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Final Presentation On
Generation of High resolution DSM using UAV
Images
8/4/20141
Project Supervisor
Uma Shankar Pandey
Co-Supervisor
Asst. Prof. Nawaraj Shrestha
Presented By:
Uttam Pudasaini
Biplov Bhandari
Upendra Oli
Niroj Panta
8/4/20142
8/4/20143
8/4/20144
Trimble UX5 Imaging Rover
with Sony Nex-5R Digital
Camera
Total area covered by the sand mine :0.0395 sq.km.
Average terrain height: 134.1718 m 5 8/4/2014
8/4/20146
DSM From UAV Images… HOW???
8/4/20147
8/4/20148
Fig: Place marks over Google Earth Image of
the Project Site
Place marks
(PM) Latitude Longitude
Elevation
Difference
PM1 50.8863 4.909192 45.6835
PM2 50.8864 4.909813 45.6833
PM3 50.8858 4.90965 45.6844
PM4 50.8861 4.910481 45.6841
PM5 50.8866 4.910222 45.683
PM6 50.887 4.910048 45.6822
PM7 50.8869 4.90927 45.6824
PM8 50.8866 4.908502 45.6828
PM9 50.8862 4.908603 45.6836
PM10 50.8856 4.90877 45.6848
Mean
Difference 45.68341
8/4/20149
Spatial Reference Details
Projected Coordinate
System:
WGS84 UTM31N
Vertical Datum :Mean Sea
Level(MSL)
GCP
Check Point for
GeoreferencingCheck Point for DSM
LEGEND
8/4/201410
Fig: Classical Photogrammetric
Workflow
for Data Processing
Fig: Photogrammetric Data
Processing using Computer Vision
8/4/201411
8/4/201412
8/4/201413
8/4/2014
14
Software Number of tie points
PIX4D 321527
AgiSoft PhotoScan 76682
Fig: Tie Points connecting same areas on
overlapping portion of two images during
image matching
Table: Tie point generation using Forstner interest operator
in Classical photogrammetry
Table: Tie point generation using SIFT operator
in Computer Vision
Parameters Matching
Success
Total Number
of Tie Points
Initial Accuracy = 5%
Correlation Coefficient =
Window search size = 10
Point per Image = 50
32.69 % 234
Initial Accuracy = 25%
Correlation Coefficient =
Window search size = 15
Point per Image = 200
86.35 % 1128
8/4/201415
Software LPS AgiSoft
PhotoSca
n
PIX4D
Accuracy of
BBA(pixel)
1.5817 0.672 0.335
Following parameters were adjusted during this phase:
 Position and orientation of each image as they existed at the time of
photography.
 Ground coordinates of every tie points measured on the overlap areas of
multiple images.
 Errors associated with the GCPs ,check points and all other image
parameters
Sparse point cloud generated using computer vision algorithms helps in the
accurate estimation of image parameters thus increasing the accuracy of BBA
8/4/201416
Results from
LPS
Results from
AgiSoft
Results from
PIX4D
Point No Error in X
(cm)
Error in Y
(cm)
Error in Z
(cm) Type
2008 1.94 -7.69 0.85 Check Points
2005 -11.91 9.03 4.81 Check Points
2012 27.38 9.47 6.02 Check Points
RMSE
17.27 8.76 4.47
Point No Error in X
(cm)
Error in Y
(cm)
Error in Z
(cm) Type
2008 3.63 -2.02 -6.03 Check Points
2005 0.44 -0.27 -0.93 Check Points
2012 -0.58 0.46 5.80 Check Points
RMSE 2.13 1.21 4.86
Point No Error in X
(cm)
Error in Y
(cm)
Error in Z
(cm) Type
2008 -2.23 1.72 0.81 Check Points
2005 -0.85 -2.21 -2.95 Check Points
2012 0.42 -3.24 4.17 Check Points
RMSE 1.4 2.47 2.98
8/4/201417
Imes
DSM FROM LPS DSM FROM AgiSoft DSM FROM PIX4D
Classical approach Computer Vision technique
8/4/201418
n
ZZ
RMSE
n
i iDSMiCP

 1
2
,, )(
where ZCP is elevation of check
points and ZDSM is the elevation
of same points from output DSM
 A statistical approach to compute the accuracy
Point
No
Elevation (m) Elevation Difference (cm)
Original
(O)
DSM
LPS
(a)
DSM
AP
(b)
DSM
PIX4D
(c)
O-a O-b O-c
2003 136.173 136.278 136.116 136.201 -10.54 5.66 -2.84
2004 128.362 128.392 128.422 128.375 -3.04 -6.04 -1.34
2006 132.402 132.262 132.381 132.382 13.960 2.06 1.96
2007 127.585 127.649 127.653 127.571 -6.44 -6.84 1.36
2010 131.953 132.052 131.941 131.962 -9.94- 1.16 -0.94
RMSE(cm) 9.546 4.917 1.813
Mean=
8.783
Mean=
4.348
Mean=
1.688
8/4/201419
Software
AgiSoft
Photo-
scan
PIX4D
LPS
AgiSoft
Photo-
scan
PIX4D
Actual Image Tie Points DSM
LPS
Surface 1: Areas
covered by trees and
similar textured Roads
Surface 2:
Heterogeneous area
with different objects
and terrain structure
 Classical Photogrammetric
image matching algorithms
fails for areas with
homogenous and repetitive
pattern. Large spikes on
output DSM from LPS
illustrates this statement
 For mixed topography, all
the algorithms works fine
PIX4D provides the best result in
all cases.
