DTM generation from LIDAR data using skewness balancing

LIght Detection And Ranging (LIDAR) data for terrain and land surveying has contributed to many environmental, engineering and civil applications. However, the analysis of Digital Surface Models (DSMs) from complex LIDAR data is still challenging. Commonly, the first task to investigate LIDAR data point clouds is to separate ground and object points as a preparatory step for further object classification. In this paper, the authors present a novel unsupervised segmentation algorithm-skewness balancing to separate object and ground points efficiently from high resolution LIDAR point clouds by exploiting statistical moments. The results presented in this paper have shown its robustness and its potential for commercial applications.

Use of fused airborne scanning laser altimetry and digital map data for urban flood modelling

Flood modelling of urban areas is still at an early stage, partly because until recently topographic data of sufficiently high resolution and accuracy have been lacking in urban areas. However, Digital Surface Models (DSMs) generated from airborne scanning laser altimetry (LiDAR) having sub-metre spatial resolution have now become available, and these are able to represent the complexities of urban topography. The paper describes the development of a LiDAR post-processor for urban flood modelling based on the fusion of LiDAR and digital map data. The map data are used in conjunction with LiDAR data to identify different object types in urban areas, though pattern recognition techniques are also employed. Post-processing produces a Digital Terrain Model (DTM) for use as model bathymetry, and also a friction parameter map for use in estimating spatially-distributed friction coefficients. In vegetated areas, friction is estimated from LiDAR-derived vegetation height, and (unlike most vegetation removal software) the method copes with short vegetation less than ~1m high, which may occupy a substantial fraction of even an urban floodplain. The DTM and friction parameter map may also be used to help to generate an unstructured mesh of a vegetated urban floodplain for use by a 2D finite element model. The mesh is decomposed to reflect floodplain features having different frictional properties to their surroundings, including urban features such as buildings and roads as well as taller vegetation features such as trees and hedges. This allows a more accurate estimation of local friction. The method produces a substantial node density due to the small dimensions of many urban features.

Detection of flood extent in urban areas using high resolution TerraSAR-X data

Flooding is a major hazard in both rural and urban areas worldwide, but it is in urban areas that the impacts are most severe. An investigation of the ability of high resolution TerraSAR-X data to detect flooded regions in urban areas is described. An important application for this would be the calibration and validation of the flood extent predicted by an urban flood inundation model. To date, research on such models has been hampered by lack of suitable distributed validation data. The study uses a 3m resolution TerraSAR-X image of a 1-in-150 year flood near Tewkesbury, UK, in 2007, for which contemporaneous aerial photography exists for validation. The DLR SETES SAR simulator was used in conjunction with airborne LiDAR data to estimate regions of the TerraSAR-X image in which water would not be visible due to radar shadow or layover caused by buildings and taller vegetation, and these regions were masked out in the flood detection process. A semi-automatic algorithm for the detection of floodwater was developed, based on a hybrid approach. Flooding in rural areas adjacent to the urban areas was detected using an active contour model (snake) region-growing algorithm seeded using the un-flooded river channel network, which was applied to the TerraSAR-X image fused with the LiDAR DTM to ensure the smooth variation of heights along the reach. A simpler region-growing approach was used in the urban areas, which was initialized using knowledge of the flood waterline in the rural areas. Seed pixels having low backscatter were identified in the urban areas using supervised classification based on training areas for water taken from the rural flood, and non-water taken from the higher urban areas. Seed pixels were required to have heights less than a spatially-varying height threshold determined from nearby rural waterline heights. Seed pixels were clustered into urban flood regions based on their close proximity, rather than requiring that all pixels in the region should have low backscatter. This approach was taken because it appeared that urban water backscatter values were corrupted in some pixels, perhaps due to contributions from side-lobes of strong reflectors nearby. The TerraSAR-X urban flood extent was validated using the flood extent visible in the aerial photos. It turned out that 76% of the urban water pixels visible to TerraSAR-X were correctly detected, with an associated false positive rate of 25%. If all urban water pixels were considered, including those in shadow and layover regions, these figures fell to 58% and 19% respectively. These findings indicate that TerraSAR-X is capable of providing useful data for the calibration and validation of urban flood inundation models.

