Showing papers by "Norbert Pfeifer published in 2016"

Suitability of ground-based SfM–MVS for monitoring glacial and periglacial processes

Abstract: . Photo-based surface reconstruction is rapidly emerging as an alternative survey technique to lidar (light detection and ranging) in many fields of geoscience fostered by the recent development of computer vision algorithms such as structure from motion (SfM) and dense image matching such as multi-view stereo (MVS). The objectives of this work are to test the suitability of the ground-based SfM–MVS approach for calculating the geodetic mass balance of a 2.1 km2 glacier and for detecting the surface displacement of a neighbouring active rock glacier located in the eastern Italian Alps. The photos were acquired in 2013 and 2014 using a digital consumer-grade camera during single-day field surveys. Airborne laser scanning (ALS, otherwise known as airborne lidar) data were used as benchmarks to estimate the accuracy of the photogrammetric digital elevation models (DEMs) and the reliability of the method. The SfM–MVS approach enabled the reconstruction of high-quality DEMs, which provided estimates of glacial and periglacial processes similar to those achievable using ALS. In stable bedrock areas outside the glacier, the mean and the standard deviation of the elevation difference between the SfM–MVS DEM and the ALS DEM was −0.42 ± 1.72 and 0.03 ± 0.74 m in 2013 and 2014, respectively. The overall pattern of elevation loss and gain on the glacier were similar with both methods, ranging between −5.53 and + 3.48 m. In the rock glacier area, the elevation difference between the SfM–MVS DEM and the ALS DEM was 0.02 ± 0.17 m. The SfM–MVS was able to reproduce the patterns and the magnitudes of displacement of the rock glacier observed by the ALS, ranging between 0.00 and 0.48 m per year. The use of natural targets as ground control points, the occurrence of shadowed and low-contrast areas, and in particular the suboptimal camera network geometry imposed by the morphology of the study area were the main factors affecting the accuracy of photogrammetric DEMs negatively. Technical improvements such as using an aerial platform and/or placing artificial targets could significantly improve the results but run the risk of being more demanding in terms of costs and logistics.

Rigorous Strip Adjustment of UAV-based Laserscanning Data Including Time-Dependent Correction of Trajectory Errors

Abstract: A new generation of laser scanners mounted on Unmanned Aerial Vehicles ( uav s) have the potential to provide highquality point clouds of comparatively small areas (a few hectares). The high maneuverability of the uav s, a typically large field of view of the laser scanners, and a comparatively small measurement range lead to point clouds with very high point density, less occlusions, and low measurement noise. However, due to the limited payload of uav s, lightweight navigation sensors with a moderate level of accuracy are used to estimate the platform’s trajectory. As a consequence, the georeferencing quality of the point clouds is usually sub-optimal; for this, strip adjustment can be performed. The main goal of strip adjustment is to simultaneously optimize the relative and absolute orientation of the strip-wise collected point clouds. This is done by fully re-calibrating the laser scanning system and by correcting systematic measurement errors of the trajectory. In this paper, we extend our previous work on the topic of strip adjustment by the estimation of time-dependent trajectory errors. The errors are thereby modelled by natural cubic splines with constant segment length in time domain. First results confirm the suitability of this flexible correction model by reducing the relative and absolute strip discrepancies to 1.38 cm and 1.65 cm, respectively.

Automatic and Self-Adaptive Stem Reconstruction in Landslide-Affected Forests

Abstract: Terrestrial laser scanning (TLS) is a promising technique for plot-wise acquisition of geometric attributes of forests. However, there still exists a need for TLS applications in mountain forests where tree stems’ growing directions are not vertical. This paper presents a novel method to model tree stems precisely in an alpine landslide-affected forest using TLS. Tree stems are automatically detected by a two-layer projection method. Stems are modeled by fitting a series of cylinders based on a 2D-3D random sample consensus (RANSAC)-based approach. Diameter at breast height (DBH) was manually measured in the field, and stem curves were measured from the point cloud as reference data. The results showed that all trees in the test area can be detected. The root mean square error (RMSE) of estimated DBH was 1.80 cm (5.5%). Stem curves were automatically generated and compared with reference data, as well as stem volumes. The results imply that the proposed method is able to map and model the stem curve precisely in complex forest conditions. The resulting stem parameters can be employed in single tree biomass estimation, tree growth quantification and other forest-related studies.

