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AERIAL THERMOGRAPHY FROM LOW-COST UAV FOR THE GENERATION OF THERMOGRAPHIC DIGITAL TERRAIN MODELS S. Lagüela, L. Díaz-Vilar...
INTRODUCTION DATA ACQUISITION • EQUIPMENT DATA ACQUISITION • FLIGHT THERMOGRAPHIC DTM GENERATION • THERMOGRAPHIC MOSAIC TH...
INTRODUCTION DATA ACQUISITION • EQUIPMENT DATA ACQUISITION • FLIGHT THERMOGRAPHIC DTM GENERATION • THERMOGRAPHIC MOSAIC TH...
INTRODUCTION DATA ACQUISITION • EQUIPMENT DATA ACQUISITION • FLIGHT THERMOGRAPHIC DTM GENERATION • THERMOGRAPHIC MOSAIC TH...
INTRODUCTION DATA ACQUISITION • EQUIPMENT DATA ACQUISITION • FLIGHT THERMOGRAPHIC DTM GENERATION • THERMOGRAPHIC MOSAIC TH...
INTRODUCTION DATA ACQUISITION • EQUIPMENT DATA ACQUISITION • FLIGHT THERMOGRAPHIC DTM GENERATION • THERMOGRAPHIC MOSAIC TH...
INTRODUCTION DATA ACQUISITION • EQUIPMENT DATA ACQUISITION • FLIGHT THERMOGRAPHIC DTM GENERATION • THERMOGRAPHIC MOSAIC TH...
INTRODUCTION DATA ACQUISITION • EQUIPMENT DATA ACQUISITION • FLIGHT THERMOGRAPHIC DTM GENERATION • THERMOGRAPHIC MOSAIC TH...
INTRODUCTION DATA ACQUISITION • EQUIPMENT DATA ACQUISITION • FLIGHT THERMOGRAPHIC DTM GENERATION • THERMOGRAPHIC MOSAIC TH...
INTRODUCTION DATA ACQUISITION • EQUIPMENT DATA ACQUISITION • FLIGHT THERMOGRAPHIC DTM GENERATION • THERMOGRAPHIC MOSAIC TH...
INTRODUCTION DATA ACQUISITION • EQUIPMENT DATA ACQUISITION • FLIGHT THERMOGRAPHIC DTM GENERATION • THERMOGRAPHIC MOSAIC TH...
INTRODUCTION DATA ACQUISITION • EQUIPMENT DATA ACQUISITION • FLIGHT THERMOGRAPHIC DTM GENERATION • THERMOGRAPHIC MOSAIC TH...
INTRODUCTION DATA ACQUISITION • EQUIPMENT DATA ACQUISITION • FLIGHT THERMOGRAPHIC DTM GENERATION • THERMOGRAPHIC MOSAIC TH...
INTRODUCTION DATA ACQUISITION • EQUIPMENT DATA ACQUISITION • FLIGHT THERMOGRAPHIC DTM GENERATION • THERMOGRAPHIC MOSAIC TH...
INTRODUCTION DATA ACQUISITION • EQUIPMENT DATA ACQUISITION • FLIGHT THERMOGRAPHIC DTM GENERATION • THERMOGRAPHIC MOSAIC TH...
INTRODUCTION DATA ACQUISITION • EQUIPMENT DATA ACQUISITION • FLIGHT THERMOGRAPHIC DTM GENERATION • THERMOGRAPHIC MOSAIC TH...
INTRODUCTION DATA ACQUISITION • EQUIPMENT DATA ACQUISITION • FLIGHT THERMOGRAPHIC DTM GENERATION • THERMOGRAPHIC MOSAIC TH...
AERIAL THERMOGRAPHY FROM LOW-COST UAV FOR THE GENERATION OF THERMOGRAPHIC DIGITAL TERRAIN MODELS S. Lagüela, L. Díaz-Vilar...
