Using Unmanned Aerial Vehicle Images

Water quality deterioration due to outdoor loading of livestock manure requires efficient management of outside manure piles (OMPs). This study was designed to investigate OMPs using unmanned aerial vehicles (UAVs) for efficient management of non-point source pollution in agricultural areas. A UAV was used to acquire image data, and the distribution and cover installation status of OMPs were identified through ortho-images; the volumes of OMP were calculated using digital surface model (DSM). UAV- and terrestrial laser scanning (TLS)-derived DSMs were compared for identifying the accuracy of calculated volumes. The average volume accuracy was 92.45%. From April to October, excluding July, the monthly average volumes of OMPs in the study site ranged from 64.89 m3 to 149.69 m3. Among the 28 OMPs investigated, 18 were located near streams or agricultural waterways. Establishing priority management areas among the OMP sites distributed in a basin is possible using spatial analysis, and it is expected that the application of UAV technology will contribute to the efficient management of OMPs and other non-point source pollutants.

Use of Unmanned Aerial Vehicles (UAVs) and Photogrammetry to Obtain the International Roughness Index (IRI) on Roads

Road inspection and maintenance require a large amount of data collection, where the main limiting factor is the time required to cover long stretches of road, having a negative impact on the optimization of the work. This article aims to identify modern tools for road maintenance and analysis. To carry out the research, recent methodologies are used to guide the work in different stages to adequately justify the processes involved. Using unmanned aerial vehicles (UAVs), cameras, and GPS, three-dimensional virtual models are reconstructed, which are useful for extracting the necessary information since they allow for accurate replication of the captured. In this way, it is possible to obtain longitudinal profiles associated with the road, and with it, the international roughness index (IRI) is calculated, which gives results within 0.1 (m/km) of the certified official results, which shows its potential use and development.

Investigating the Susceptibility to Failure of a Rock Cliff by Integrating Structure-from-Motion Analysis and 3D Geomechanical Modelling

Multi-temporal UAV and digital photo surveys have been acquired between 2017 and 2020 on a coastal cliff in soft rocks in South-Eastern Italy for hazard assessment and the corresponding point clouds have been processed and compared. The multi-temporal survey results provide indications of a progressive deepening process of erosion and detachment of blocks from the mid-height portion of the cliff, with the upper stiffer rock stratum working provisionally as a shelf against the risk of general collapse. Based on the DEM model obtained, a three-dimensional geomechanical finite element model has been created and analyzed in order to investigate the general stability of the cliff and to detect the rock portions which are more susceptible to failure. Concerning the evolving erosion process, active in the cliff, the photogrammetric analyses and the modeling simulations result in agreement and a proneness to both local and general instabilities has been achieved.

Suitability Study of Structure-from-Motion for the Digitisation of Architectural (Heritage) Spaces to Apply Divergent Photograph Collection

The digitisation of architectural heritage has experienced a great development of low-cost and high-definition data capture technologies, thus enabling the accurate and effective modelling of complex heritage assets. Accordingly, research has identified the best methods to survey historic buildings, but the suitability of Structure-from-Motion/Multi-view-Stereo (SfM/MVS) for interior square symmetrical architectural spaces is unexplored. In contrast to the traditional SfM surveying for which the camera surrounds the object, the photograph collection approach is divergent in courtyards. This paper evaluates the accuracy of SfM point clouds against Terrestrial Laser Scanning (TLS) for these large architectural spaces with a symmetrical configuration, with the main courtyard of Casa de Pilatos in Seville, Spain, as a case study. Two different SfM surveys were conducted: (1) Without control points, and (2) referenced using a total station. The first survey yielded unacceptable results: A standard deviation of 0.0576 m was achieved in the northwest sector of the case study, mainly because of the difficulty of aligning the SfM and TLS data due to the way they are produced. This value could be admissible depending on the purpose of the photogrammetric model.

Integrating Virtual Reality and GIS Tools for Geological Mapping, Data Collection and Analysis: An Example from the Metaxa Mine, Santorini (Greece)

In the present work we highlight the effectiveness of integrating different techniques and tools for better surveying, mapping and collecting data in volcanic areas. We use an Immersive Virtual Reality (IVR) approach for data collection, integrated with Geographic Information System (GIS) analysis in a well-known volcanological site in Santorini (Metaxa mine), a site where volcanic processes influenced the island’s industrial development, especially with regard to pumice mining. Specifically, we have focused on: (i) three-dimensional (3D) high-resolution IVR scenario building, based on Structure from Motion photogrammetry (SfM) modeling; (ii) subsequent geological survey, mapping and data collection using IVR; (iii) data analysis, e.g., calculation of extracted volumes, as well as production of new maps in a GIS environment using input data directly from the IVR survey; and finally, (iv) presentation of new outcomes that highlight the importance of the Metaxa Mine as a key geological and volcanological geosite.

