ACCURACY ASSESSMENT OF HEIGHT COORDINATE USING...

ACCURACY ASSESSMENT OF HEIGHT COORDINATE USING UNMANNED

AERIAL VEHICLE IMAGES BASED ON ORTHOMETRIC HEIGHT

SYAMSUL ANUAR BIN ABU KASIM

A project report submitted in partial fulfilment of the

requirements for the award of the degree of

Master of Science (Geomatic Engineering)

Faculty of Geoinformation and Real Estate

Universiti Teknologi Malaysia

JUN 2015

iii

DEDICATION

To my beloved father and mother

My wife

My lecturers and

My friends

iv

ACKNOWLEDGEMENTS

All praises are belonging to Allah S.W.T, the Lord of the world, for His love,

grace and guidance. May the blessing and peace of Allah be upon Prophet

Muhammad S.A.W, his family members and companions.

I would like to dedicate my sincere gratitude to my supervisors Dr. Othman

Bin Zainon and Associate Professor Dr. Hj. Anuar Bin Hj. Ahmad for their keen

interest on me at every stage of my research. Their prompt inspirations, valuable

advices, continuous guidance, timely suggestions with kindness and enthusiasm have

enabled me to complete my writing.

Special appreciation also to my family for the support and encouragement.

Last but not least, thanks to all friends and the staffs in Universiti Teknologi Mara

who have lend a hand throughout the process of completing this thesis. Only Allah

can repay all your kindness and may Allah bless us.

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ABSTRACT

Most of the Unmanned Aerial Vehicle (UAV) images studies are focusing

on the horizontal plane with minimal covered on its height values. This thesis will

study about the accuracy assessment in height coordinates using UAV images

processing based on orthometric height observation data. Apart from that, the

accuracy of height coordinates using UAV images processing based on different

number of ground control point (GCP) are also assess. In this study, Agisoft

PhotoScan v0.9.0 and Global Mapper v15.2.3 are the software used for the

processing and analysis. Ground control points and check points were established

using Real Time Kinematic Global Positioning System (RTK-GPS) and leveling

method. There are two photogrammetric products produced in this study such as

orthophoto and digital elevation model (DEM). The analyses of the photogrammetric

products were performed based on different number of GCP and different

orthometric height observation data. The results of this study showed that the height

accuracy of photogrammetric products using UAV images processing based on 10

GCPs produced better accuracy than 5 GCPs. RMSE values of check point height

coordinates based on data from leveling method are ± 0.161 meter for 5 GCPs and ±

0.116 meter for 10 GCPs while RMSE values of check point height coordinates

based on data from RTK-GPS method are ± 0.167 meter for 5 GCPs and ± 0.124

meter for 10 GCPs. The results also showed that photogrammetric products using

UAV images processing based on leveling method provide more accurate height

results than RTK-GPS method. The RMSE value of check point height coordinates

based on RTK-GPS method is ± 0.148 meter (10 GCPs) and RMSE value of check

point height coordinates based on leveling method is ± 0.116 meter (10 GCPs). As

conclusion, UAV images can be used to generate DEM that give height coordinate

values with sub-meter accuracy.

vi

ABSTRAK

Kebanyakan kajian Kenderaan Udara Tanpa Pemandu (UAV)

bertumpukan kepada satah mendatar dan kurang melihat kepada nilai ketinggian

yang diperolehi. Kajian ini dibuat bagi menilai kejituan terhadap koordinat

ketinggian menggunakan imej daripada UAV yang diproses berdasarkan data cerapan

ketinggian ortometrik. Selain daripada itu, ketepatan koordinat ketinggian juga

dinilai melalui imej UAV yang diproses berdasarkan bilangan titik kawalan tanah

yang berbeza. Dalam kajian ini, perisian Agisoft PhotoScan v0.9.0 dan Global

Mapper v15.2.3 digunakan untuk memproses imej UAV dan untuk membuat analisis.