Deriving HD maps for highly automated driving from vehicular probe data

Abstract: High definition (HD) map data is a key feature to enable highly automated driving. With the advent of highly automated vehicles, car makers and map suppliers investigate new approaches to create and maintain HD maps by using on-board sensor data of series vehicles. While state-of-the-art-approaches focus on position and speed data analysis, the consideration of additional vehicle sensor data allows for novel approaches in the context of HD maps. By 2020, more than 30 million connected vehicles are expected to be sold per year, which will generate millions of terabytes of vehicular probe data. One of the major upcoming research issues is to find methods to exploit that probe data to generate and maintain HD maps. In this paper, we address how to develop such methods. We introduce a scalable infrastructure, which supports the ingestion, management and analysis of huge amounts of probe data. It supports an iterative process to develop, assess and tune methods for generating HD maps from probe data. We present a metric to assess methods regarding resulting map precision. As a proof of concept, we present an approach to derive road geometry of highways from location and sensor information.

Quantification of Overnight Movement of Birch (Betula pendula) Branches and Foliage with Short Interval Terrestrial Laser Scanning

Abstract: The goal of the study was to determine circadian movements of silver birch (Petula Bendula) branches and foliage detected with terrestrial laser scanning (TLS). The study consisted of two geographically separate experiments conducted in Finland and in Austria. Both experiments were carried out at the same time of the year and under similar outdoor conditions. Experiments consisted of 14 (Finland) and 77 (Austria) individual laser scans taken between sunset and sunrise. The resulting point clouds were used in creating a time series of branch movements. In the Finnish data, the vertical movement of the whole tree crown was monitored due to low volumetric point density. In the Austrian data, movements of manually selected representative points on branches were monitored. The movements were monitored from dusk until morning hours in order to avoid daytime wind effects. The results indicated that height deciles of the Finnish birch crown had vertical movements between -10.0 and 5.0 cm compared to the situation at sunset. In the Austrian data, the maximum detected representative point movement was 10.0 cm. The temporal development of the movements followed a highly similar pattern in both experiments, with the maximum movements occurring about an hour and a half before (Austria) or around (Finland) sunrise. The results demonstrate the potential of terrestrial laser scanning measurements in support of chronobiology.

Evaluation of a Novel Uav-Borne Topo-Bathymetric Laser Profiler

Abstract: . We present a novel topo-bathymetric laser profiler. The sensor system (RIEGL BathyCopter) comprises a laser range finder, an Inertial Measurement Unit (IMU), a Global Navigation Satellite System (GNSS) receiver, a control unit, and digital cameras mounted on an octocopter UAV (RiCOPTER). The range finder operates on the time-of-flight measurement principle and utilizes very short laser pulses (

Age structure, carbonate production and shell loss rate in an Early Miocene reef of the giant oyster Crassostrea gryphoides

Abstract: . We present the first analysis of population structure and cohort distribution in a fossil oyster shell bed based on 1121 shells of the giant oyster Crassostrea gryphoides (von Schlotheim, 1813). Data derive from terrestrial laser scanning of a Lower Miocene shell bed covering 459 m2. Within two transects, individual shells were manually outlined on a digital surface model and cross-checked based on high-resolution orthophotos, resulting in accurate information on center line length and area of exposed shell surface. A growth model was calculated, revealing this species as the fastest growing and largest Crassostrea known so far. Non-normal distribution of size, area and age data hints at the presence of at least four distinct recruitment cohorts. The rapid decline of frequency amplitudes with age is interpreted to be a function of mortality and shell loss. The calculated shell half-lives range around a few years, indicating that oyster reefs were geologically short-lived structures, which could have been fully degraded on a decadal scale. Crassostrea gryphoides reefs were widespread and common along the Miocene circum-Tethyan coasts. Given its enormous growth performance of ∼ 150 g carbonate per year this species has been an important carbonate producer in estuarine settings. Yet, the rapid shell loss impeded the formation of stable structures comparable to coral reefs.

