3D Visual Reconstruction as Prior Information for First Responder Localization and Visualization

In professional use cases like police or fire brigade missions, coordinated and systematic force management is crucial for achieving operational success during intervention by the emergency personnel. A real-time situation picture enhances the coordination of the team. This situation picture includes not only an overview of the environment but also the positions, i.e., localization, of the emergency forces. The overview of the environment can be obtained either from known situation pictures like floorplans or by scanning the environment with the aid of visual sensors. The self-localization problem can be solved outdoors using the Global Navigation Satellite System (GNSS), but it is not fully solved indoors, where the GNSS signal might not be received or might be degraded. In this paper, we propose a novel combination of an inertial localization technique based on simultaneous localization and mapping (SLAM) with 3D building scans, which are used as prior information, for geo-referencing the positions, obtaining a situation picture, and finally visualizing the results with an appropriate visualization tool. We developed a new method for converting point clouds into a hexagonal prism map specifically designed for our SLAM algorithm. With this combination, we could keep the equipment for first responders as lightweight as required. We showed that the positioning led to an average accuracy of less than 1m indoors, and the final visualization including the building layout obtained by the 3D building reconstruction will be advantageous for coordinating first responder operations.

Calibration of Industrial Cameras for Aerial Photogrammetric Mapping

This paper details the development of a camera calibration method purpose-built for use in photogrammetric survey production. The calibration test field was established in a hangar, where marker coordinates were measured using a high-precision survey methodology guaranteeing very high accuracy. An analytical model for bundle adjustment was developed that does not directly use the coordinates of field calibration markers but integrates bundle adjustment and survey observations into a single process. This solution, as well as a classical calibration method, were implemented in a custom software, for which the C++ source code repository is provided. The method was tested using three industrial cameras. The comparison was drawn towards a baseline method, OpenCV implementation. The results point to the advantages of using the proposed approach utilizing extended bundle adjustment.

UAV-Based Photogrammetric Tree Height Measurement for Intensive Forest Monitoring

The measurement of tree height has long been an important tree attribute for the purpose of calculating tree growth, volume, and biomass, which in turn deliver important ecological and economical information to decision makers. Tree height has traditionally been measured by indirect field-based techniques, however these methods are rarely contested. With recent advances in Unmanned Aerial Vehicle (UAV) remote sensing technologies, the possibility to acquire accurate tree heights semi-automatically has become a reality. In this study, photogrammetric and field-based tree height measurements of a Scots Pine stand were validated using destructive methods. The intensive forest monitoring site implemented for the study was configured with permanent ground control points (GCPs) measured with a Total Station (TS). Field-based tree height measurements resulted in a similar level of error to that of the photogrammetric measurements, with root mean square error (RMSE) values of 0.304 m (1.82%) and 0.34 m (2.07%), respectively (n = 34). A conflicting bias was, however, discovered where field measurements tended to overestimate tree heights and photogrammetric measurements were underestimated. The photogrammetric tree height measurements of all trees (n = 285) were validated against the field-based measurements and resulted in a RMSE of 0.479 m (2.78%). Additionally, two separate photogrammetric tree height datasets were compared (n = 251), and a very low amount of error was observed with a RMSE of 0.138 m (0.79%), suggesting a high potential for repeatability. This study shows that UAV photogrammetric tree height measurements are a viable option for intensive forest monitoring plots and that the possibility to acquire within-season tree growth measurements merits further study. Additionally, it was shown that negative and positive biases evident in field-based and UAV-based photogrammetric tree height measurements could potentially lead to misinterpretation of results when field-based measurements are used as validation.

Variables Influencing the Accuracy of 3D Modeling of Existing Roads Using Consumer Cameras in Aerial Photogrammetry

Point cloud (PC) generation from photogrammetry–remotely piloted aircraft systems (RPAS) at high spatial and temporal resolution and accuracy is of increasing importance for many applications. For several years, photogrammetry–RPAS has been used to recover civil engineering works such as digital elevation models (DEMs), triangle irregular networks (TINs), contour levels, orthophotographs, etc. This study analyzes the influence of variables involved in the accuracy of PC generation over asphalt shapes and determines the most influential variable based on the development of an artificial neural network (ANN) with patterns identified in the test flights. The input variables were those involved, and output was the three-dimension root mean square error (3D-RMSE) of the PC in each ground control point (GCP). The result of the study shows that the most influential variable over PC accuracy is the modulation transfer function 50 (MTF50). In addition, the study obtained an average 3D-RMSE of 1 cm. The results can be used by the scientific and civil engineering communities to consider MTF50 variables in obtaining images from RPAS cameras and to predict the accuracy of a PC over asphalt based on the ANN developed. Also, this ANN could be the beginning of a large database containing patterns from several cameras and lenses in the world market.

Analytical model for designing a high-energy-efficiency granular double-layer X-ray scintillator with a diffuse reflection layer

We propose a simple, efficient, and accurate analytical model for calculating the energy efficiency of a granular double-layer X-ray scintillator with a diffuse reflection layer, based on the first-order approximation of the radiative transfer equation by considering boundary conditions and exponential characteristics. Using the analytical model, we successfully analyze the characteristics of the double-layer X-ray scintillator, such as diffuse reflectance, transmittance, collection efficiency, and energy efficiency. We also suggest a design strategy for the high-energy-efficiency X-ray double-layer scintillator considering high diffuse reflectance and satisfaction of the target spatial resolution. Using the X-ray absorption ratio and the collection efficiency of the double-layer scintillator, the energy efficiency of the double-layer X-ray scintillator is calculated to achieve the best performance in terms of image brightness. Through calculation, we obtain the design of a double-layer X-ray scintillator with an energy efficiency of 8.7% with a computation time of less than a second.

Gimbal Influence on the Stability of Exterior Orientation Parameters of UAV Acquired Images

In this paper, results from the analysis of the gimbal impact on the determination of the camera exterior orientation parameters of an Unmanned Aerial Vehicle (UAV) are presented and interpreted. Additionally, a new approach and methodology for testing the influence of gimbals on the exterior orientation parameters of UAV acquired images is presented. The main motive of this study is to examine the possibility of obtaining better geometry and favorable spatial bundles of rays of images in UAV photogrammetric surveying. The subject is a 3-axis brushless gimbal based on a controller board (Storm32). Only two gimbal axes are taken into consideration: roll and pitch axes. Testing was done in a flight simulation, and in indoor and outdoor flight mode, to analyze the Inertial Measurement Unit (IMU) and photogrammetric data. Within these tests the change of the exterior orientation parameters without the use of a gimbal is determined, as well as the potential accuracy of the stabilization with the use of a gimbal. The results show that using a gimbal has huge potential. Significantly, smaller discrepancies between data are noticed when a gimbal is used in flight simulation mode, even four times smaller than in other test modes. In this test the potential accuracy of a low budget gimbal for application in real conditions is determined.