 Poor results at area
covered with trees and
vegetation
8/4/201420
LPS-PIX4D LPS-AgiSoft PIX4D-Agisoft
 Difference in DSM from LPS to other software has a large value
 Computer Vision provides better results as PIX4D-Agisoft has vey low
difference
 Large differences in cases of areas covered with trees and vegetation 8/4/201421
 Dependency on data provided by external source led to
data insufficiency and data inconsistency
 Editing of point cloud couldn’t be done because of lack of sophisticated
hardware
 Use of commercial software packages allowed limited changes in the
input parameters
 No further techniques (eg: use of geometrical properties of objects)
have been used to enhance the output DSM quality
8/4/201424
8/4/201425
8/4/201426
8/4/2014 27
Particulars
Aerial Photogrammetry UAV Photogrammetry
Data Acquisition Manual/Assisted Assisted/Manual/ Automatic
Aerial Vehicle Highly stable specially
designed aircrafts
Small aerial Vehicles with certain
payload capacity
GPS/INS Configurations cm-dm level accuracy cm-10 m
Image Resolution cm-m mm-m
Ground Coverage Km2 m2-km2
Cameras Well calibrated cameras
especially designed for
photogrammetric applications
Can work with normal digital
cameras
Fudicial Marks Present Absent
Flying Height 100 m-10 km m-km
(not more than 1 km)
Data Processing Workflows Standard Photogrammetric
Workflow
No standard workflows
Salient Feature Better control over the output
image quality
High temporal accuracy with real
time applications
ComparisonbetweenAerialandUAVPhotogrammetry
28
The Collinearity condition specifies that
Exposure station, ground point, and its corresponding image point
location must all lie along a straight line, thereby being collinear.
Two equations comprise the Collinearity condition:
 Bundle block adjustment uses the
COLLINEARITY CONDITION
as the basis for formulating the relationship
between image space and ground space.
Concepts associated with bundle block adjustment with following case
The key points extracted this way are unique in nature [scale and rotation
invariant ] and they hold their own signature.
Monday, August 4, 2014 41
UAV DSM Generation Using Images

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UAV DSM Generation Using Images

  • 1. Final Presentation On Generation of High resolution DSM using UAV Images 8/4/20141 Project Supervisor Uma Shankar Pandey Co-Supervisor Asst. Prof. Nawaraj Shrestha Presented By: Uttam Pudasaini Biplov Bhandari Upendra Oli Niroj Panta
  • 5. Trimble UX5 Imaging Rover with Sony Nex-5R Digital Camera Total area covered by the sand mine :0.0395 sq.km. Average terrain height: 134.1718 m 5 8/4/2014
  • 6. 8/4/20146 DSM From UAV Images… HOW???
  • 8. 8/4/20148 Fig: Place marks over Google Earth Image of the Project Site Place marks (PM) Latitude Longitude Elevation Difference PM1 50.8863 4.909192 45.6835 PM2 50.8864 4.909813 45.6833 PM3 50.8858 4.90965 45.6844 PM4 50.8861 4.910481 45.6841 PM5 50.8866 4.910222 45.683 PM6 50.887 4.910048 45.6822 PM7 50.8869 4.90927 45.6824 PM8 50.8866 4.908502 45.6828 PM9 50.8862 4.908603 45.6836 PM10 50.8856 4.90877 45.6848 Mean Difference 45.68341
  • 9. 8/4/20149 Spatial Reference Details Projected Coordinate System: WGS84 UTM31N Vertical Datum :Mean Sea Level(MSL) GCP Check Point for GeoreferencingCheck Point for DSM LEGEND
  • 10. 8/4/201410 Fig: Classical Photogrammetric Workflow for Data Processing Fig: Photogrammetric Data Processing using Computer Vision
  • 15. Software Number of tie points PIX4D 321527 AgiSoft PhotoScan 76682 Fig: Tie Points connecting same areas on overlapping portion of two images during image matching Table: Tie point generation using Forstner interest operator in Classical photogrammetry Table: Tie point generation using SIFT operator in Computer Vision Parameters Matching Success Total Number of Tie Points Initial Accuracy = 5% Correlation Coefficient = Window search size = 10 Point per Image = 50 32.69 % 234 Initial Accuracy = 25% Correlation Coefficient = Window search size = 15 Point per Image = 200 86.35 % 1128 8/4/201415
  • 16. Software LPS AgiSoft PhotoSca n PIX4D Accuracy of BBA(pixel) 1.5817 0.672 0.335 Following parameters were adjusted during this phase:  Position and orientation of each image as they existed at the time of photography.  Ground coordinates of every tie points measured on the overlap areas of multiple images.  Errors associated with the GCPs ,check points and all other image parameters Sparse point cloud generated using computer vision algorithms helps in the accurate estimation of image parameters thus increasing the accuracy of BBA 8/4/201416
