ensomosaic · mosaicmill ltd. 16.3.2011 7 substitute ground topographic survey • low-altitude uav...

EnsoMOSAIC

Aerial mapping tools

Jakarta and Kuala Lumpur, 2013

Contents

MosaicMill

Application examples

Software introduction

System introduction

Rikola HS sensor

UAV platform examples

MosaicMill Ltd. 1.10.2013

SW

Syst

HS

UAV

MM

Company introduction

MosaicMill founded in 2009

Technology EnsoMOSAIC since 1995 (Stora Enso Ltd.)

Main businesses

• EnsoMOSAIC image processing software sales – UAV and conventional

• EnsoMOSAIC aerial imaging system sales – conventional

Clients • Mapping organizations

• UAV manufacturers

• Forestry organizations

• Oil companies

• Plantation companies

• Mining companies

• Universities

• Power line companies

4.9.2012 MosaicMill Ltd. 3

MM

MosaicMill and partners

MosaicMill Marketing

Sales

Support

PIEneering Photogrammetry

Simosol Programming

ESPA Systems 3D

M. Rantasuo Electronics

Rikola

Hyperspectral

30 Resellers 100+ clients

30+ countries

4.9.2012

MosaicMill Ltd. 4

Direct sales

~50 %

MM


Why EnsoMOSAIC?

MM

Gatewing x100, TSKAY; Malaysia


Topographic mapping

Volume calculations

Agriculture – HS sensor

Corridors and power lines

Forestry

Large area mapping

EnsoMOSAIC applications – examples

MM


Substitute ground topographic survey • Low-altitude UAV very high GSD (e.g. 5 cm vs. 10 m) • Cost and speed

Substitute LiDAR

• Create LiDAR-like elevation point cloud DSM Contours • Huge cost difference, both in investment and operation.

Benefits compared to Conventional big frame aerial photos: • Flexible, low cost and quick reaction :

• Client request fly deliver, same day • Operate under cloud cover • No own aircraft required – low investment cost

• EnsoMOSAIC is target-specific • Mapping of only the change area – low costs

• Monitor frequently • Control volume and value of assets regularly. • Control the entire production chain

Benefits compared to high resolution satellite imagery

• Cloudy areas: No satellite imagery

• EnsoMOSAIC provides accurate DEM

Why EnsoMOSAIC – benefits

MM

EnsoMOSAIC

Software

EnsoMOSAIC image rectification

Rapidterrain – point cloud

EnsoMOSAIC 3D


EnsoMOSAIC – specifications

INPUTS

• Small, medium or large format images

• GPS coordinates for each image

• Optional: Camera (or aircraft) exterior orientation

FUNCTIONS

• Automatic processing of ortho-mosaics from airborne

digital images

• Thousands of digital images on one run

OUTPUTS

• Orthomosaics, Orthoimages and Oriented images:

• Horizontal accuracy: 1 - 2 pix (ground control, DEM)

2 m (single freq GPS only)

• Spatial resolution: 0.05 - 2.0 m

• Spectral resolution: RGB, CIR, Thermal (camera-dependent)

• Radiometric resolution: 8 - 14 bits / channel (camera-dependent)

SW

EnsoMOSAIC orthorectification– processing steps

MosaicMill Ltd.

Ground Control Points Aerial triangulation and Block adjustment

Orthomosaicking Quality control

31.01.2013

SW

Rapid Terrain point cloud

Input: EnsoMOSAIC ortho results: image external orientation, mosaic

Functions: automatic calculating very dense point clouds. Generating DEM

and DSM, applicable in the most demanding application areas with e.g.

vertical cliffs or very high buildings.

Output: ASCII XYZ point cloud, RASTER DEM, editable in EnsoMOSAIC 3D.


SW


INPUTS

• Oriented images from EnsoMOSAIC

or

• Point cloud from RapidTerrain

FUNCTIONS

• Photogrammetric extraction of elevations

• 3D-digitizing

• 3D-viewing

• Volume calculation (between two elevation models)

OUTPUTS

• Surface models, Terrain models

• Contours, 3D-vectors

• 3D-visualization

• Vertical accuracy: 1.5 - 2 pix (when all error

sources controlled)

• Max Z point density: 1 pixel

• Max DSM density: 2 pixels

EnsoMOSAIC 3D – specifications

SW


WHY?

• Standard cameras have lens distortion not suitable for

professional mapping

• Camera parameters are required for fast automatic image

processing

FUNCTIONS

• Calculate exact camera interior orientation (camera parameters) to

convert standard camera into metric one for accurate mapping

OUTPUTS

• Focal length

• Principal point

• Radial and tangential lens distortion

Camera calibration

SW

17/12/2013 WS Business Intelligence 14

Camera calibration

Testfield dimensions Testfield ”hardware” Labelled marks on corners

Optimal calibration geometry, exposure locations

SW


WHY?