Evapotranspiration Estimation with Small UAVs in Precision Agriculture

Estimating evapotranspiration (ET) has been one of the most critical research areas in agriculture because of water scarcity, the growing population, and climate change. The accurate estimation and mapping of ET are necessary for crop water management. Traditionally, researchers use water balance, soil moisture, weighing lysimeters, or an energy balance approach, such as Bowen ratio or eddy covariance towers to estimate ET. However, these ET methods are point-specific or area-weighted measurements and cannot be extended to a large scale. With the advent of satellite technology, remote sensing images became able to provide spatially distributed measurements. However, the spatial resolution of multispectral satellite images is in the range of meters, tens of meters, or hundreds of meters, which is often not enough for crops with clumped canopy structures, such as trees and vines. Unmanned aerial vehicles (UAVs) can mitigate these spatial and temporal limitations. Lightweight cameras and sensors can be mounted on the UAVs and take high-resolution images. Unlike satellite imagery, the spatial resolution of the UAV images can be at the centimeter-level. UAVs can also fly on-demand, which provides high temporal imagery. In this study, the authors examined different UAV-based approaches of ET estimation at first. Models and algorithms, such as mapping evapotranspiration at high resolution with internalized calibration (METRIC), the two-source energy balance (TSEB) model, and machine learning (ML) are analyzed and discussed herein. Second, challenges and opportunities for UAVs in ET estimation are also discussed, such as uncooled thermal camera calibration, UAV image collection, and image processing. Then, the authors share views on ET estimation with UAVs for future research and draw conclusive remarks.

Methodology of Processing Single-Strip Blocks of Imagery with Reduction and Optimization Number of Ground Control Points in UAV Photogrammetry

Unmanned aerial vehicle (UAV) systems are often used to collect high-resolution imagery. Data obtained from UAVs are now widely used for both military and civilian purposes. This article discusses the issues related to the use of UAVs for the imaging of restricted areas. Two methods of developing single-strip blocks with the optimal number of ground control points are presented. The proposed methodology is based on a modified linear regression model and an empirically modified Levenberg–Marquardt–Powell algorithm. The effectiveness of the proposed methods of adjusting a single-strip block were verified based on several test sets. For method I, the mean square errors (RMSE) values for the X, Y, Z coordinates of the control points were within the range of 0.03–0.13 m/0.08–0.09 m, and for the second method, 0.03–0.04 m/0.06–0.07 m. For independent control points, the RMSE values were 0.07–0.12 m/0.06–0.07 m for the first method and 0.07–0.12 m/0.07–0.09 m for the second method. The results of the single-strip block adjustment showed that the use of the modified Levenberg–Marquardt–Powell method improved the adjustment accuracy by 13% and 16%, respectively.

Rough or Noisy? Metrics for Noise Estimation in SfM Reconstructions

Structure from Motion (SfM) can produce highly detailed 3D reconstructions, but distinguishing real surface roughness from reconstruction noise and geometric inaccuracies has always been a difficult problem to solve. Existing SfM commercial solutions achieve noise removal by a combination of aggressive global smoothing and the reconstructed texture for smaller details, which is a subpar solution when the results are used for surface inspection. Other noise estimation and removal algorithms do not take advantage of all the additional data connected with SfM. We propose a number of geometrical and statistical metrics for noise assessment, based on both the reconstructed object and the capturing camera setup. We test the correlation of each of the metrics to the presence of noise on reconstructed surfaces and demonstrate that classical supervised learning methods, trained with these metrics can be used to distinguish between noise and roughness with an accuracy above 85%, with an additional 5-6% performance coming from the capturing setup metrics. Our proposed solution can easily be integrated into existing SfM workflows as it does not require more image data or additional sensors. Finally, as part of the testing we create an image dataset for SfM from a number of objects with varying shapes and sizes, which are available online together with ground truth annotations.

Fusion of Spectral and Structural Information from Aerial Images for Improved Biomass Estimation

Efficient, precise and timely measurement of plant traits is important in the assessment of a breeding population. Estimating crop biomass in breeding trials using high-throughput technologies is difficult, as reproductive and senescence stages do not relate to reflectance spectra, and multiple growth stages occur concurrently in diverse genotypes. Additionally, vegetation indices (VIs) saturate at high canopy coverage, and vertical growth profiles are difficult to capture using VIs. A novel approach was implemented involving a fusion of complementary spectral and structural information, to calculate intermediate metrics such as crop height model (CHM), crop coverage (CC) and crop volume (CV), which were finally used to calculate dry (DW) and fresh (FW) weight of above-ground biomass in wheat. The intermediate metrics, CHM (R2 = 0.81, SEE = 4.19 cm) and CC (OA = 99.2%, Κ = 0.98) were found to be accurate against equivalent ground truth measurements. The metrics CV and CV×VIs were used to develop an effective and accurate linear regression model relationship with DW (R2 = 0.96 and SEE = 69.2 g/m2) and FW (R2 = 0.89 and SEE = 333.54 g/m2). The implemented approach outperformed commonly used VIs for estimation of biomass at all growth stages in wheat. The achieved results strongly support the applicability of the proposed approach for high-throughput phenotyping of germplasm in wheat and other crop species.