Fast and robust stem reconstruction in complex environments using terrestrial laser scanning

Abstract: . Terrestrial Laser Scanning (TLS) is an effective tool in forest research and management. However, accurate estimation of tree parameters still remains challenging in complex forests. In this paper, we present a novel algorithm for stem modeling in complex environments. This method does not require accurate delineation of stem points from the original point cloud. The stem reconstruction features a self-adaptive cylinder growing scheme. This algorithm is tested for a landslide region in the federal state of Vorarlberg, Austria. The algorithm results are compared with field reference data, which show that our algorithm is able to accurately retrieve the diameter at breast height (DBH) with a root mean square error (RMSE) of ~1.9 cm. This algorithm is further facilitated by applying an advanced sampling technique. Different sampling rates are applied and tested. It is found that a sampling rate of 7.5% is already able to retain the stem fitting quality and simultaneously reduce the computation time significantly by ~88%.

Assessment of the geometric quality of sentinel-2 data

Abstract: . High resolution (10 m and 20 m) optical imagery satellite Sentinel-2 brings a new perspective to Earth observation. Its frequent revisit time enables monitoring the Earth surface with high reliability. Since Sentinel-2 data is provided free of charge by the European Space Agency, its mass use for variety of purposes is expected. Quality evaluation of Sentinel-2 data is thus necessary. Quality analysis in this experiment is based on comparison of Sentinel-2 imagery with reference data (orthophoto). From the possible set of features to compare (point features, texture lines, objects, etc.) line segments were chosen because visual analysis suggested that scale differences matter least for these features. The experiment was thus designed to compare long line segments (e.g. airstrips, roads, etc.) in both datasets as the most representative entities. Edge detection was applied to both images and corresponding edges were manually selected. The statistical parameter which describes the geometrical relation between different images (and between datasets in general) covering the same area is calculated as the distance between corresponding curves in two datasets. The experiment was conducted for two different test sites, Austria and Serbia. From 21 lines with a total length of ca. 120 km the average offset of 6.031 m (0.60 pixel of Sentinel-2) was obtained for Austria, whereas for Serbia the average offset of 12.720 m (1.27 pixel of Sentinel-2) was obtained out of 10 lines with a total length of ca. 38 km.

ULS LiDAR SUPPORTED ANALYSES OF LASER BEAM PENETRATION FROM DIFFERENT ALS SYSTEMS INTO VEGETATION

Abstract: . This study analyses the underestimation of tree and shrub heights for different airborne laser scanner systems and point cloud distribution within the vegetation column. Reference data was produced by a novel UAV-borne laser scanning (ULS) with a high point density in the complete vegetation column. With its physical parameters (e.g. footprint) and its relative accuracy within the block as stated in Section 2.2 the reference data is supposed to be highly suitable to detect the highest point of the vegetation. An airborne topographic (ALS) and topo-bathymetric (ALB) system were investigated. All data was collected in a period of one month in leaf-off condition, while the dominant tree species in the study area are deciduous trees. By robustly estimating the highest 3d vegetation point of each laser system the underestimation of the vegetation height was examined in respect to the ULS reference data. This resulted in a higher under-estimation of the airborne topographic system with 0.60 m (trees) and 0.55 m (shrubs) than for the topo-bathymetric system 0.30 m (trees) and 0.40 m (shrubs). The degree of the underestimation depends on structural characteristics of the vegetation itself and physical specification of the laser system.