• Part of information in digital camera images lost or unused

• Enable image capture in RAW format instead of JPG

improve image quality (12 - 14 bits instead of 8 bits)

FUNCTIONS

• Convert RAW images into optimized TIF images

• Adaptive modeling of lens vignetting and hot spots

OUTPUTS

• Corrected and spectrally optimized images

DigiPreProcess – Image enhancement

SW


DigiPreProcess – Image enhancement

Before DigiPreProcess -

RAW 12-bit image

After DigiPreProcess -

TIF 8-bit CIR image

SW


WHY?

• In areas with sharp elevation differences and without a

perfect elevation model, there seem to be linear “cuts” in

mosaics. This effect is especially visible in urban areas.

FUNCTIONS

• Define seam lines for image blocks (typically digitize

centerlines of principal roads)

OUTPUTS

• Corrected continuous mosaic without cut lines

SeamLineEditor – Mosaic enhancement

SW


SeamLineEditor – Mosaic enhancement

Before applying seam lines After applying seam lines

SW

EnsoMOSAIC

Complete imaging system


Imaging hardware Processing hardware Software

NavCam: Navigation

EnsoMOSAIC ortho

EnsoMOSAIC point cloud

EnsoMOSAIC 3D

Standard PC

3D screen

+ +

EnsoMOSAIC for conventional flight

Any UAV platform

or

EnsoMOSAIC complete system

Control box with GPS

Digital camera: RGB,

CIR, hyperspectral

Laptop PC for navigation

Training

Maintenance

Support

+

Syst

• City models

• Topo maps

• 3D measurements

• Volumes


1. Planning

Work flow – conventional system

numeric and

graphical

planning

Typical altitude

1000 – 2000 m

Productivity 15,000

– 30,000 ha / h

Ground resolution

20 – 50 cm

Input from flight control

First results same day

Automatic:

aerotriangulation and

mosaicking

Input from

aerotriangulation

Automatic: Surface

models and contours

Manual: 3D vectors +

detailed 3D mapping

2. Imaging 3. Orthorectification 4. 3D-processing

• Orthophotos,

• Image mosaics • Images

EnsoMOSAIC FlyPlan EnsoMOSAIC imaging

Hardware + NavCam

EnsoMOSAIC ortho EnsoMOSAIC point cloud or

EnsoMOSAIC 3D

Syst

• City models

• Topo maps

• 3D measurements

• Volumes


1. Planning

Mission planning Typical altitude

100 – 200 m

Productivity 100 –

1000 ha / h

Ground resolution

5 – 10 cm

Input from autopilot

First results same day

Automatic:

aerotriangulation and

mosaicking

Input from

aerotriangulation

Automatic: Surface

models and contours

Manual: 3D vectors +

detailed 3D mapping

2. Imaging 3. Orthorectification 4. 3D-processing

• Orthophotos,

• Image mosaics • Images

Work flow – UAV platform

EnsoMOSAIC UAV EnsoMOSAIC point cloud or

EnsoMOSAIC 3D

Planning tools by UAV

manufacturer

Practically any

UAV system

Syst


Imaging service

Georeferenced

imagery

Business opportunities

For companies and organizations managing their own assets or land resources

For start-up businesses - low initial investment and easy to apply

For ground survey companies – utilize alternative tools

For aerial imaging companies – use efficient software

Mapping service

Orthoimages

Image maps

Value-added service

Interpretation

Classification

3D-modelling

VALUE

Syst

Achieved accuracies

System accuracy depends on applied GPS technology and GCP

measurements

Example 1 – standard single frequency GPS

• 2 meters accuracy

Example 2 – standard single frequency GPS + GCPs

• 1 pixel XY accuracy

• 2 pixels Z accuracy

Example 3 – double frequency DGPS

• 0.1 m – 0.5 m XY accuracy

Example 4 - DGPS + IMU

0.05 – 0.25 m XY accuracy


Syst

System accuracy should be defined according to

application needs, higher accuracy means higher

investment costs

Rikola HS camera

Frame based hyperspectral

solution

Lightweight, small and handheld

size

High accuracy image mosaics

at low cost for UAV platform

Fabry- Perot Interferometer (FPI)

Outputs image data cubes


HS

Technical specifications


• Weight: < 600g

• Max 50 bands by data cube

• Min. spectral resolution: 10nm

• Image resolution max. 1024 x 1024

• Spectral range: 500-900nm (spectral step 1nm)

• Total time, e.g. data cube of 32 bands – 1.4 sec

• Optical system: focal length 6mm, F-number 2.7, FOV 39o

HS

Fabry-Perot


Courtesy of Heikki Saari/VTT, ”Novel MEMS and Piezoactuated Fabry-Perot spectral imagers for atmospherics studies”,

