Post on 22-Feb-2022
Rakesh Kumar Rakesh Kumar MishraMishra
An ObjectAn Object--Oriented Software Oriented Software Development Approach to DesignDevelopment Approach to DesignDevelopment Approach to Design Development Approach to Design Simulator for Airborne Altimetric LiDARSimulator for Airborne Altimetric LiDAR
Rakesh Kumar Mishra, Bharat LohaniGeoinformatics divisionI di I tit t f T h l K
Indian Institute of Technology KanpurIndian Institute of Technology Kanpur 11
Indian Institute of Technology KanpurKanpur, INDIA
Rakesh Kumar Rakesh Kumar MishraMishra
P i i l f LiDARP i i l f LiDARPrinciple of LiDARPrinciple of LiDAR
Laser transmitter INS, GPS, Scanner
d
(x,y,z, direction cosines)
d
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X,Y,Z
Rakesh Kumar Rakesh Kumar MishraMishra
LiDAR T h lLiDAR T h lLiDAR TechnologyLiDAR Technology
Provides accurate topographic data at high speed
Data collection with higher density accuracy & less timeData collection with higher density, accuracy & less time
Weather and light independent
Applications:
• DEM generation• Flood hazard zonation
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• Cellular networks etc.
Rakesh Kumar Rakesh Kumar MishraMishra
ObjectObject--Oriented Software Oriented Software jjDevelopmentDevelopment
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Rakesh Kumar Rakesh Kumar MishraMishra
Initial Investigation (Why simulator ?)Initial Investigation (Why simulator ?)
LiDAR Instrument is very costly
LiDAR data is not available in most of the countriesLiDAR data is not available in most of the countries
LiDAR data is not available for teaching as required g q
LiDAR data is not available for research as required
Software for flight planning
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Rakesh Kumar Rakesh Kumar MishraMishra
RequirementsRequirementsRequirementsRequirementsUser friendly GUI
Simulation of generic as well as commercial sensors
Simulation of earth like surfaces
Flight trajectory as in case of actual flightFlight trajectory as in case of actual flight
Possibilities of error introduction
Output data in common format
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Help and tutorial
Rakesh Kumar Rakesh Kumar MishraMishra
Feasibility studyFeasibility study
Sufficient background is available for the systemSufficient background is available for the systemdevelopment
The system can be engineered using current technology
Development can be done within the budget & time
Developed system will be useful for the user group
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Rakesh Kumar Rakesh Kumar MishraMishra
ObjectObject--Oriented analysisOriented analysis
Surface
TrajectoryUser Integration Output
Sensor
Use case diagram
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Rakesh Kumar Rakesh Kumar MishraMishra
Objects in the problem domain is identified
Object relationships are made
Object state table is developedObject state table is developed
Inheritance diagram for objects is made
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Rakesh Kumar Rakesh Kumar MishraMishra
Obj tObj t ri nt d d i nri nt d d i nObjectObject--oriented designoriented design
INPUT
Terrain Sensor Trajectory
Integration
Terraincomponent
Sensor component
Trajectory component
OUTPUT
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Rakesh Kumar Rakesh Kumar MishraMishra
Terrain componentsTerrain componentsTerrain componentsTerrain components
Terraintcomponent
Raster surfacePolynomial surface
Fractal surface
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Rakesh Kumar Rakesh Kumar MishraMishra
Sensor componentsSensor componentsSensor componentsSensor components
Sensortcomponent
ALTMGeneric sensor ALS 50
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Rakesh Kumar Rakesh Kumar MishraMishra
Trajectory componentsTrajectory componentsTrajectory componentsTrajectory components
Trajectorycomponent
Location Attitude
Acceleration Velocity
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Cl d i nCl d i nClass designClass design
Identify classes from the componentsIdentify classes from the components
Identify subclass within each class
Identify abstraction in each class
Identify the common behaviour of classes
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Rakesh Kumar Rakesh Kumar MishraMishra
S t m impl m nt ti nS t m impl m nt ti nSystem implementationSystem implementation
Java is used to realize the designJava is used to realize the design
Each classes are implemented with its relationship
Standard way of coding is used
Methods are designed for each basic task
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Rakesh Kumar Rakesh Kumar MishraMishra
C mpl iti h ndl dC mpl iti h ndl dComplexities handledComplexities handled
Efficient algorithms are designedEfficient algorithms are designed
Threads are used to optimize software execution
Special data structures are designed to handlememory problems
New file formats are designed to improve I/O
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Software Software ScreenshotsScreenshots
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Polynomial surfacePolynomial surface
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Raster surface(City model)Raster surface(City model)