Titik kawalan tanah dan titik semak telah diwujudkan menggunakan kaedah Sistem

Pendudukan Sejagat secara Kinematik Masa Hakiki (RTK-GPS) dan kaedah ukur

aras. Terdapat dua hasil fotogrammetri dihasilkan iaitu ortofoto dan model

ketinggian digital (DEM). Analisis terhadap hasil fotogrammetri dibuat berdasarkan

bilangan titik kawalan yang berbeza dan juga berdasarkan kepada data cerapan

ketinggian yang berbeza. Keputusan kajian ini menunjukkan kejituan ketinggian

hasil fotogrammetri dari imej UAV yang diproses menggunakan 10 titik kawalan

tanah memberikan ketepatan yang lebih baik berbanding 5 titik kawalan tanah. Nilai

RMSE koordinat ketinggian titik semak berdasarkan data dari kaedah ukur aras

adalah ± 0.161 meter untuk 5 GCPs dan ± 0.116 meter untuk 10 GCPs manakala

nilai RMSE koordinat ketinggian titik semak berdasarkan data dari kaedah RTK-GPS

adalah ± 0.167 meter untuk 5 GCPs dan ± 0.124 meter untuk 10 GCPs. Keputusan

kajian juga menunjukkan kejituan ketinggian hasil fotogrammetri dari imej UAV

yang diproses menggunakan kaedah ukur aras memberikan hasil ketinggian yang

lebih tepat berbanding kaedah RTK-GPS. Nilai RMSE koordinat ketinggian titik

semak berdasarkan data dari kaedah RTK-GPS adalah ± 0.148 meter (10 GCPs) dan

nilai RMSE koordinat ketinggian titik semak berdasarkan data dari kaedah ukur aras

adalah ± 0.116 meter (10 GCPs). Kesimpulannya, imej UAV boleh digunakan untuk

menjana DEM yang memberikan nilai koordinat ketinggian sehingga ketepatan sub-

meter.

