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
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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
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Why EnsoMOSAIC?
MM
Gatewing x100, TSKAY; Malaysia
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Topographic mapping
Volume calculations
Agriculture – HS sensor
Corridors and power lines
Forestry
Large area mapping
EnsoMOSAIC applications – examples
MM
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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
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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.
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SW
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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
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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
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Camera calibration
Testfield dimensions Testfield ”hardware” Labelled marks on corners
Optimal calibration geometry, exposure locations
SW
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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
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DigiPreProcess – Image enhancement
Before DigiPreProcess -
RAW 12-bit image
After DigiPreProcess -
TIF 8-bit CIR image
SW
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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
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SeamLineEditor – Mosaic enhancement
Before applying seam lines After applying seam lines
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EnsoMOSAIC
Complete imaging system
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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
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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
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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
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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
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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
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HS
Technical specifications
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• 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
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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
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667nm 771nm 834nm
One-band mosaics created by EnsoMOSAIC
HS
applications
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NDVI vs. NRVI (Normalized Ratio Vegetation Index)
Red band 668nm and NIR band 834nm
HS
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EnsoMOSAIC – single orthorectified image
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EnsoMOSAIC – orthorectified mosaic
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EnsoMOSAIC – Hyperspectral mosaic
• Hyperspectral (up to 25 channels)
are processed same way as
standard mosaics
• Rikola hyperspectral camera applied
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EnsoMOSAIC – contour maps and 3D models
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EnsoMOSAIC – 3D point clouds
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3D - results
DSM, photogrammetric process only, 0.5 m resolution
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EnsoMOSAIC
FOREST INVENTORY AND MANAGEMENT PLANNING
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EnsoMOSAIC
TOPOGRAPHIC MAPPING
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EnsoMOSAIC
PLANTATIONS MONITORING
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EnsoMOSAIC
LOG YARD AND STOCK PILE INVENTORY
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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)
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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)
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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
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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
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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
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UAV
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example: Idetec
UAV
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example: Idetec Stardust II
UAV
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example: Cropcam
UAV
Examples: Gatewing UX5
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UAV
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Examples: UAVER
UAV
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Supporting slides
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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
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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
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