38th Annual European Meeting on Atmospheric Studies by Optical Methods

HS

Hyperspectral mosaics


667nm 771nm 834nm

One-band mosaics created by EnsoMOSAIC

HS

applications


NDVI vs. NRVI (Normalized Ratio Vegetation Index)

Red band 668nm and NIR band 834nm

HS


EnsoMOSAIC – single orthorectified image


EnsoMOSAIC – orthorectified mosaic


EnsoMOSAIC – Hyperspectral mosaic

• Hyperspectral (up to 25 channels)

are processed same way as

standard mosaics

• Rikola hyperspectral camera applied


EnsoMOSAIC – contour maps and 3D models


EnsoMOSAIC – 3D point clouds

31.01.2013 MosaicMill Ltd.

3D - results

DSM, photogrammetric process only, 0.5 m resolution


EnsoMOSAIC

FOREST INVENTORY AND MANAGEMENT PLANNING


EnsoMOSAIC

TOPOGRAPHIC MAPPING


EnsoMOSAIC

PLANTATIONS MONITORING


EnsoMOSAIC

LOG YARD AND STOCK PILE INVENTORY


EnsoMOSAIC – CIR mosaic

• CIR mosaics (Colour Infra

Red) are processed same

way as standard mosaics

• Camera modified from

standard digital camera to

capture infra red

EnsoMOSAIC

UAV platforms

UAVs for mapping

UAV = Unmanned Aerial Vehicle

Autonomous

• = with pre-programmable autopilot

• Excludes radio controlled aircraft (for hobby)

Civil sector

• Excludes military (95+ % of €)

For remote sensing

• With a compact or SLR camera

• Excludes research (e.g. High altitude – high endurance)


UAV

Platforms

By weight

• Light (micro) < 2 kg

• Small 3-15 kg (e.g. Bramor, Idetec)

• Medium < 150 kg

By engine type

• Electric

• Combustible (piston, turbine)

By design

• Fixed wing

• Helicopter

By endurance

• Short (<45 min)

• Short+ (<1.5 hours

• Medium (2-6 hours)


Most UAVs suitable for mapping, fixed wing vehicles more stable,

payload should be at least 0.3 kg

UAV

Bottlenecks of UAV mapping

All hardware and software related problems solved, high accuracy

orthomaps and DEMs can be processed if the following issues

controlled:

• Mission planning with high image overlap

• Platform with proper payload and endurance

• Fixed focal length camera

• GPS + IMU + Image synchronization

• Proper camera calibration – Camera calibration software

• Ground Control – few GCPs / project to meet the highest

standards

• Advanced photogrammetry for hundreds or thousands of images –

EnsoMOSAIC UAV and EnsoMOSAIC 3D


Legislation the only real bottleneck

UAV

Limitations

Rules and regulations

• Do not exist for autonomous UAVs -

Under development (EU – USA)

• Flying in-sight only in many countries

Physical

• Endurance, power source

Training, operator skills

• Professional use

• Risk of accident


UAV

Use UAVs only for small or medium size areas, areas over 50 km2

always with manned vehicle

example: Bramor by C-Astral

Cruise speed 58 km/h

Endurance up to 120 min

Area coverage up to 10 km2

Optimum weight 3.3. kg

Parachute landing

25 Mpix sensor

100 % compatibility with EnsoMOSAIC


UAV


example: Idetec

UAV


example: Idetec Stardust II

UAV


example: Cropcam

UAV

Examples: Gatewing UX5


UAV


Examples: UAVER

UAV


Supporting slides


EnsoMOSAIC complete system Delivery and installation

Licensing through MosaicMill (www.mosaicmill.com)

Evaluation licenses available for one month

Training provided in user’s premises, both for flying and processing

Typical training times

• Survey planning 1 day

• Hardware installations to the plane 1 day

• Imaging 2 – 3 days

• Mosaicking 3 – 4 days

• Mosaic utilization in GIS 1 day

• 3D measurements 5 days

Maintenance and support available via web and e-mail

In-site trouble shooting and project support available upon request

http://www.mosaicmill.com/


Standard cameras - compact or SLR

Fixed focal length lenses preferred

Weight is the key issue: bigger camera better quality

Light-weight models from 0.3 kg

Sony Alpha NEX series

Olympus PEN series

Panasonic Lumix GF series

Full frame SLR cameras for medium size UAVs

Stability unknown (harsh landings)

Can be converted to CIR

UAV Sensors

Camera MUST be calibrated regularly,

usable for most accurate jobs

ensomosaic · mosaicmill ltd. 16.3.2011 7 substitute ground topographic survey • low-altitude uav...

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