Quality Assessment of Photogrammetric Models for Façade and Building Reconstruction Using DJI Phantom 4 RTK

Aerial photogrammetry by Unmanned Aerial Vehicles (UAVs) is a widespread method to perform mapping tasks with high-resolution to reconstruct three-dimensional (3D) building and façade models. However, the survey of Ground Control Points (GCPs) represents a time-consuming task, while the use of Real-Time Kinematic (RTK) drones allows for one to collect camera locations with an accuracy of a few centimeters. DJI Phantom 4 RTK (DJI-P4RTK) combines this with the possibility to acquire oblique images in stationary conditions and it currently represents a versatile drone widely used from professional users together with commercial Structure-from-Motion software, such as Agisoft Metashape. In this work, we analyze the architectural application of this drone to the photogrammetric modeling of a building with particular regard to metric survey specifications for cultural heritage for 1:20, 1:50, 1:100, and 1:200 scales. In particular, we designed an accuracy assessment test signalizing 109 points, surveying them with total station and adjusting the measurements through a network approach in order to achieve millimeter-level accuracy. Image datasets with a designed Ground Sample Distance (GSD) of 2 mm were acquired in Network RTK (NRTK) and RTK modes in manual piloting and processed both as single façades (S–F) and as an overall block (4–F). Subsequently, we compared the results of photogrammetric models generated in Agisoft Metashape to the Signalized Point (SP) coordinates. The results highlight the importance of processing an overall photogrammetric block, especially whenever part of camera locations exhibited a poorer accuracy due to multipath effects. No significant differences were found between the results of network real-time kinematic (NRTK) and real-time kinematic (RTK) datasets. Horizontal residuals were generally comparable to GNSS accuracy in NRTK/RTK mode, while vertical residuals were found to be affected by an offset of about 5 cm. We introduced an external GCP or used one SP per façade as GCP, assuming a poorer camera location accuracy at the same time, in order to fix this issue and comply with metric survey specifications for the widest architectural scale range. Finally, both S–F and 4–F projects satisfied the metric survey requirements of a scale of 1:50 in at least one of the approaches tested.

Photogrammetric Acquisitions in Diverse Archaeological Contexts Using Drones: Background of the Ager Mellariensis Project (North of Córdoba-Spain)

Unmanned aerial vehicles (UAVs) and aerial photogrammetry have greatly contributed to expanding research in scientific fields that employ geomatics techniques. Archaeology is one of the sciences that has advanced most as a result of this technological innovation. The geographic products obtained by UAV photogrammetric surveys can detect anomalies corresponding to ancient settlements and aid in designing future archaeological interventions. These acquisitions also offer attractive scientific dissemination products. We present five archaeological sites from different ages located in the Guadiato Valley of Córdoba, Spain, where a series of photogrammetric images were acquired for purposes of both research and dissemination. Acquisitions were designed based on the accessibility of the sites and on the end-user experience. The results present several photogrammetric products for use in research, and the mandatory dissemination of the results of a publicly-funded research project.

High-Resolution Structure-from-Motion for Quantitative Measurement of Leading-Edge Roughness

Over time, erosion of the leading edge of wind turbine blades increases the leading-edge roughness (LER). This may reduce the aerodynamic performance of the blade and hence the annual energy production of the wind turbine. As early detection is key for cost-effective maintenance, inspection methods are needed to quantify the LER of the blade. The aim of this proof-of-principle study is to determine whether high-resolution Structure-from-Motion (SfM) has the sufficient resolution and accuracy for quantitative inspection of LER. SfM provides 3D reconstruction of an object geometry using overlapping images of the object acquired with an RGB camera. Using information of the camera positions and orientations, absolute scale of the reconstruction can be achieved. Combined with a UAV platform, SfM has the potential for remote blade inspections with a reduced downtime. The tip of a decommissioned blade with an artificially enhanced erosion was used for the measurements. For validation, replica molding was used to transfer areas-of-interest to the lab for reference measurements using confocal microscopy. The SfM reconstruction resulted in a spatial resolution of 1 mm as well as a sub-mm accuracy in both the RMS surface roughness and the size of topographic features. In conclusion, high-resolution SfM demonstrated a successful quantitative reconstruction of LER.

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

Unmanned aerial vehicle (UAV) photogrammetry has recently emerged as a popular solution to obtain certain products necessary in linear projects, such as orthoimages or digital surface models. This is mainly due to its ability to provide these topographic products in a fast and economical way. In order to guarantee a certain degree of accuracy, it is important to know how many ground control points (GCPs) are necessary and how to distribute them across the study site. The purpose of this work consists of determining the number of GCPs and how to distribute them in a way that yields higher accuracy for a corridor-shaped study area. To do so, several photogrammetric projects have been carried out in which the number of GCPs used in the bundle adjustment and their distribution vary. The different projects were assessed taking into account two different parameters: the root mean square error (RMSE) and the Multiscale Model to Model Cloud Comparison (M3C2). From the different configurations tested, the projects using 9 and 11 GCPs (4.3 and 5.2 GCPs km−1, respectively) distributed alternatively on both sides of the road in an offset or zigzagging pattern, with a pair of GCPs at each end of the road, yielded optimal results regarding fieldwork cost, compared to projects using similar or more GCPs placed according to other distributions.