High-resolution 3D surface modeling of a fossil oyster reef

Abstract: The world’s largest fossil oyster reef, formed by the giant oyster Crassostrea gryphoides and located in Stetten (north of Vienna, Austria), is studied in this article. Digital documentation of the unique geological site is provided by terrestrial laser scanning (TLS) at the millimeter scale. Obtaining meaningful results is not merely a matter of data acquisition with a suitable device; it requires proper planning, data management, and postprocessing. Terrestrial laser scanning technology has a high potential for providing precise 3D mapping that serves as the basis for automatic object detection in different scenarios; however, it faces challenges in the presence of large amounts of data and the irregular geometry of an oyster reef. We provide a detailed description of the techniques and strategy used for data collection and processing. The use of laser scanning provided the ability to measure surface points of 46,840 (estimated) shells. They are up to 60-cm-long oyster specimens, and their surfaces are modeled with a high accuracy of 1 mm. In addition, we propose an automatic analysis method for identifying and enumerating convex parts of shells. Object surfaces were detected with a completeness of 69% and a correctness of over 75% by means of a fully automated workflow. Accuracy of 98% was achieved in detecting the number of objects. In addition to laser scanning measurements, more than 300 photographs were captured, and an orthophoto mosaic was generated with a ground sampling distance (GSD) of 0.5 mm. This high-resolution 3D information and the photographic texture serve as the basis for ongoing and future geological and paleontological analyses. Moreover, they provide unprecedented documentation for conservation issues at a unique natural heritage site.

Automated Archiving of Archaeological Aerial Images

Abstract: The main purpose of any aerial photo archive is to allow quick access to images based on content and location. Therefore, next to a description of technical parameters and depicted content, georeferencing of every image is of vital importance. This can be done either by identifying the main photographed object (georeferencing of the image content) or by mapping the center point and/or the outline of the image footprint. The paper proposes a new image archiving workflow. The new pipeline is based on the parameters that are logged by a commercial, but cost-effective GNSS/IMU solution and processed with in-house-developed software. Together, these components allow one to automatically geolocate and rectify the (oblique) aerial images (by a simple planar rectification using the exterior orientation parameters) and to retrieve their footprints with reasonable accuracy, which is automatically stored as a vector file. The data of three test flights were used to determine the accuracy of the device, which turned out to be better than 1° for roll and pitch (mean between 0.0 and 0.21 with a standard deviation of 0.17–0.46) and better than 2.5° for yaw angles (mean between 0.0 and −0.14 with a standard deviation of 0.58–0.94). This turned out to be sufficient to enable a fast and almost automatic GIS-based archiving of all of the imagery.

Panorama Image Sets for Terrestrial Photogrammetric Surveys

Abstract: . High resolution 3D models produced from photographs acquired with consumer-grade cameras are becoming increasingly common in the fields of geosciences. However, the quality of an image-based 3D model depends on the planning of the photogrammetric surveys. This means that the geometric configuration of the multi-view camera network and the control data have to be designed in accordance with the required accuracy, resolution and completeness. From a practical application point of view, a proper planning (of both photos and control data) of the photogrammetric survey especially for terrestrial acquisition, is not always ensured due to limited accessibility of the target object and the presence of occlusions. To solve these problems, we propose a different image acquisition strategy and we test different geo-referencing scenarios to deal with the practical issues of a terrestrial photogrammetric survey. The proposed photogrammetric survey procedure is based on the acquisition of a sequence of images in panorama mode by rotating the camera on a standard tripod. The offset of the pivot point from the projection center prevents the stitching of these images into a panorama. We demonstrate how to still take advantage of this capturing mode. The geo-referencing investigation consists of testing the use of directly observed coordinates of the camera positions, different ground control point (GCP) configurations, and GCPs with different accuracies, i.e. artificial targets vs. natural features. Images of the test field in a low-slope hill were acquired from the ground using an SLR camera. To validate the photogrammetric results a terrestrial laser scanner survey is used as benchmark.

Eurosdr – the pan-european network for mapping agencies and academia

Abstract: . EuroSDR (http://www.eurosdr.net/) is a non-profit organisation that provides a pan-European network that brings together mapping / cadastre agencies and academia for the purpose of applied research, and securing timely, research-based knowledge that allows the agencies to play their role as content providers and government competence centres for geographic information and spatial data infrastructures. EuroSDR is the recognised provider of research-based knowledge to a Europe where citizens can readily benefit from geographic information. Its mission is to develop and improve methods, systems and standards for the acquisition, processing, production, maintenance, management, visualization, and dissemination of geographic reference data in support of applications and service delivery. EuroSDR delivers advanced research-based knowledge. Its value is generated by facilitating interaction between research organisations and the public and private sector with the aim of exchanging ideas and knowledge about relevant research topics; by facilitating and contributing to research projects; and by transferring knowledge and research results to real world applications. The paper gives an overview about EuroSDR research principles, research alliances, objectives and action plans of each of the technical commissions.