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S. Laguela - Aerial thermography from low-cost UAV for the generation of thermographic digital terrain models

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Modified after the talk presented at AITA2013 - http://ronchi.isti.cnr.it/AITA2013

The talk was mentioned for the "Ermanno Grinzato" Under 35 Best Paper Award (http://ronchi.isti.cnr.it/AITA2013/award.html)

The talk was based on the paper Aerial thermography from low-cost UAV for the generation of thermographic digital terrain models by S. Lagüela, L. Díaz-Vilariño, D. Roca, J. Armesto, AITA2013 Abstract Book, p 77-80, 2013

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S. Laguela - Aerial thermography from low-cost UAV for the generation of thermographic digital terrain models

  1. 1. AERIAL THERMOGRAPHY FROM LOW-COST UAV FOR THE GENERATION OF THERMOGRAPHIC DIGITAL TERRAIN MODELS S. Lagüela, L. Díaz-Vilariño, D. Roca, J. Armesto Applied Geotechnologies Research Group, University of Vigo (Spain) Corresponding Author: susiminas@uvigo.es
  2. 2. INTRODUCTION DATA ACQUISITION • EQUIPMENT DATA ACQUISITION • FLIGHT THERMOGRAPHIC DTM GENERATION • THERMOGRAPHIC MOSAIC THERMOGRAPHIC DTM GENERATION • THERMOGRAPHIC DTM TEXTURIZATION RESULTS AND DISCUSSION • LAND USES CONCLUSIONS AERIAL THERMOGRAPHY FROM LOW-COST UAV FOR THE GENERATION OF THERMOGRAPHIC DIGITAL TERRAIN MODELS THERMOGRAPHIC INSPECTIONS IN BUILDINGS CLOSE RANGE AERIAL THERMOGRAPHY THERMOGRAPHIC AERIAL ACQUISITIONS
  3. 3. INTRODUCTION DATA ACQUISITION • EQUIPMENT DATA ACQUISITION • FLIGHT THERMOGRAPHIC DTM GENERATION • THERMOGRAPHIC MOSAIC THERMOGRAPHIC DTM GENERATION • THERMOGRAPHIC DTM TEXTURIZATION RESULTS AND DISCUSSION • LAND USES CONCLUSIONS AERIAL THERMOGRAPHY FROM LOW-COST UAV FOR THE GENERATION OF THERMOGRAPHIC DIGITAL TERRAIN MODELS OBJECTIVE: Extension of the accurate thermographic studies performed in three-dimensions for buildings to medium size areas (neighbourhoods, districts, villages) using a low-cost aerial platform
  4. 4. INTRODUCTION DATA ACQUISITION • EQUIPMENT DATA ACQUISITION • FLIGHT THERMOGRAPHIC DTM GENERATION • THERMOGRAPHIC MOSAIC THERMOGRAPHIC DTM GENERATION • THERMOGRAPHIC DTM TEXTURIZATION RESULTS AND DISCUSSION • LAND USES CONCLUSIONS AERIAL THERMOGRAPHY FROM LOW-COST UAV FOR THE GENERATION OF THERMOGRAPHIC DIGITAL TERRAIN MODELS Okto XL by Mikrokopter • 2 kilograms payload • 20 min flight autonomy Gobi384 by Xenics with 10mm lens • 384x288 UFPA • 50 fps data acquisition • 500 grams (lens included) > NO LIMITS TO COPTER SPEED > NOT EXCEEDING COPTER PAYLOAD