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TABLE OF CONTENTS

CHAPTER TITLE PAGE

DECLARATION ii

DEDICATION iii

ACKNOWLEDGEMENTS iv

ABSTRACT v

ABSTRAK vi

TABLE OF CONTENT vii

LIST OF TABLES xii

LIST OF FIGURES xvi

LIST OF ABBREVIATIONS xxi

LIST OF APPENDICES xxiii

1 INTRODUCTION 1

1.1 Background of Research 1

1.2 Problem Statement 2

1.3 Aim of Study 3

1.4 Objective of Study 3

1.5 Significance of Study 4

1.6 Scope of Study 4

viii

1.7 General Methodology 5

1.8 Thesis Outline 7

2 UNMMANNED AERIAL VEHICLE (UAV) 9

PHOTOGRAMMETRY

2.1 Introduction 9

2.1.1 UAV Photogrammetry Classification 10

2.2 Aerial Photogrammetry 11

2.2.1 Determining Photo Scale 12

2.2.2 Photograph Overlap 13

2.2.3 Photogrammetric Control 16

2.2.4 Field Survey Methods for Establishing 17

Horizontal Control

2.2.5 Field Survey Methods for Establishing 18

Vertical Control

2.2.6 Ground Control Surveys by GPS 18

2.3 UAV Systems 19

2.3.1 Classification of UAV 20

2.4 Flight planning for UAV 22

2.5 UAV Applications 24

2.6 UAV Software Processing 27

2.6.1 Agisoft PhotoScan Software 27

2.6.2 Agisoft PhotoScan Version 0.9.0 28

build 1586System Requirements

2.6.3 Global Mapper Software 29

ix

2.6.4 Global Mapper Version 15.2.3 System 30

Requirements

2.7 Height Determination Using GPS 30

2.7.1 Geoid Heights 31

2.7.2 Orthometric Heights 32

2.7.3 MyGEOID 32

2.8 Chapter Summary 33

3 METHODOLOGY 34

3.1 Introduction 34

3.2 Research Methodology 34

3.3 Preparation Stage 36

3.4 Camera Calibration 36

3.5 Data Acquisition of UAV 38

3.5.1 Ground Control Points using GPS 39

3.5.2 Leveling Measurement 41

3.6 Data Processing 41

3.6.1 Processing of UAV Data 42

3.6.2 Processing of GPS data 45

3.6.3 Place Markers 46

3.6.4 Orthophoto and DEM Generation 47

3.7 Data Analysis and Accuracy Assessment 48

3.7.1 Quantitative Analysis 49

3.7.2 Analysis with Global Mapper Software 50

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4 RESULTS AND ANALYSIS 52

4.1 Introduction 52

4.2 Results 53

4.2.1 The Conversion of Ellipsoidal GPS Heights 53

to Orthometric Heights

4.2.2 Digital Orthophoto 56

4.2.3 Digital Elevation Model (DEM) 58

4.3 Analysis 60

4.3.1 Accuracy Reference 62

4.3.2 Point Analysis 66

4.3.2.1 Accuracy Assessment of Height Coordinates 67

for Digital Photogrammetric Products Based

On Different Number of Ground Control Point

4.3.2.2 Accuracy Assessment of Height Coordinates 76

for Digital Photogrammetric Products Based on

Different Orthometric Height Observation Data

4.3.3 Visualization Analysis 80


xi

5 CONCLUSIONS AND RECOMMENDATIONS 86

5.1 Conclusions and Recommendations 86

REFERENCES 90

Appendices 94-120

xii

LIST OF TABLES

TABLE NO. TITLE PAGE

2.1 UAV systems classification with respect to 20

payload (Eisenbeiss, 2009).

2.2 Agisoft Photoscan System Requirements 28

(Agisoft, 2013).

2.3 Global Mapper System Requirements 30

(Global Mapper, 2014)

2.4 MyGEIOD data charges payment (JUPEM, 2005) 33

3.1 The result of camera calibration 38

3.2 The photos information taken by UAV 39

4.1 The results of geoid separation values using Malaysia 54

Geoid Model (WMGEOID04)

4.2 The height different between RTK-GPS and leveling 55

method

4.3 The survey points used as ground control points and 61

check points

4.4 Land cover classes by ASPRS (Heidemann, 2014) 63

4.5 Vertical accuracy for digital elevation models 64

(Heidemann, 2014)

4.6 The vertical accuracy classes for digital elevation data 64

xiii

(ASPRS, 2013)

4.7 The vertical map accuracy standard by ASPRS 1990 65

4.8 The comparison between the ground control point 69

coordinates (RTK-GPS method) and the coordinates

obtained from Agisoft PhotoScan using UAV images

processing based on RTK-GPS heights and 10 GCPs

4.9 The comparison between the check point coordinates 69

(RTK-GPS method) and the coordinates obtained from

Agisoft PhotoScan using UAV images processing based

on RTK-GPS heights and 10 GCPs


coordinates (RTK-GPS method) and the coordinates




(RTK-GPS method) and the coordinates obtained from


on RTK-GPS heights and 5 GCPs


coordinates (leveling method) and the coordinates obtained

from Agisoft PhotoScan using UAV images processing

based on leveling heights and 10 GCPs


(leveling method) and the coordinates obtained from


xiv

on leveling heights and 10 GCPs


coordinates (leveling method) and the coordinates


processing based on leveling heights and 5 GCPs


(leveling method) and the coordinates obtained from


on leveling heights and 5 GCPs

4.16 The RMSE for ground control points where UAV images 73

were processed based on height from RTK-GPS method

4.17 The RMSE for check points where UAV images were 74

processed based on height from RTK-GPS method

4.18 The RMSE for ground control points where UAV images 74

were processed based on height from leveling method

4.19 The RMSE for check points where UAV images were 75

processed based on height from leveling method

4.20 The overall RMSE results for height coordinates 75

4.21 The comparison between the check point height 78

coordinates (leveling method) and the height

coordinates obtained from Agisoft PhotoScan using

UAV images processing based on RTK-GPS heights

and 10 GCPs

4.22 The comparison between the check point height 78

coordinates (leveling method) and the height coordinates

xv



4.23 The overall RMSE results of check point based on height 79

coordinates from Agisoft PhotoScan (RTK-GPS and

leveling method) comparing with heights obtained from

leveling measurement

xvi

LIST OF FIGURES

FIGURE NO. TITLE PAGE

1.1 The study area 4

1.2 Research Methodology 6

2.1 The accuracy of measurement methods in relation to 10

the object size (Eisenbeiss, 2009)

2.2 Photographic scale (Moffit et al., 1997) 13

2.3 End lap, the overlapping of successive photos along a 13

flight strip (Wolf et al., 2004)

2.4 Overlap of two successive photos (Burns, 2006) 14

2.5 Side lap, the overlapping of adjacent flight strips 15

(Wolf et al., 2004)

2.6 Side lap of two flight line (Burns, 2006) 15

2.7 Control recommended for orienting 17

stereomodels (Wolf et al., 2004)

2.8 Rotary wing UAV called MikroKopter 21

(Haubeck et al., 2013)

2.9 Fixed wing UAV called Cropcam UAV 21

(Sofia et al., 2012)

2.10 Example of a back-and-forth flight path to cover an 23

area (Bailey, 2012)

xvii

2.11 UAV application in forestry for forest fires detection 24

(Huetger et al., 2014)