a Comparison of Uav and Tls Data for Soil Roughness Assessment

Abstract: . Soil roughness represents fine-scale surface geometry which figures in many geophysical models. While static photogrammetric techniques (terrestrial images and laser scanning) have been recently proposed as a new source for deriving roughness heights, there is still need to overcome acquisition scale and viewing geometry issues. By contrast to the static techniques, images taken from unmanned aerial vehicles (UAV) can maintain near-nadir looking geometry over scales of several agricultural fields. This paper presents a pilot study on high-resolution, soil roughness reconstruction and assessment from UAV images over an agricultural plot. As a reference method, terrestrial laser scanning (TLS) was applied on a 10 m x 1.5 m subplot. The UAV images were self-calibrated and oriented within a bundle adjustment, and processed further up to a dense-matched digital surface model (DSM). The analysis of the UAV- and TLS-DSMs were performed in the spatial domain based on the surface autocorrelation function and the correlation length, and in the frequency domain based on the roughness spectrum and the surface fractal dimension (spectral slope). The TLS- and UAV-DSM differences were found to be under ±1 cm, while the UAV DSM showed a systematic pattern below this scale, which was explained by weakly tied sub-blocks of the bundle block. The results also confirmed that the existing TLS methods leads to roughness assessment up to 5 mm resolution. However, for our UAV data, this was not possible to achieve, though it was shown that for spatial scales of 12 cm and larger, both methods appear to be usable. Additionally, this paper suggests a method to propagate measurement errors to the correlation length.

Efficient orientation and calibration of large aerial blocks of multi-camera platforms

Abstract: Aerial multi-camera platforms typically incorporate a nadir-looking camera accompanied by further cameras that provide oblique views, potentially resulting in utmost coverage, redundancy, and accuracy even on vertical surfaces. However, issues have remained unresolved with the orientation and calibration of the resulting imagery, to two of which we present feasible solutions. First, as standard feature point descriptors used for the automated matching of homologous points are only invariant to the geometric variations of translation, rotation, and scale, they are not invariant to general changes in perspective. While the deviations from local 2D-similarity transforms may be negligible for corresponding surface patches in vertical views of flat land, they become evident at vertical surfaces, and in oblique views in general. Usage of such similarity-invariant descriptors thus limits the amount of tie points that stabilize the orientation and calibration of oblique views and cameras. To alleviate this problem, we present the positive impact on image connectivity of using a quasi affine-invariant descriptor. Second, no matter which hard- and software are used, at some point, the number of unknowns of a bundle block may be too large to be handled. With multi-camera platforms, these limits are reached even sooner. Adjustment of sub-blocks is sub-optimal, as it complicates data management, and hinders self-calibration. Simply discarding unreliable tie points of low manifold is not an option either, because these points are needed at the block borders and in poorly textured areas. As a remedy, we present a straight-forward method how to considerably reduce the number of tie points and hence unknowns before bundle block adjustment, while preserving orientation and calibration quality.

Biodiversity mapping via natura 2000 conservation status and ebv assessment using airborne laser scanning in alkali grasslands

