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• Introduction & Motivation
• Methodology • Experimental Results & Analysis
Introduction & Motivation 3 .
• UAVs are able to operate rather close to the object. acquiring image with resolution as fine as a few centimeters • UAVs have other advantages over satellites and manned aircraft. •UAVs can be programmed off-line and controlled in real time to navigate and to collect data. 4 .Advantages of UAV in remote sensing •UAVs are highly flexible source for remote sensing data. such as collecting image data at a lower cost. faster and more safely.
UAV mapping system 5 .
pixel size of 5.7µm Ground Control: The weGCS software is installed on the GCS computer. 6 .The helicopter: weights 15lb. and control the flight & camera. GPS receiver: provides the 3D coordinates information Inertial Navigation System: provides the orientation and velocity of the UAV . can reach 200m. Camera: Canon EOS Digital Rebel XTi digital camera. The software features an interface for mission planning allowing for setting of mission parameters. maximum speed of 10m per second. f=50mm. Autopilot board: acquires GPS & inertial navigation system data. The Autopilot board can be controlled with manual remote control and can be engaged/disengaged upon the command. 3888x2592pixels.
Methodology 7 .
UAV-acquired Imagery Camera Calibration Parameters Iteratively Forming Image Block Select one pair of stereo images and perform relative orientation Generate/update 3D model coordinates Add neighboring overlapping image and perform space resection Bundle adjustment Bundle block adjustment 3D point coordinates 8 .
•Color-coded targets are used and •In this research. the camera calibration is performed via the iWitness scooftware. lens distortion.Camera calibration •The aim of camera calibration is to calculate the so-called inner orientation parameters (focal length. 9 . …).
UAV-acquired Imagery .
Test site 11 .
Stereo images relative orientation • Location of conjugate points across images Point matching by comparing of attributes SIFT algorithm for feature point extraction .
iteratively to the image block • Perform bundle adjustment of the formed image network to simultaneously determine the orientation parameters of the all images .Generate 3D model coordinates • Add the neighboring images.
This is achieved by automated image matching. by reversing the imaging process.3D point coordinates •An efficient approach to process the UAV-acquired imagery to derive 3D road surface fully automatically. •The fundamental process to automate this procedure is to locate the corresponding points in image space. its 3D position can be computed through the intersection of the image rays. 15 . • Since a point on a road is captured in consecutive images. thus.
Experimental Results & Analysis 16 .
Research and Development 17 .
Results 18 .
demonstrating good performance of the system.5”~2”. • Comparison with field survey with tape was also conducted.5~2 inches measured in field with tape.4”. • The differences between image-based measurement and field survey are within the range of 0. 21 . • The maximum depths of the ruts and potholes are 1.2”-0.Analysis •The depth of the potholes is around 1.