2.12 Acquisition data from UAV platform for modeling of 25

the complex Neptune temple in Paestum, Italy

(Remondino et al., 2011)

2.13 Use of UAVs for protecting endangered animals 26

(Huetger et al., 2014)

2.14 3D reconstruction on building (Mayer et al., 2008) 26

2.15 Graphic display of 3D model in Agisoft PhotoScan 28

2.16 The graphic display of Orthophoto in Global Mapper. 29

2.17 Relationship between ellipsoidal, geoid and orthometric 31

heights (JUPEM, 2005)

3.1 Flowchart of research methodology 35

3.2 Canon PowerShot SX230 HS digital camera 36

3.3 The position of camera and calibration grid paper 37

3.4 The mosaic of four strips of digital UAV images 39

3.5 The GPS Topcon GR5 Receiver 40

3.6 The geoid separation values in red box generated 41

from Topcon Tools software

3.7 The align photos window in Aggisoft PhotoScan 42

3.8 The sparse point cloud and a set camera positions 43

3.9 The build geometry window in Agisoft PhotoScan 43

3.10 The image result of build geometry 44

3.11 The build texture window in Agisoft PhotoScan 44

xviii

3.12 The 3D image after building texture processed 45

3.13 The display of Topcon Tools software 46

3.14 The place markers in Agisoft PhotoScan 46

3.15 The orthophoto export window in Agisoft PhotoScan 47

3.16 The image of orthophoto generation in .TIFF 47

format file

3.17 Quantitative analysis flowchart 49

3.18 Photogrammetric product (DEM) displayed on 50

Global Mapper

3.19 Photogrammetric product (orthophoto) displayed 50

on Global Mapper

4.1 The Coordinate System item display the setup and 55

conversion tabs on Topcon Tools v.8.2.3

4.2 The digital orthophoto using UAV images processing 57

based on ground control points (10 GCPs)

4.3 The digital orthophoto using UAV images processing 57

based on five ground control points (5 GCPs)

4.4 The DEM reconstruction produced by Agisoft PhotoScan 58

using UAV images processing based on RTK-GPS

heights and ten ground control points (10 GCPs)


using UAV images processing based on height from

leveling method and ten ground control points (10 GCPs)


using UAV images processing based on RTK-GPS

xix

heights and five ground control points (5 GCPs)


using UAV images processing based on height from

leveling method and ten ground control points (5 GCPs)

4.8 The location of ground control points and check 62

points at the study area

4.9 The flowchart for analysis based on different number 66

of GCP

4.10 The flowchart for analysis based on orthometric height 67

observation data

4.11 Graph of RMSE value for all height coordinates 76

4.12 The graph of overall RMSE results for CP height 79

Coordinates

4.13 The contour line overlaid with DEM which is UAV 80

images were processed based on RTK-GPS height and

10 GCPs


images were processed based on height from leveling and

10 GCPs


images were processed based on RTK-GPS height and

5 GCPs


images were processed based on height from leveling and

5 GCPs

xx

4.17 The line feature (yellow line) to create path profile at 82

the study area

4.18 The path profile of photogrammetric product (DEM) 83

using UAV images processing based on RTK-GPS heights

and 10 GCPs


using UAV images processing based on heights from

leveling method and 10 GCPs


using UAV images processing based on RTK-GPS heights

and 5 GCPs


using UAV images processing based on heights from

leveling method and 5 GCPs

xxi

LIST OF ABBREVIATIONS

BM - Benchmark

CP - Check point

CIR - Color-infrared

DEM - Digital Elevation Model

DSM - Digital Surface Model

DTM - Digital Terrain Model

DGPS - Differential Global Positioning System

FVA - Fundamental vertical accuracy

GCP - Ground Control Point

GIS - Geographic Information System

GNSS - Global Navigation Satellite System

GPS - Global Positioning System

GSD - Ground Sampled Distance

LPS - Leica Photogrammetry Suite

NVA - Nonvegetated vertical accuracy

OTF - On-the-fly

RMSE - Root Mean Square Error

RTK - Real Time Kinematic

RTK-GPS - Real Time Kinematic Global Positioning System

SVA - Supplemental vertical accuracy

xxii

UAV - Unmanned Aerial Vehicle

UVS - Unmanned Vehicle System

VTOL - Vertical Takeoff and Landing Vehicles

VVA - Vegetated vertical accuracy

xxiii

LIST OF APPENDICES

APPENDIX TITLE PAGE

A Location of survey points for ground control points and 94

check points at the study area

B Location and coordinate of individual survey points for 95

ground control points and check points of study area

C The data of leveling measurement 104

D UAV images processing procedure in Agisoft 106

PhotoScan version 0.9.0

E The data of RTK-GPS measurement 116

F The installation procedure of the Peninsular Malaysia 118

Geoid Model (WMGEOID04) on Topcon Tools Ver.