Application of LiDAR Data for the Modeling of Solar Radiation in Forest Artificial Gaps—A Case Study

Artificial canopy gaps (forest openings) are frequently used as an element of regeneration cutting. The development of regeneration in gaps can be controlled by selecting a relevant size and shape for the gap, which will regulate the radiation microclimate inside it. Based on the size and shape of a gap computer models can assess where solar radiation is decreased or eliminated by the surrounding canopy. The accuracy of such models to a large extent depends on how the modeled shape of a gap matches the actual shape of the gap. The aim of this study was to compare the results of modeling solar radiation availability by applying Solar Radiation Tools (SRT) that use a different digital surface model (DSM) for a description of the shape of a studied gap, with the results of the analysis of 27 hemispherical photographs. The three-dimensional gap shape was approximated with the use of simple geometrical prisms or airborne laser scanning (LiDAR) data. The impact of two variations of exposure (automatic and manual underexposure) and two variations of automatic thresholding on the congruence of SRT and Gap Light Analyzer (GLA) results were studied. Taking into account information on differences in height between trees surrounding the gap enhanced the results of modeling. The best results were obtained when the boundary of the gap base estimated from LiDAR was expanded in all directions by a value close to a mean radius of the crowns of surrounding trees. Modeling of radiation conditions on the gap floor based on LiDAR data by an SRT program is efficient and more time effective than taking hemispherical photographs. The proposed solution can be successfully applied as a trustworthy source of information about light conditions in gaps, which is needed for management decision-making in silviculture.

Modeling Salt Marsh Vegetation Height Using Unoccupied Aircraft Systems and Structure from Motion

Salt marshes provide important services to coastal ecosystems in the southeastern United States. In many locations, salt marsh habitats are threatened by coastal development and erosion, necessitating large-scale monitoring. Assessing vegetation height across the extent of a marsh can provide a comprehensive analysis of its health, as vegetation height is associated with Above Ground Biomass (AGB) and can be used to track degradation or growth over time. Traditional methods to do this, however, rely on manual measurements of stem heights that can cause harm to the marsh ecosystem. Moreover, manual measurements are limited in scale and are often time and labor intensive. Unoccupied Aircraft Systems (UAS) can provide an alternative to manual measurements and generate continuous results across a large spatial extent in a short period of time. In this study, a multirotor UAS equipped with optical Red Green Blue (RGB) and multispectral sensors was used to survey five salt marshes in Beaufort, North Carolina. Structure-from-Motion (SfM) photogrammetry of the resultant imagery allowed for continuous modeling of the entire marsh ecosystem in a three-dimensional space. From these models, vegetation height was extracted and compared to ground-based manual measurements. Vegetation heights generated from UAS data consistently under-predicted true vegetation height proportionally and a transformation was developed to predict true vegetation height. Vegetation height may be used as a proxy for Above Ground Biomass (AGB) and contribute to blue carbon estimates, which describe the carbon sequestered in marine ecosystems. Employing this transformation, our results indicate that UAS and SfM are capable of producing accurate assessments of salt marsh health via consistent and accurate vegetation height measurements.

A Comprehensive Review of Applications of Drone Technology in the Mining Industry

This paper aims to provide a comprehensive review of the current state of drone technology and its applications in the mining industry. The mining industry has shown increased interest in the use of drones for routine operations. These applications include 3D mapping of the mine environment, ore control, rock discontinuities mapping, postblast rock fragmentation measurements, and tailing stability monitoring, to name a few. The article offers a review of drone types, specifications, and applications of commercially available drones for mining applications. Finally, the research needs for the design and implementation of drones for underground mining applications are discussed.

Using Linear Regression, Random Forests, and Support Vector Machine with Unmanned Aerial Vehicle Multispectral Images to Predict Canopy Nitrogen Weight in Corn

The optimization of crop nitrogen fertilization to accurately predict and match the nitrogen (N) supply to the crop N demand is the subject of intense research due to the environmental and economic impact of N fertilization. Excess N could seep into the water supplies around the field and cause unnecessary spending by the farmer. The drawbacks of N deficiency on crops include poor plant growth, ultimately reducing the final yield potential. The objective of this study is to use Unmanned Aerial Vehicle (UAV) multispectral imagery to predict canopy nitrogen weight (g/m2) of corn fields in south-west Ontario, Canada. Simple/multiple linear regression, Random Forests, and support vector regression (SVR) were established to predict the canopy nitrogen weight from individual multispectral bands and associated vegetation indices (VI). Random Forests using the current techniques/methodologies performed the best out of all the models tested on the validation set with an R2 of 0.85 and Root Mean Square Error (RMSE) of 4.52 g/m2. Adding more spectral variables into the model provided a marginal improvement in the accuracy, while extending the overall processing time. Random Forests provided marginally better results than SVR, but the concepts and analysis are much easier to interpret on Random Forests. Both machine learning models provided a much better accuracy than linear regression. The best model was then applied to the UAV images acquired at different dates for producing maps that show the spatial variation of canopy nitrogen weight within each field at that date.