Abstract: Biodiversity is an ecological concept, which essentially involves a complex sum of several indicators. One widely accepted such set of indicators is prescribed for habitat conservation status assessment within Natura 2000, a continental-scale conservation programme of the European Union. Essential Biodiversity Variables are a set of indicators designed to be relevant for biodiversity and suitable for global-scale operational monitoring. Here we revisit a study of Natura 2000 conservation status mapping via airbone LIDAR that develops individual remote sensing-derived proxies for every parameter required by the Natura 2000 manual, from the perspective of developing regional-scale Essential Biodiversity Variables. Based on leaf-on and leaf-off point clouds (10 pt/m2) collected in an alkali grassland area, a set of data products were calculated at 0.5 ×0.5 m resolution. These represent various aspects of radiometric and geometric texture. A Random Forest machine learning classifier was developed to create fuzzy vegetation maps of classes of interest based on these data products. In the next step, either classification results or LIDAR data products were selected as proxies for individual Natura 2000 conservation status variables, and fine-tuned based on field references. These proxies showed adequate performance and were summarized to deliver Natura 2000 conservation status with 80% overall accuracy compared to field references. This study draws attention to the potential of LIDAR for regional-scale Essential Biodiversity variables, and also holds implications for global-scale mapping. These are (i) the use of sensor data products together with habitat-level classification, (ii) the utility of seasonal data, including for non-seasonal variables such as grassland canopy structure, and (iii) the potential of fuzzy mapping-derived class probabilities as proxies for species presence and absence.

3D CENTRAL LINE EXTRACTION of FOSSIL OYSTER SHELLS

Abstract: . Photogrammetry provides a powerful tool to digitally document protected, inaccessible, and rare fossils. This saves manpower in relation to current documentation practice and makes the fragile specimens more available for paleontological analysis and public education. In this study, high resolution orthophoto (0.5 mm) and digital surface models (1 mm) are used to define fossil boundaries that are then used as an input to automatically extract fossil length information via central lines. In general, central lines are widely used in geosciences as they ease observation, monitoring and evaluation of object dimensions. Here, the 3D central lines are used in a novel paleontological context to study fossilized oyster shells with photogrammetric and LiDAR-obtained 3D point cloud data. 3D central lines of 1121 Crassostrea gryphoides oysters of various shapes and sizes were computed in the study. Central line calculation included: i) Delaunay triangulation between the fossil shell boundary points and formation of the Voronoi diagram; ii) extraction of Voronoi vertices and construction of a connected graph tree from them; iii) reduction of the graph to the longest possible central line via Dijkstra’s algorithm; iv) extension of longest central line to the shell boundary and smoothing by an adjustment of cubic spline curve; and v) integration of the central line into the corresponding 3D point cloud. The resulting longest path estimate for the 3D central line is a size parameter that can be applied in oyster shell age determination both in paleontological and biological applications. Our investigation evaluates ability and performance of the central line method to measure shell sizes accurately by comparing automatically extracted central lines with manually collected reference data used in paleontological analysis. Our results show that the automatically obtained central line length overestimated the manually collected reference by 1.5% in the test set, which is deemed sufficient for the selected paleontological application, namely shell age determination.

A comparison of lidar reflectance and radiometrically calibrated hyperspectral imagery

Abstract: . In order to retrieve results comparable under different flight parameters and among different flight campaigns, passive remote sensing data such as hyperspectral imagery need to undergo a radiometric calibration. While this calibration, aiming at the derivation of physically meaningful surface attributes such as a reflectance value, is quite cumbersome for passively sensed data and relies on a number of external parameters, the situation is by far less complicated for active remote sensing techniques such as lidar. This fact motivates the investigation of the suitability of full-waveform lidar as a “single-wavelength reflectometer” to support radiometric calibration of hyperspectral imagery. In this paper, this suitability was investigated by means of an airborne hyperspectral imagery campaign and an airborne lidar campaign recorded over the same area. Criteria are given to assess diffuse reflectance behaviour; the distribution of reflectance derived by the two techniques were found comparable in four test areas where these criteria were met. This is a promising result especially in the context of current developments of multi-spectral lidar systems.

TENSOR MODELING BASED FOR AIRBORNE LiDAR DATA CLASSIFICATION

Abstract: Feature selection and description is a key factor in classification of Earth observation data. In this paper a classification method based on tensor decomposition is proposed. First, multiple features are extracted from raw LiDAR point cloud, and raster LiDAR images are derived by accumulating features or the “raw” data attributes. Then, the feature rasters of LiDAR data are stored as a tensor, and tensor decomposition is used to select component features. This tensor representation could keep the initial spatial structure and insure the consideration of the neighborhood. Based on a small number of component features a k nearest neighborhood classification is applied.