8.2.3 software

G The procedure to apply elevation from terrain layers 120

to ground control point on Global Mapper v.15.2.3.

CHAPTER 1

INTRODUCTION

1.1 Background of Research

Photogrammetric technique becomes faster, simpler and lower cost due to

rapid development of technologies in mapping. The development in digital

technologies has increased the reliability in data captured. Research paper related to

mapping using non-matrix camera become more popular due to their lower cost and

time consuming. Although the Unmanned Aerial Vehicle (UAV) was found that

capable in producing digital orthophoto and digital map, but most of the studies are

focusing on the horizontal plane with minimal covered on its height values. There are

many factors that can affect the height coordinates such as camera lens (Tahar,

2013), flying height (Tahar, 2013), image resolution (Zarco-Tejadaa et al., 2014),

digital camera format (Ahmad, 2011) and many more.

This thesis will study about the accuracy assessment in height measurement

by using digital elevation model (DEM) generated from processed UAV images

comparing with known height values of ground control points (GCP). The data of

ground control points will establish using the GPS technique (RTK-GPS) along with

leveling method. The study is expected to provide contribution for an easy and fast

way in getting height points value other than using conventional method such as

leveling. In this study, UAV is used as a platform to capture digital image using high

resolution digital camera. The study area is surrounding the Universiti Teknologi

Malaysia (UTM).

2

1.2 Problem Statement

There are many research related to the UAV techniques. UAV have used to

produced slope map (Tahar, 2012), quantification of tree height (Zarco-Tejadaa et

al., 2014) and many more. Most of the researches give a good result in planimetry

coordinates but little studies at the height coordinates. Tahar et al. (2012), in his

study using UAV on production of slope map, he found that each coordinates of

easting; northing and height recorded the RMSE value of +1.342, +1.660 and +4.666

meters. The result shows a big error on height value. He deduces that a big error on

height value might be caused by the auto tie points that were not well established,

which were being effected due to the image resolution, color balancing and image

quality itself such as blurring effects.

Tahar (2013), in his PhD research using micro UAV for large scale mapping,

he found that the best flying height for UAV is 80 meters above the ground surface

with scale 1:3000, but the result shows accuracies for height coordinates was +3

meter and +40 centimeter for easting and northing. He concluded that the error may

be caused by limitation of camera lens.

Moreover, Ahmad (2011), in his research using low altitude UAV for digital

mapping, the differences in height coordinates between ground height from GPS and

ground height from Erdas Imagine software product reached 1.595 meters. In his

research, he used a small format digital camera and high accuracy could be achieved

by the large format metric camera.

In Tahar and Ahmad (2011) point of views, using UAV for photogrammetric

survey in aerial terrain mapping also found that RMSE for fixed platform are +0.002

m, +0.001 m, +0.214 m for coordinate x, y and z respectively and for mobile

platform are +0.002 m, +0.002 m, +0.223 m for coordinate x, y and z respectively.

Although the result shows, the differences between the mobile and fixed platform are

not significant but they decided that the different on ground control height might be

an effect from the automated tie point that used image-matching technique.

3

Apart from that, Grenzdoerffer et al. (2008) in his study using UAVs in

forestry and agriculture also get the accuracy in z is lower than in x and y. He

concludes that this result might be the consequences of the systematic errors in the

focal length. On the other hand, Zhang (2008) verifies that additional parameters are

essential in aerial triangulation to increase the precision of height coordinate.

From the previous research, there are many factors that influence the height

coordinate. The research question for this study is to determine the procedure of

UAV to get the accurate value in the height coordinate.

1.3 Aim of Study

The aim of this study is to assess the accuracy of height coordinates using

Unmanned Aerial Vehicle images processing based on different number of ground

control point and different orthometric height data.