Low-Altitude Terrain-Following Flight Planning for Multirotors

Surveying with unmanned aerial vehicles flying close to the terrain is crucial for the collection of details that are not visible when flying at higher altitudes. This type of missions can be applied in several scenarios such as search and rescue, precision agriculture, and environmental monitoring, to name a few. We present a strategy for the generation of low-altitude trajectories for terrain following. The trajectory is generated taking into account the morphology of the area of interest, represented as a georeferenced Digital Surface Model (DSM), while ensuring a safe separation from any obstacle. The surface model of the scenario is created by using a UAV-based photogrammetry software, which processes the images acquired during a preliminary mission at high altitude. The solution was developed, tested, and verified both in simulation and in real scenarios with a multirotor equipped with low-cost sensing. The experimental results proved the validity of the generation of trajectories at altitudes lower than most of the works available in the literature. The images acquired during the low-altitude mission were processed to obtain a high-resolution reconstruction of the area as a representative application result.

Integrating UAV and TLS Approaches for Environmental Management: A Case Study of a Waste Stockpile Area

A methodology for optimal volume computation for the environmental management of waste stockpiles was derived by integrating the terrestrial laser scanning (TLS) and unmanned aerial vehicle (UAV) technologies. Among the UAV-based point clouds generated under various flight scenarios, the most accurate point cloud was selected for analysis. The root mean square errors (RMSEs) of the TLS- and UAV-based methods were 0.202 and 0.032 m, respectively, and the volume computation yielded 41,226 and 41,526 m3, respectively. Both techniques showed high accuracy but also exhibited drawbacks in terms of their spatial features and efficiency. The TLS and UAV methods required 800 and 340 min, respectively, demonstrating the high efficiency of the UAV method. The RMSE and volume obtained using the TLS/UAV fusion model were calculated as 0.030 m and 41,232 m3, respectively. The UAV approach generally yielded high point cloud accuracy and volume computation efficiency.

Identification and Analysis of Microscale Hydrologic Flood Impacts Using Unmanned Aerial Systems

The need for accurate and spatially detailed hydrologic information is critical due to the microscale influences on the severity and distribution of flooding, and new and/or updated approaches in observations of river systems are required that are in line with the current push towards microscale numerical simulations. In response, the aim of this project is to define and illustrate the hydrologic response of river flooding relative to microscale surface properties by using an unmanned aerial system (UAS) with dedicated imaging, sensor, and communication packages for data collection. As part of a larger project focused on increasing situational awareness during flood events, a fixed-wing UAS was used to overfly areas near Greenwood, MS before and during a flood event in February 2019 to provide high-resolution visible and infrared imagery for analysis of hydrologic features. The imagery obtained from these missions provide direct examples of fine-scale surface features that can alter water level and discharge, such as built structures (i.e., levees and bridges), natural storage features (low-lying agricultural fields), and areas of natural resistance (inundated forests). This type of information is critical in defining where and how to incorporate high-resolution information into hydrologic models and also provides an invaluable dataset for eventual verification of hydrologic simulations through inundation mapping.

Remote Sensing Applications in Monitoring of Protected Areas

Protected areas (PAs) have been established worldwide for achieving long-term goals in the conservation of nature with the associated ecosystem services and cultural values. Globally, 15% of the world’s terrestrial lands and inland waters, excluding Antarctica, are designated as PAs. About 4.12% of the global ocean and 10.2% of coastal and marine areas under national jurisdiction are set as marine protected areas (MPAs). Protected lands and waters serve as the fundamental building blocks of virtually all national and international conservation strategies, supported by governments and international institutions. Some of the PAs are the only places that contain undisturbed landscape, seascape and ecosystems on the planet Earth. With intensified impacts from climate and environmental change, PAs have become more important to serve as indicators of ecosystem status and functions. Earth’s remaining wilderness areas are becoming increasingly important buffers against changing conditions. The development of remote sensing platforms and sensors and the improvement in science and technology provide crucial support for the monitoring and management of PAs across the world. In this editorial paper, we reviewed research developments using state-of-the-art remote sensing technologies, discussed the challenges of remote sensing applications in the inventory, monitoring, management and governance of PAs and summarized the highlights of the articles published in this Special Issue.

The Use of Precise Survey Techniques to Find the Connection between Discontinuities and Surface Morphologic Features in the Laže Quarry in Slovenia

This paper addresses a stability evaluation of artificial slopes in a quarry located in Slovenia that was affected by a rockslide in March 2019. In order to ensure the safety of further production, measures were taken to restore the slopes. A stability assessment of the remaining parts of the quarry was conducted. To ensure quality spatial data, an upgraded study based on terrain mapping and aerial photogrammetric imaging using an unmanned aircraft was carried out, in addition to a traditional field survey of the quarry. So that the data were qualitatively useful, a digital terrain and discontinuity model was developed. Projections of the discontinuities occurring in the quarry and in the wider area were determined. The focus of the modeling was finding the main systems of discontinuities and projecting these systems onto the unexcavated parts of the quarry.