  5. 5. INTRODUCTION DATA ACQUISITION • EQUIPMENT DATA ACQUISITION • FLIGHT THERMOGRAPHIC DTM GENERATION • THERMOGRAPHIC MOSAIC THERMOGRAPHIC DTM GENERATION • THERMOGRAPHIC DTM TEXTURIZATION RESULTS AND DISCUSSION • LAND USES CONCLUSIONS AERIAL THERMOGRAPHY FROM LOW-COST UAV FOR THE GENERATION OF THERMOGRAPHIC DIGITAL TERRAIN MODELS FLIGHT CONSIDERATIONS: • AREA COVERED: 8760 m2 • FIELD OF VIEW OF THE CAMERA: 50ºx40º • OVERLAP BETWEEN STRIPS: 50% FLIGHT PARAMETERS: • FLIGHT HEIGHT: 50 meters • NUMBER OF STRIPS: 4 • FLIGHT SPEED: 5 m/s  5 minutes flight  14000 thermographies
  6. 6. INTRODUCTION DATA ACQUISITION • EQUIPMENT DATA ACQUISITION • FLIGHT THERMOGRAPHIC DTM GENERATION • THERMOGRAPHIC MOSAIC THERMOGRAPHIC DTM GENERATION • THERMOGRAPHIC DTM TEXTURIZATION RESULTS AND DISCUSSION • LAND USES CONCLUSIONS AERIAL THERMOGRAPHY FROM LOW-COST UAV FOR THE GENERATION OF THERMOGRAPHIC DIGITAL TERRAIN MODELS DISTORTION CORRECTION •CAMERA CALIBRATION IMAGE REGISTRATION •TIE POINTS BETWEEN THERMOGRAPHIES •CORRELATION VALUE •PROPRIETARY SOFTWARE OVERLAPPING AREA CALCULATION •AVOID EDGE SEAM •LINEAR TRANSITION METHOD
  7. 7. INTRODUCTION DATA ACQUISITION • EQUIPMENT DATA ACQUISITION • FLIGHT THERMOGRAPHIC DTM GENERATION • THERMOGRAPHIC MOSAIC THERMOGRAPHIC DTM GENERATION • THERMOGRAPHIC DTM TEXTURIZATION RESULTS AND DISCUSSION • LAND USES CONCLUSIONS AERIAL THERMOGRAPHY FROM LOW-COST UAV FOR THE GENERATION OF THERMOGRAPHIC DIGITAL TERRAIN MODELS 1. DISTORTION CORRECTION > Remove RADIAL DISTORTION introduced by the camera > CAMERA: high distortion coefficients due to the SMALL FOCAL LENGTH of the lens (10mm) > Camera calibrated with a CALIBRATION FIELD BASED ON EMISSIVITY DIFFERENCES PRIOR CORRECTION POST CORRECTION
  8. 8. INTRODUCTION DATA ACQUISITION • EQUIPMENT DATA ACQUISITION • FLIGHT THERMOGRAPHIC DTM GENERATION • THERMOGRAPHIC MOSAIC THERMOGRAPHIC DTM GENERATION • THERMOGRAPHIC DTM TEXTURIZATION RESULTS AND DISCUSSION • LAND USES CONCLUSIONS AERIAL THERMOGRAPHY FROM LOW-COST UAV FOR THE GENERATION OF THERMOGRAPHIC DIGITAL TERRAIN MODELS 1. DISTORTION CORRECTION > CAMERA: high distortion coefficients due to the SMALL FOCAL LENGTH of the lens (10mm) CALIBRATION PARAMETER VALUE Pixel size (mm/pix) 0,0156 Format size (mm) 5,9997 (W) * 4,5000 (H) Principal point (mm) Xp 2,8807 Yp 2,2891 Radial distortion K1 -0,1142 K2 2,924 e-3 K3 0 Tangential distortion Px -1,813 e-4 Py -9,998 e-5
  9. 9. INTRODUCTION DATA ACQUISITION • EQUIPMENT DATA ACQUISITION • FLIGHT THERMOGRAPHIC DTM GENERATION • THERMOGRAPHIC MOSAIC THERMOGRAPHIC DTM GENERATION • THERMOGRAPHIC DTM TEXTURIZATION RESULTS AND DISCUSSION • LAND USES CONCLUSIONS AERIAL THERMOGRAPHY FROM LOW-COST UAV FOR THE GENERATION OF THERMOGRAPHIC DIGITAL TERRAIN MODELS 2. IMAGE REGISTRATION •TIE POINTS BETWEEN THERMOGRAPHIES •CORRELATION VALUE •PROPRIETARY SOFTWARE  Manual marking of tie points: 4 per thermography  Computation of the CORRELATION VALUE: refine tie points position REGISTERED IMAGE