1.4 Objective of Study

The study objectives are:

a) To evaluate the capabilities of high resolution digital camera and UAV in

generate values of height by produced digital photogrammetric product.

b) To determine the accuracy of height coordinate from digital

photogrammetric product base on different number of ground control

point.

c) To determine the accuracy of height coordinate from digital

photogrammetric product base on height from leveling measurement and

height from RTK-GPS technique.

4

1.5 Significant of Study

The findings of the study is expected to give contribution for determine the

height value of the ground surface in easy and fast way. It is hope can become other

alternative in obtaining the height value in surveying field.

1.6 Scope of Study

The study will be conducted at the main campus of Universiti Teknologi

Malaysia (UTM) with several points of known height values around the campus area.

The digital camera images using UAV platform are used to produce digital

orthophoto and digital elevation model (DEM). Figure 1.1 illustrates the image

which shows the study area that covered an area of 350 m x 290 m.

Figure 1.1: The study area

The digital images are captured by high resolution digital camera attached at

the UAV. The ground control points (GCPs) will be established by GPS observation

290 m

350 m

5

(RTK-GPS method) and leveling. Although the GCPs will give three dimensional

coordinates (East, North and Height), this study will emphasis accuracy assessment

on height coordinates.

1.7 General Methodology

There are four phases covered in this study which are literature review related

to the study and study preparation, the collection of the data, the processing of the

data and data analysis.

The literature review will explain briefly about the photogrammetry and the

development of UAV in many applications and mapping purposes. The study

preparation give an explanation about the preparation should be done in collecting

the data such as instrument used, flight planning and camera calibration of digital

camera.

For the data collection phase, there are three main data should be collected

that are ground control points (GCPs) established from RTK-GPS, camera

calibration parameter from camera calibration and digital images captured by UAV

at the study area. The determination of GCPs and Check Points (CPs) location must

be well organized referred to UAV images for the study area.

In the processing stage, all the data will be processed using photogrammetric

software to produce digital elevation model (DEM). The DEM then will be analyzed

with GCPs and leveling to determine their accuracy by checking the value of root

mean square error (RMSE).

6

Figure 1.2: Research Methodology

Phase 1

Phase 2

Phase 3

Phase 4

Preliminary

Studies

Literature Review

Flight planning

Acquired digital

image from UAV

UAV Images processing

(Using different number of GCPs &

different orthometric height data)

DEM & Orthophoto

Analysis

Conclusion

Digital camera

calibration

Camera

calibration

parameter

RTK-GPS /

Leveling

Establish ground

control point

(GCP)

7

1.8 Thesis Outline

The thesis is divided into five main chapters and the explanation of each

chapter is described as follows:

Chapter 1 is the explanation about the introduction of the study. The chapter

includes briefly explanation about the background of the research in briefly, the

problem statement, objective of the study, significance of the study, scope of the

study and general methodology to achieve the study objectives. This chapter also

shows the flowchart of the research methodology in general that consists four main

phases.

Chapter 2 is the literature review that review the previous research related to

this study. The reviews are based on UAV system in aerial photogrammetry, UAV

application especially in mapping, digital camera image resolution, digital image and

ground resolution. This chapter describes the basic principle of aerial

photogrammetry in determining photo scale, photograph overlap and

photogrammetric control. Apart from that, this chapter also explains about the

software used in processing and analyzing the UAV images. This chapter also

describes the GPS ellipsoidal height, geoid height, orthometric height and

MyGEIOD.

Chapter 3 is the research methodology that explained the flow of the study in

more details. The methods used starting from data acquisition, data processing until

the result will discuss in this chapter. The research methodology flowchart is

included to show the method for this study. Besides that, this chapter also covers the

software which has been used for processing the UAV images and field survey data.

In this study, Agisoft Photoscan Version 0.9.0 and Global Mapper Version 15.2.3

were used to process UAV images. Topcon Tools Version 8.2.3 was used to convert

the GPS ellipsoidal height to GPS orthometric height based on Malaysian Geoid

Models (MyGEOID).

8

Chapter 4 explains the results and analysis of this study. This chapter

discusses on the accuracy assessment of each result on height coordinates. The

results are based on photogrammetric product such as digital elevation model (DEM)

comparing with field survey data from RTK-GPS and leveling method. The analysis

in this study will be shown in the form of graphic and graph presentation. The

analysis of this study is based on quantitative and qualitative analysis with focusing

on ground control points (GCPs) and check points (CPs).

Chapter 5 is the conclusion of the study. This chapter concludes the research

finding of this study. This chapter also discusses the recommendation or suggestion

for further improvement of the future study.

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