Enhanced 3D Point Cloud from a Light Field Image

The importance of three-dimensional (3D) point cloud technologies in the field of agriculture environmental research has increased in recent years. Obtaining dense and accurate 3D reconstructions of plants and urban areas provide useful information for remote sensing. In this paper, we propose a novel strategy for the enhancement of 3D point clouds from a single 4D light field (LF) image. Using a light field camera in this way creates an easy way for obtaining 3D point clouds from one snapshot and enabling diversity in monitoring and modelling applications for remote sensing. Considering an LF image and associated depth map as an input, we first apply histogram equalization and histogram stretching to enhance the separation between depth planes. We then apply multi-modal edge detection by using feature matching and fuzzy logic from the central sub-aperture LF image and the depth map. These two steps of depth map enhancement are significant parts of our novelty for this work. After combing the two previous steps and transforming the point–plane correspondence, we can obtain the 3D point cloud. We tested our method with synthetic and real world image databases. To verify the accuracy of our method, we compared our results with two different state-of-the-art algorithms. The results showed that our method can reliably mitigate noise and had the highest level of detail compared to other existing methods.

Coastal Mapping Using DJI Phantom 4 RTK in Post-Processing Kinematic Mode

Topographic and geomorphological surveys of coastal areas usually require the aerial mapping of long and narrow sections of littoral. The georeferencing of photogrammetric models is generally based on the signalization and survey of Ground Control Points (GCPs), which are very time-consuming tasks. Direct georeferencing with high camera location accuracy due to on-board multi-frequency GNSS receivers can limit the need for GCPs. Recently, DJI has made available the Phantom 4 Real-Time Kinematic (RTK) (DJI-P4RTK), which combines the versatility and the ease of use of previous DJI Phantom models with the advantages of a multi-frequency on-board GNSS receiver. In this paper, we investigated the accuracy of both photogrammetric models and Digital Terrain Models (DTMs) generated in Agisoft Metashape from two different image datasets (nadiral and oblique) acquired by a DJI-P4RTK. Camera locations were computed with the Post-Processing Kinematic (PPK) of the Receiver Independent Exchange Format (RINEX) file recorded by the aircraft during flight missions. A Continuously Operating Reference Station (CORS) located at a 15 km distance from the site was used for this task. The results highlighted that the oblique dataset produced very similar results, with GCPs (3D RMSE = 0.025 m) and without (3D RMSE = 0.028 m), while the nadiral dataset was affected more by the position and number of the GCPs (3D RMSE from 0.034 to 0.075 m). The introduction of a few oblique images into the nadiral dataset without any GCP improved the vertical accuracy of the model (Up RMSE from 0.052 to 0.025 m) and can represent a solution to speed up the image acquisition of nadiral datasets for PPK with the DJI-P4RTK and no GCPs. Moreover, the results of this research are compared to those obtained in RTK mode for the same datasets. The novelty of this research is the combination of a multitude of aspects regarding the DJI Phantom 4 RTK aircraft and the subsequent data processing strategies for assessing the quality of photogrammetric models, DTMs, and cross-section profiles.

Review: Cost-Effective Unmanned Aerial Vehicle (UAV) Platform for Field Plant Breeding Application

Utilization of remote sensing is a new wave of modern agriculture that accelerates plant breeding and research, and the performance of farming practices and farm management. High-throughput phenotyping is a key advanced agricultural technology and has been rapidly adopted in plant research. However, technology adoption is not easy due to cost limitations in academia. This article reviews various commercial unmanned aerial vehicle (UAV) platforms as a high-throughput phenotyping technology for plant breeding. It compares known commercial UAV platforms that are cost-effective and manageable in field settings and demonstrates a general workflow for high-throughput phenotyping, including data analysis. The authors expect this article to create opportunities for academics to access new technologies and utilize the information for their research and breeding programs in more workable ways.

Accuracy Assessment of a UAV Block by Different Software Packages, Processing Schemes and Validation Strategies

Unmanned aerial vehicle (UAV) systems are heavily adopted nowadays to collect high-resolution imagery with the purpose of documenting and mapping environment and cultural heritage. Such data are currently processed by programs based on the Structure from Motion (SfM) concept, coming from the computer vision community, rather than from classical photogrammetry. It is interesting to check whether some widely accepted rules coming from old-fashioned photogrammetry still holds: the relation between accuracy and ground sampling distance (GSD), the ratio between the vertical and horizontal accuracy, accuracy estimated on ground control points (GCPs) vs. that estimated with check points (CPs) also in relation to their ratio and distribution. To face the envisaged aspects, the paper adopts a comparative approach, as several programs are used and numerous configurations considered. The paper illustrates the dataset adopted, the carefully tuned processing strategies and bundle block adjustment (BBA) results in terms of accuracy for both GCPs and CPs. Finally, a leave-one-out (LOO) cross-validation strategy is proposed to assess the accuracy for one of the proposed configurations. Some of the reported results were previously presented in the 5th GISTAM Conference.