Space-efficient Indexing of Chess Endgame Tables

Chess endgame tables should provide efficiently the value and depth of any required position during play. The indexing of an endgame’s positions is crucial to meeting this objective. This paper updates Heinz’ previous review of approaches to indexing and describes the latest approach by the first and third authors. Heinz’ and Nalimov’s endgame tables (EGTs) encompass the en passant rule and have the most compact index schemes to date. Nalimov’s EGTs, to the Distance-to-Mate (DTM) metric, require only 30.6 × 10^9 elements in total for all the 3-to-5-man endgames and are individually more compact than previous tables. His new index scheme has proved itself while generating the tables and in the 1999 World Computer Chess Championship where many of the top programs used the new suite of EGTs.

Space-efficient indexing of endgame tables for chess

Chess endgame tables should provide efficiently the value and depth of any required position during play. The indexing of an endgame’s positions is crucial to meeting this objective. This paper updates Heinz’ previous review of approaches to indexing and describes the latest approach by the first and third authors. Heinz’ and Nalimov’s endgame tables (EGTs) encompass the en passant rule and have the most compact index schemes to date. Nalimov’s EGTs, to the Distance-to-Mate (DTM) metric, require only 30.6 × 109 elements in total for all the 3-to-5-man endgames and are individually more compact than previous tables. His new index scheme has proved itself while generating the tables and in the 1999 World Computer Chess Championship where many of the top programs used the new suite of EGTs.

3-5-man chess: Maximals and mzugs

This article reports the combined results of several initiatives in creating and surveying complete suites of endgame tables (EGTs) to the Depth to Mate (DTM) and Depth to Conversion (DTC) metrics. Data on percentage results, maximals and mutual zugzwangs, mzugs, has been filed and made available on the web, as have the DTM EGTs.

Chess endgame news

The Endgame Tables Online initiative and p2p community have made available all published Nalimov DTM EGTs. It now looks forward to the 16 unpublished EGTs computed by August 9th and presumed to be still in existence, particularly as Marc Bourzutschky’s FEG results independently confirm all Nalimov’s published 3-3p DTM EGT statistics including those for KPPKPP.

Chess endgame news

A report of the new Bourzutschky/Konoval chess endgame depth record of DTC = 330 moves, and of the progress of the Kryukov peer-group to disseminate Nalimov's DTM EGTs. The question of data integrity and assurance is raised.