  • 17. Results from LPS Results from AgiSoft Results from PIX4D Point No Error in X (cm) Error in Y (cm) Error in Z (cm) Type 2008 1.94 -7.69 0.85 Check Points 2005 -11.91 9.03 4.81 Check Points 2012 27.38 9.47 6.02 Check Points RMSE 17.27 8.76 4.47 Point No Error in X (cm) Error in Y (cm) Error in Z (cm) Type 2008 3.63 -2.02 -6.03 Check Points 2005 0.44 -0.27 -0.93 Check Points 2012 -0.58 0.46 5.80 Check Points RMSE 2.13 1.21 4.86 Point No Error in X (cm) Error in Y (cm) Error in Z (cm) Type 2008 -2.23 1.72 0.81 Check Points 2005 -0.85 -2.21 -2.95 Check Points 2012 0.42 -3.24 4.17 Check Points RMSE 1.4 2.47 2.98 8/4/201417
  • 18. Imes DSM FROM LPS DSM FROM AgiSoft DSM FROM PIX4D Classical approach Computer Vision technique 8/4/201418
  • 19. n ZZ RMSE n i iDSMiCP   1 2 ,, )( where ZCP is elevation of check points and ZDSM is the elevation of same points from output DSM  A statistical approach to compute the accuracy Point No Elevation (m) Elevation Difference (cm) Original (O) DSM LPS (a) DSM AP (b) DSM PIX4D (c) O-a O-b O-c 2003 136.173 136.278 136.116 136.201 -10.54 5.66 -2.84 2004 128.362 128.392 128.422 128.375 -3.04 -6.04 -1.34 2006 132.402 132.262 132.381 132.382 13.960 2.06 1.96 2007 127.585 127.649 127.653 127.571 -6.44 -6.84 1.36 2010 131.953 132.052 131.941 131.962 -9.94- 1.16 -0.94 RMSE(cm) 9.546 4.917 1.813 Mean= 8.783 Mean= 4.348 Mean= 1.688 8/4/201419
  • 20. Software AgiSoft Photo- scan PIX4D LPS AgiSoft Photo- scan PIX4D Actual Image Tie Points DSM LPS Surface 1: Areas covered by trees and similar textured Roads Surface 2: Heterogeneous area with different objects and terrain structure  Classical Photogrammetric image matching algorithms fails for areas with homogenous and repetitive pattern. Large spikes on output DSM from LPS illustrates this statement  For mixed topography, all the algorithms works fine PIX4D provides the best result in all cases.  Poor results at area covered with trees and vegetation 8/4/201420
  • 21. LPS-PIX4D LPS-AgiSoft PIX4D-Agisoft  Difference in DSM from LPS to other software has a large value  Computer Vision provides better results as PIX4D-Agisoft has vey low difference  Large differences in cases of areas covered with trees and vegetation 8/4/201421
  • 22.  Dependency on data provided by external source led to data insufficiency and data inconsistency  Editing of point cloud couldn’t be done because of lack of sophisticated hardware  Use of commercial software packages allowed limited changes in the input parameters  No further techniques (eg: use of geometrical properties of objects) have been used to enhance the output DSM quality 8/4/201424
  • 25.
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  • 28. Particulars Aerial Photogrammetry UAV Photogrammetry Data Acquisition Manual/Assisted Assisted/Manual/ Automatic Aerial Vehicle Highly stable specially designed aircrafts Small aerial Vehicles with certain payload capacity GPS/INS Configurations cm-dm level accuracy cm-10 m Image Resolution cm-m mm-m Ground Coverage Km2 m2-km2 Cameras Well calibrated cameras especially designed for photogrammetric applications Can work with normal digital cameras Fudicial Marks Present Absent Flying Height 100 m-10 km m-km (not more than 1 km) Data Processing Workflows Standard Photogrammetric Workflow No standard workflows Salient Feature Better control over the output image quality High temporal accuracy with real time applications ComparisonbetweenAerialandUAVPhotogrammetry 28
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  • 31. The Collinearity condition specifies that Exposure station, ground point, and its corresponding image point location must all lie along a straight line, thereby being collinear. Two equations comprise the Collinearity condition:  Bundle block adjustment uses the COLLINEARITY CONDITION as the basis for formulating the relationship between image space and ground space.
  • 32. Concepts associated with bundle block adjustment with following case
  • 33. The key points extracted this way are unique in nature [scale and rotation invariant ] and they hold their own signature.
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  • 41. Monday, August 4, 2014 41