Determining the Suitable Number of Ground Control Points for UAS Images Georeferencing by Varying Number and Spatial Distribution

Currently, products that are obtained by Unmanned Aerial Systems (UAS) image processing based on structure-from-motion photogrammetry (SfM) are being investigated for use in high precision projects. Independent of the georeferencing process being done directly or indirectly, Ground Control Points (GCPs) are needed to increase the accuracy of the obtained products. A minimum of three GCPs is required to bring the results into a desired coordinate system through the indirect georeferencing process, but it is well known that increasing the number of GCPs will lead to a higher accuracy of the final results. The aim of this study is to find the suitable number of GCPs to derive high precision results and what is the effect of GCPs systematic or stratified random distribution on the accuracy of the georeferencing process and the final products, respectively. The case study involves an urban area of about 1 ha that was photographed with a low-cost UAS, namely, the DJI Phantom 3 Standard, at 28 m above ground. The camera was oriented in a nadiral position and 300 points were measured using a total station in a local coordinate system. The UAS images were processed using the 3DF Zephyr software performing a full BBA with a variable number of GCPs i.e., from four up to 150, while the number and the spatial location of check points (ChPs) was kept constant i.e., 150 for each independent distribution. In addition, the systematic and stratified random distribution of GCPs and ChPs spatial positions was analysed. Furthermore, the point clouds and the mesh surfaces that were automatically derived were compared with a terrestrial laser scanner (TLS) point cloud while also considering three test areas: two inside the area defined by GCPs and one outside the area. The results expressed a clear overview of the number of GCPs needed for the indirect georeferencing process with minimum influence on the final results. The RMSE can be reduced down to 50% when switching from four to 20 GCPs, whereas a higher number of GCPs only slightly improves the results.

Assessment of Multi-Image Unmanned Aerial Vehicle Based High-Throughput Field Phenotyping of Canopy Temperature

Canopy temperature (CT) has been related to water-use and yield formation in crops. However, constantly (e.g., sun illumination angle, ambient temperature) as well as rapidly (e.g., clouds) changing environmental conditions make it difficult to compare measurements taken even at short time intervals. This poses a great challenge for high-throughput field phenotyping (HTFP). The aim of this study was to i) set up a workflow for unmanned aerial vehicles (UAV) based HTFP of CT, ii) investigate different data processing procedures to combine information from multiple images into orthomosaics, iii) investigate the repeatability of the resulting CT by means of heritability, and iv) investigate the optimal timing for thermography measurements. Additionally, the approach was v) compared with other methods for HTFP of CT. The study was carried out in a winter wheat field trial with 354 genotypes planted in two replications in a temperate climate, where a UAV captured CT in a time series of 24 flights during 6 weeks of the grain-filling phase. Custom-made thermal ground control points enabled accurate georeferencing of the data. The generated thermal orthomosaics had a high spatial accuracy (mean ground sampling distance of 5.03 cm/pixel) and position accuracy [mean root-mean-square deviation (RMSE) = 4.79 cm] over all time points. An analysis on the impact of the measurement geometry revealed a gradient of apparent CT in parallel to the principle plane of the sun and a hotspot around nadir. Averaging information from all available images (and all measurement geometries) for an area of interest provided the best results by means of heritability. Correcting for spatial in-field heterogeneity as well as slight environmental changes during the measurements were performed with the R package SpATS. CT heritability ranged from 0.36 to 0.74. Highest heritability values were found in the early afternoon. Since senescence was found to influence the results, it is recommended to measure CT in wheat after flowering and before the onset of senescence. Overall, low-altitude and high-resolution remote sensing proved suitable to assess the CT of crop genotypes in a large number of small field plots as is required in crop breeding and variety testing experiments.

Technology innovation: advancing capacities for the early detection of and rapid response to invasive species

The 2016–2018National Invasive Species Council (NISC) Management Plan and Executive Order 13751 call for US federal agencies to foster technology development and application to address invasive species and their impacts. This paper complements and draws on an Innovation Summit, review of advanced biotechnologies applicable to invasive species management, and a survey of federal agencies that respond to these high-level directives. We provide an assessment of federal government capacities for the early detection of and rapid response to invasive species (EDRR) through advances in technology application; examples of emerging technologies for the detection, identification, reporting, and response to invasive species; and guidance for fostering further advancements in applicable technologies. Throughout the paper, we provide examples of how federal agencies are applying technologies to improve programmatic effectiveness and cost-efficiencies. We also highlight the outstanding technology-related needs identified by federal agencies to overcome barriers to enacting EDRR. Examples include improvements in research facility infrastructure, data mobilization across a wide range of invasive species parameters (from genetic to landscape scales), promotion of and support for filling key gaps in technological capacity (e.g., portable, field-ready devices with automated capacities), and greater investments in technology prizes and challenge competitions.

An efficient RGB-UAV-based platform for field almond tree phenotyping: 3-D architecture and flowering traits

BACKGROUND

Almond is an emerging crop due to the health benefits of almond consumption including nutritional, anti-inflammatory, and hypocholesterolaemia properties. Traditional almond producers were concentrated in California, Australia, and Mediterranean countries. However, almond is currently present in more than 50 countries due to breeding programs have modernized almond orchards by developing new varieties with improved traits related to late flowering (to reduce the risk of damage caused by late frosts) and tree architecture. Almond tree architecture and flowering are acquired and evaluated through intensive field labour for breeders. Flowering detection has traditionally been a very challenging objective. To our knowledge, there is no published information about monitoring of the tree flowering dynamics of a crop at the field scale by using color information from photogrammetric 3D point clouds and OBIA. As an alternative, a procedure based on the generation of colored photogrammetric point clouds using a low cost (RGB) camera on-board an unmanned aerial vehicle (UAV), and an semi-automatic object based image analysis (OBIA) algorithm was created for monitoring the flower density and flowering period of every almond tree in the framework of two almond phenotypic trials with different planting dates.