  10. 10. INTRODUCTION DATA ACQUISITION • EQUIPMENT DATA ACQUISITION • FLIGHT THERMOGRAPHIC DTM GENERATION • THERMOGRAPHIC MOSAIC THERMOGRAPHIC DTM GENERATION • THERMOGRAPHIC DTM TEXTURIZATION RESULTS AND DISCUSSION • LAND USES CONCLUSIONS AERIAL THERMOGRAPHY FROM LOW-COST UAV FOR THE GENERATION OF THERMOGRAPHIC DIGITAL TERRAIN MODELS 3. OVERLAPPING AREA CALCULATION •AVOID EDGE SEAM •LINEAR TRANSITION METHOD Computation of OVERLAPPING AREA depending on its position in each thermography: 𝑀𝑖 = 𝑋𝑚𝑎𝑥 − 𝑋𝑖 𝑋𝑚𝑎𝑥 − 𝑋𝑚𝑖𝑛 ∙ 𝐴𝑖 + 1 − 𝑋𝑚𝑎𝑥 − 𝑋𝑖 𝑋𝑚𝑎𝑥 − 𝑋𝑚𝑖𝑛 ∙ 𝐵𝑖 Image A Image B Image M
  11. 11. INTRODUCTION DATA ACQUISITION • EQUIPMENT DATA ACQUISITION • FLIGHT THERMOGRAPHIC DTM GENERATION • THERMOGRAPHIC MOSAIC THERMOGRAPHIC DTM GENERATION • THERMOGRAPHIC DTM TEXTURIZATION RESULTS AND DISCUSSION • LAND USES CONCLUSIONS AERIAL THERMOGRAPHY FROM LOW-COST UAV FOR THE GENERATION OF THERMOGRAPHIC DIGITAL TERRAIN MODELS THERMOGRAPHIC DIGITAL TERRAIN MODEL DIGITAL TERRAIN MODEL THERMOGRAPHIC + VISIBLE FUSION ORTHOIMAGE Georeferencing through the coordinates of CONTROL POINTS
  12. 12. INTRODUCTION DATA ACQUISITION • EQUIPMENT DATA ACQUISITION • FLIGHT THERMOGRAPHIC DTM GENERATION • THERMOGRAPHIC MOSAIC THERMOGRAPHIC DTM GENERATION • THERMOGRAPHIC DTM TEXTURIZATION RESULTS AND DISCUSSION • LAND USES CONCLUSIONS AERIAL THERMOGRAPHY FROM LOW-COST UAV FOR THE GENERATION OF THERMOGRAPHIC DIGITAL TERRAIN MODELS THERMOGRAPHIC DIGITAL TERRAIN MODEL INFORMATION ABOUT ELEMENTS ON THE GROUND GEOMETRIC INFORMATION ABOUT THE SURFACE CLASSIFICATION ON LAND USES DEPENDING ON THEIR TEMPERATURE AREAS AND DISTANCES CALCULATION 1 2
  13. 13. INTRODUCTION DATA ACQUISITION • EQUIPMENT DATA ACQUISITION • FLIGHT THERMOGRAPHIC DTM GENERATION • THERMOGRAPHIC MOSAIC THERMOGRAPHIC DTM GENERATION • THERMOGRAPHIC DTM TEXTURIZATION RESULTS AND DISCUSSION • LAND USES CONCLUSIONS AERIAL THERMOGRAPHY FROM LOW-COST UAV FOR THE GENERATION OF THERMOGRAPHIC DIGITAL TERRAIN MODELS LAND USES DEPENDING ON THEIR TEMPERATURE PIXEL SEGMENTATION > Conversion of the image from RGB color space to XYZ color space > Classification according to X-Z values (chromaticity) > Removal of incorrectly classified pixels (colour value threshold) Cluster 1 Cluster 2 Cluster 3 1
  14. 14. INTRODUCTION DATA ACQUISITION • EQUIPMENT DATA ACQUISITION • FLIGHT THERMOGRAPHIC DTM GENERATION • THERMOGRAPHIC MOSAIC THERMOGRAPHIC DTM GENERATION • THERMOGRAPHIC DTM TEXTURIZATION RESULTS AND DISCUSSION • LAND USES CONCLUSIONS AERIAL THERMOGRAPHY FROM LOW-COST UAV FOR THE GENERATION OF THERMOGRAPHIC DIGITAL TERRAIN MODELS AREAS CALCULATION - pixel size: 25cm Cluster 1 Low Vegetation (grass) 211840 pixels 13240 m2 Cluster 2 Tall Vegetation (bushes, trees) 128800 pixels 8050 m2 Cluster 3 Metal Roofs 74400 pixels 4650 m2 2 < 5% error