Improving flood models using LiDAR: progress and problems

Airborne scanning laser altimetry (LiDAR) is an important new data source for river flood modelling. LiDAR can give dense and accurate DTMs of floodplains for use as model bathymetry. Spatial resolutions of 0.5m or less are possible, with a height accuracy of 0.15m. LiDAR gives a Digital Surface Model (DSM), so vegetation removal software (e.g. TERRASCAN) must be used to obtain a DTM. An example used to illustrate the current state of the art will be the LiDAR data provided by the EA, which has been processed by their in-house software to convert the raw data to a ground DTM and separate vegetation height map. Their method distinguishes trees from buildings on the basis of object size. EA data products include the DTM with or without buildings removed, a vegetation height map, a DTM with bridges removed, etc. Most vegetation removal software ignores short vegetation less than say 1m high. We have attempted to extend vegetation height measurement to short vegetation using local height texture. Typically most of a floodplain may be covered in such vegetation. The idea is to assign friction coefficients depending on local vegetation height, so that friction is spatially varying. This obviates the need to calibrate a global floodplain friction coefficient. It’s not clear at present if the method is useful, but it’s worth testing further. The LiDAR DTM is usually determined by looking for local minima in the raw data, then interpolating between these to form a space-filling height surface. This is a low pass filtering operation, in which objects of high spatial frequency such as buildings, river embankments and walls may be incorrectly classed as vegetation. The problem is particularly acute in urban areas. A solution may be to apply pattern recognition techniques to LiDAR height data fused with other data types such as LiDAR intensity or multispectral CASI data. We are attempting to use digital map data (Mastermap structured topography data) to help to distinguish buildings from trees, and roads from areas of short vegetation. The problems involved in doing this will be discussed. A related problem of how best to merge historic river cross-section data with a LiDAR DTM will also be considered. LiDAR data may also be used to help generate a finite element mesh. In rural area we have decomposed a floodplain mesh according to taller vegetation features such as hedges and trees, so that e.g. hedge elements can be assigned higher friction coefficients than those in adjacent fields. We are attempting to extend this approach to urban area, so that the mesh is decomposed in the vicinity of buildings, roads, etc as well as trees and hedges. A dominant points algorithm is used to identify points of high curvature on a building or road, which act as initial nodes in the meshing process. A difficulty is that the resulting mesh may contain a very large number of nodes. However, the mesh generated may be useful to allow a high resolution FE model to act as a benchmark for a more practical lower resolution model. A further problem discussed will be how best to exploit data redundancy due to the high resolution of the LiDAR compared to that of a typical flood model. Problems occur if features have dimensions smaller than the model cell size e.g. for a 5m-wide embankment within a raster grid model with 15m cell size, the maximum height of the embankment locally could be assigned to each cell covering the embankment. But how could a 5m-wide ditch be represented? Again, this redundancy has been exploited to improve wetting/drying algorithms using the sub-grid-scale LiDAR heights within finite elements at the waterline.

3-5-Man chess data

This reports the work of Karrer and Wirth in identifying percentage results and, respectively, the Depth to Mate (DTM) and Depth to Conversion (DTC) data in all 2-5-man chess endgames.

Chess endgame knowledge advances

This review of recent developments starts with the publication of Harold van der Heijden's Study Database Edition IV, John Nunn's second trilogy on the endgame, and a range of endgame tables (EGTs) to the DTC, DTZ and DTZ50 metrics. It then summarises data-mining work by Eiko Bleicher and Guy Haworth in 2010. This used CQL and pgn2fen to find some 3,000 EGT-faulted studies in the database above, and the Type A (value-critical) and Type B-DTM (DTM-depth-critical) zugzwangs in the mainlines of those studies. The same technique was used to mine Chessbase's BIG DATABASE 2010 to identify Type A/B zugzwangs, and to identify the pattern of value-concession and DTM-depth concession in sub-7-man play.

Western Chess: Endgame data

This spreadsheet contains key data about that part of the endgame of Western Chess for which Endgame Tables (EGTs) have been generated by computer. It is derived from the EGT work since 1969 of Thomas Ströhlein, Ken Thompson, Christopher Wirth, Eugene Nalimov, Marc Bourzutschky, John Tamplin and Yakov Konoval. The data includes %s of wins, draws and losses (wtm and btm), the maximum and average depths of win under various metrics (DTC = Depth to Conversion, DTM = Depth to Mate, DTZ = Depth to Conversion or Pawn-push), and examples of positions of maximum depth. It is essentially about sub-7-man Chess but is updated as news comes in of 7-man EGT computations.

Chess Endgame News

This review starts with a demonstration of the power of FinalGen and the new Lomonosov 7-man endgame tables, each giving an alternative 'bionic' ending to the 'five Queens' Hao-Carlsen (Tata Chess 2013) game. The completion of the Lomonosov 7-man DTM EGTs is announced. The final two parts of the Bourzutschky-Konoval 7-man-chess series in EG are summarised.

Chess endgame news

This note defines what it means by the 'chess endgame' and looks at the frequency of sub-n-man and 'FinalGen' positions in games and studies and in the FIDE 2013 World Cup. It includes the exposition of the DTM-minimaxing line from one of the three DTM-deepest known (KQPKRBN) positions. It refines the definitions of 'longest game' and 'bionic game'. The games of the FIDE 2013 World Cup and the longest known decisive game are available here.