RESULTS

Our method was useful for detecting the phenotypic variability of every almond variety by mapping and quantifying every tree height and volume as well as the flowering dynamics and flower density. There was a high level of agreement among the tree height, flower density, and blooming calendar derived from our procedure on both fields with the ones created from on-ground measured data. Some of the almond varieties showed a significant linear fit between its crown volume and their yield.

CONCLUSIONS

Our findings could help breeders and researchers to reduce the gap between phenomics and genomics by generating accurate almond tree information in an efficient, non-destructive, and inexpensive way. The method described is also useful for data mining to select the most promising accessions, making it possible to assess specific multi-criteria ranking varieties, which are one of the main tools for breeders.

Simulation and Analysis of Photogrammetric UAV Image Blocks—Influence of Camera Calibration Error

Unmanned aerial vehicles (UAV) are increasingly used for topographic mapping. The camera calibration for UAV image blocks can be performed a priori or during the bundle block adjustment (self-calibration). For an area of interest with flat scene and corridor configuration, the focal length of camera is highly correlated with the height of the camera. Furthermore, systematic errors of camera calibration accumulate on the longer dimension and cause deformation. Therefore, special precautions must be taken when estimating camera calibration parameters. In order to better investigate the impact of camera calibration errors, a synthetic, error-free aerial image block is generated to simulate several issues of interest. Firstly, the erroneous focal length in the case of camera pre-calibration is studied. Nadir images are not able to prevent camera poses from drifting to compensate for the erroneous focal length, whereas the inclusion of oblique images brings significant improvement. Secondly, the case where the focal length varies gradually (e.g., when the camera subject to temperature changes) is investigated. The neglect of this phenomenon can substantially degrade the 3D measurement accuracy. Different flight configurations and flight orders are analyzed, the combination of oblique and nadir images shows better performance. At last, the rolling shutter effect is investigated. The influence of camera rotational motion on the final accuracy is negligible compared to that of the translational motion. The acquisition configurations investigated are not able to mitigate the degradation introduced by the rolling shutter effect. Other solutions such as correcting image measurements or including camera motion parameters in the bundle block adjustment should be exploited.

Geometric and Radiometric Consistency of Parrot Sequoia Multispectral Imagery for Precision Agriculture Applications

This paper is about the geometric and radiometric consistency of diverse and overlapping datasets acquired with the Parrot Sequoia camera. The multispectral imagery datasets were acquired above agricultural fields in Northern Italy and radiometric calibration images were taken before each flight. Processing was performed with the Pix4Dmapper suite following a single-block approach: images acquired in different flight missions were processed in as many projects, where different block orientation strategies were adopted and compared. Results were assessed in terms of geometric and radiometric consistency in the overlapping areas. The geometric consistency was evaluated in terms of point cloud distance using iterative closest point (ICP), while the radiometric consistency was analyzed by computing the differences between the reflectance maps and vegetation indices produced according to adopted processing strategies. For normalized difference vegetation index (NDVI), a comparison with Sentinel-2 was also made. This paper will present results obtained for two (out of several) overlapped blocks. The geometric consistency is good (root mean square error (RMSE) in the order of 0.1 m), except for when direct georeferencing is considered. Radiometric consistency instead presents larger problems, especially in some bands and in vegetation indices that have differences above 20%. The comparison with Sentinel-2 products shows a general overestimation of Sequoia data but with similar spatial variations (Pearson’s correlation coefficient of about 0.7, p-value < 2.2 × 10−16).

Multi-Variant Accuracy Evaluation of UAV Imaging Surveys: A Case Study on Investment Area

The main focus of the presented study is a multi-variant accuracy assessment of a photogrammetric 2D and 3D data collection, whose accuracy meets the appropriate technical requirements, based on the block of 858 digital images (4.6 cm ground sample distance) acquired by Trimble^® UX5 unmanned aircraft system equipped with Sony NEX-5T compact system camera. All 1418 well-defined ground control and check points were a posteriori measured applying Global Navigation Satellite Systems (GNSS) using the real-time network method. High accuracy of photogrammetric products was obtained by the computations performed according to the proposed methodology, which assumes multi-variant images processing and extended error analysis. The detection of blurred images was preprocessed applying Laplacian operator and Fourier transform implemented in Python using the Open Source Computer Vision library. The data collection was performed in Pix4Dmapper suite supported by additional software: in the bundle block adjustment (results verified using RealityCapure and PhotoScan applications), on the digital surface model (CloudCompare), and georeferenced orthomosaic in GeoTIFF format (AutoCAD Civil 3D). The study proved the high accuracy and significant statistical reliability of unmanned aerial vehicle (UAV) imaging 2D and 3D surveys. The accuracy fulfills Polish and US technical requirements of planimetric and vertical accuracy (root mean square error less than or equal to 0.10 m and 0.05 m).