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Fractal surfaceFractal surface
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AccelerationAcceleration
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Sensor componentSensor component
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System defined optimal flight linesSystem defined optimal flight linesSystem defined optimal flight linesSystem defined optimal flight lines
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Rakesh Kumar Rakesh Kumar MishraMishra
User defined optimal flight linesUser defined optimal flight linesUser defined optimal flight linesUser defined optimal flight lines
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AttitudeAttitude
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Error simulationError simulation
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Output generationOutput generation
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SoftwareSoftware ResultsResultsSoftware Software ResultsResults
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Rakesh Kumar Rakesh Kumar MishraMishra
Altitude=210m Overlap=4%Velocity=60m/s
3D Raster terrain (Displayed in Surfer)3D Raster terrain (Displayed in Surfer)Velocity=60m/sSensor-ALS-50Firing frequency=20KHz Scan frequency=48HzScan angle=40°Flight area=430m×430mFlight area 430m 430m
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Lidar data plot in planLidar data plot in plan
A AA-A
B-B
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Profile AProfile A--A with and without errorA with and without error
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Profile BProfile B--B with respect to flight linesB with respect to flight lines
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LiDAR data without errorLiDAR data without error
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LiDAR data with errorLiDAR data with error
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Data without attitude variationData without attitude variation
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Data with attitude variationData with attitude variation
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Fractal surface displayed in SurferFractal surface displayed in Surfer
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Rakesh Kumar Rakesh Kumar MishraMishra
LiDAR data of fractal surfaceLiDAR data of fractal surface
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Rakesh Kumar Rakesh Kumar MishraMishra
Terrain with objectsTerrain with objects
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Rakesh Kumar Rakesh Kumar MishraMishra
Altitude=490m Overlap=2%
l /Velocity=60m/sSensor-ALS-50Firing frequency=20KHz Scan frequency=48HzScan angle=50°Flight area=640m×460m
LiDAR data of terrain with objectsLiDAR data of terrain with objectsFlight area=640m×460m
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Rakesh Kumar Rakesh Kumar MishraMishra
1
2 Profile view of buildingsProfile view of buildings
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Eff t f diff t fli ht di tiEff t f diff t fli ht di tiEffect of different flight directionEffect of different flight direction
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Rakesh Kumar Rakesh Kumar MishraMishra
Use of SimulatorUse of SimulatorUse of SimulatorUse of Simulator
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Ed tiEd tiEducationEducation
Process of LiDAR data generationProcess of LiDAR data generation
Effect of change in various parameters
Effect of error in data
Effect of different sensors on LiDAR data
Generating data for known ground truth
Conducting various lab exercises
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Conducting various lab exercises
Rakesh Kumar Rakesh Kumar MishraMishra
R hR hResearchResearch
Evaluation of information extraction algorithmsEvaluation of information extraction algorithms
Assessing effect of error on performance of algorithms
Study the effect of parameters on data
Generate data of different specifications with no cost
Finding optimal data specification for an application
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Rakesh Kumar Rakesh Kumar MishraMishra
Fli ht l iFli ht l iFlight planningFlight planning
Determine the optimal flight line
Effect of sensor parameters on data
Effect of data densityEffect of data density
Determine the optimal sensor parameters
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Rakesh Kumar Rakesh Kumar MishraMishra
C l iC l iConclusionConclusionOffers a user friendly GUI based interface
Simulate the process of LiDAR data collection
Freedom to set the sensor parameters
M d t t b t d f th t iMany data sets can be generated for the same terrain
Ideal software tool for LiDAR research and educationIdeal software tool for LiDAR research and education
OOSD makes it easily maintainable and scalable software
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Rakesh Kumar Rakesh Kumar MishraMishra
Rakesh Kumar MishraSr. Project AssociateGeoinformatics divisionGeoinformatics divisionIndian Institute of Technology KanpurKanpur, INDIA-208016E M il k i h @iitk i
Indian Institute of Technology KanpurIndian Institute of Technology Kanpur 4949
E-Mail: rkmishra@iitk.ac.in