  15. 15. INTRODUCTION DATA ACQUISITION • EQUIPMENT DATA ACQUISITION • FLIGHT THERMOGRAPHIC DTM GENERATION • THERMOGRAPHIC MOSAIC THERMOGRAPHIC DTM GENERATION • THERMOGRAPHIC DTM TEXTURIZATION RESULTS AND DISCUSSION • LAND USES CONCLUSIONS AERIAL THERMOGRAPHY FROM LOW-COST UAV FOR THE GENERATION OF THERMOGRAPHIC DIGITAL TERRAIN MODELS - METHODOLOGY FOR THE GENERATION OF A THERMOGRAPHIC DIGITAL TERRAIN MODEL - Using a LOW-COST AERIAL PLATFORM (copter type) - Allowing the performance of analysis: - THERMOGRAPHY: classification of land uses detection of building prints detection of faults in roofs - GEOMETRY: quantification of forest masses surface calculation per land use calculation of heat losses of buildings - Verification of surfaces with reality using NATIONAL CARTOGRAPHY
  16. 16. INTRODUCTION DATA ACQUISITION • EQUIPMENT DATA ACQUISITION • FLIGHT THERMOGRAPHIC DTM GENERATION • THERMOGRAPHIC MOSAIC THERMOGRAPHIC DTM GENERATION • THERMOGRAPHIC DTM TEXTURIZATION RESULTS AND DISCUSSION • LAND USES CONCLUSIONS AERIAL THERMOGRAPHY FROM LOW-COST UAV FOR THE GENERATION OF THERMOGRAPHIC DIGITAL TERRAIN MODELS - FUTURE WORK: EXPLOITATION OF THE THERMOGRAPHIC DIGITAL TERRAIN MODEL - Extraction of parameters of interest: - Coordinates of BUILDINGS - Evaluation of HEAT ISLANDS - Identification of TREE SPECIES - Detection of BURIED OBJECTS
  17. 17. INTRODUCTION DATA ACQUISITION • EQUIPMENT DATA ACQUISITION • FLIGHT THERMOGRAPHIC DTM GENERATION • THERMOGRAPHIC MOSAIC THERMOGRAPHIC DTM GENERATION • THERMOGRAPHIC DTM TEXTURIZATION RESULTS AND DISCUSSION • LAND USES CONCLUSIONS AERIAL THERMOGRAPHY FROM LOW-COST UAV FOR THE GENERATION OF THERMOGRAPHIC DIGITAL TERRAIN MODELS - REFERENCES: 1. S. Lagüela, H. González-Jorge, J. Armesto, J. Herráez, High performance grid for the metric calibration of thermographic cameras, Measurement Science and Technology, 23(1), 2012, 9pp. 2. S. Lagüela, J. Armesto, P. Arias, J. Herráez, Automation of thermographic 3D modelling through image fusión and image matching techniques”, Automation in Construction, 27, 24-31, 2012. 3. CIE, Colorimetry. CIE Publication 15.2, 2nd Ed, 1986, 19-20, 56-58. 4. Wiki Mikrokopter: www.mikrokopter.de
  18. 18. AERIAL THERMOGRAPHY FROM LOW-COST UAV FOR THE GENERATION OF THERMOGRAPHIC DIGITAL TERRAIN MODELS S. Lagüela, L. Díaz-Vilariño, D. Roca, J. Armesto Applied Geotechnologies Research Group, University of Vigo (Spain) Corresponding Author: susiminas@uvigo.es

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