Environment mapping for mobile robots navigation using hierarchical neural network and omnivision

Autonomous robots must be able to learn and maintain models of their environments. In this context, the present work considers techniques for the classification and extraction of features from images in joined with artificial neural networks in order to use them in the system of mapping and localization of the mobile robot of Laboratory of Automation and Evolutive Computer (LACE). To do this, the robot uses a sensorial system composed for ultrasound sensors and a catadioptric vision system formed by a camera and a conical mirror. The mapping system is composed by three modules. Two of them will be presented in this paper: the classifier and the characterizer module. The first module uses a hierarchical neural network to do the classification; the second uses techiniques of extraction of attributes of images and recognition of invariant patterns extracted from the places images set. The neural network of the classifier module is structured in two layers, reason and intuition, and is trained to classify each place explored for the robot amongst four predefine classes. The final result of the exploration is the construction of a topological map of the explored environment. Results gotten through the simulation of the both modules of the mapping system will be presented in this paper. © 2008 IEEE.

Signal classification of submerged aquatic vegetation based on the hemispherical-conical reflectance factor spectrum shape in the yellow and red regions

The water column overlying the submerged aquatic vegetation (SAV) canopy presents difficulties when using remote sensing images for mapping such vegetation. Inherent and apparent water optical properties and its optically active components, which are commonly present in natural waters, in addition to the water column height over the canopy, and plant characteristics are some of the factors that affect the signal from SAV mainly due to its strong energy absorption in the near-infrared. By considering these interferences, a hypothesis was developed that the vegetation signal is better conserved and less absorbed by the water column in certain intervals of the visible region of the spectrum; as a consequence, it is possible to distinguish the SAV signal. To distinguish the signal from SAV, two types of classification approaches were selected. Both of these methods consider the hemispherical-conical reflectance factor (HCRF) spectrum shape, although one type was supervised and the other one was not. The first method adopts cluster analysis and uses the parameters of the band (absorption, asymmetry, height and width) obtained by continuum removal as the input of the classification. The spectral angle mapper (SAM) was adopted as the supervised classification approach. Both approaches tested different wavelength intervals in the visible and near-infrared spectra. It was demonstrated that the 585 to 685-nm interval, corresponding to the green, yellow and red wavelength bands, offered the best results in both classification approaches. However, SAM classification showed better results relative to cluster analysis and correctly separated all spectral curves with or without SAV. Based on this research, it can be concluded that it is possible to discriminate areas with and without SAV using remote sensing. © 2013 by the authors; licensee MDPI, Basel, Switzerland.

Connectivity processes and riparian vegetation of the upper Paraná River, Brazil

In fluvial systems, the relationship between a dominant variable (e.g. flood pulse) and its dependent ones (e.g. riparian vegetation) is called connectivity. This paper analyzes the connectivity elements and processes controlling riparian vegetation for a reach of the upper Paraná River (Brazil) and estimates the future changes in channel-vegetation relationship as a consequence of the managing of a large dam. The studied reach is situated 30km downstream from the Porto Primavera Dam (construction finished in 1999). Through aerial photography (1:25,000, 1996), RGB-CBERS satellite imagery and a previous field botany survey it was possible to elaborate a map with the five major morpho-vegetation units: 1) Tree-dominated natural levee, 2) Shrubby upper floodplain, 3) Shrub-herbaceous mid floodplain, 4) Grass-herbaceous lower floodplain and 5) Shrub-herbaceous flood runoff channel units. By use of a detailed topographic survey and statistical tools each morpho-vegetation type was analyzed according to its connectivity parameters (frequency, recurrence, permanence, seasonality, potamophase, limnophase and FCQ index) in the pre- and post-dam closure periods of the historical series. Data showed that most of the morpho-vegetation units were predicted to present changes in connectivity parameters values after dam closing and the new regime could affect, in different intensity, the river ecology and particularly the riparian vegetation. The methods used in this study can be useful for dam impact studies in other South American tropical rivers. © 2012 Elsevier Ltd.

Phenology for tropoclimatological surveys and large-scale mapping

Biotic and abiotic phenological observations can be collected from continental to local spatial scale. Plant phenological observations may only be recorded wherever there is vegetation. Fog, snow and ice are available as phenological para-meters wherever they appear. The singularity of phenological observations is the possibility of spatial intensification to a microclimatic scale where the equipment of meteorological measurements is too expensive for intensive campaigning. The omnipresence of region-specific phenological parameters allows monitoring for a spatially much more detailed assessment of climate change than with weather data. We demonstrate this concept with phenological observations with the use of a special network in the Canton of Berne, Switzerland, with up to 600 observations sites (more than 1 to 10 km² of the inhabited area). Classic cartography, gridding, the integration into a Geographic Information System GIS and large-scale analysis are the steps to a detailed knowledge of topoclimatic conditions of a mountainous area. Examples of urban phenology provide other types of spatially detailed applications. Large potential in phenological mapping in future analyses lies in combining traditionally observed species-specific phenology with remotely sensed and modelled phenology that provide strong spatial information. This is a long history from cartographic intuition to algorithm-based representations of phenology.

Classifying and mapping the urban transition in Vietnam

The urban transition almost always involves wrenching social adjustment as small agricultural communities are forced to adjust rapidly to industrial ways of life. Large-scale in-migration of young people, usually from poor regions, creates enormous demand and expectations for community and social services. One immediate problem planners face in approaching this challenge is how to define, differentiate, and map what is rural, urban, and transitional (i.e., peri-urban). This project established an urban classification for Vietnam by using national census and remote sensing data to identify and map the smallest administrative units for which data are collected as rural, peri-urban, urban, or urban core. We used both natural and human factors in the quantitative model: income from agriculture, land under agriculture and forests, houses with modern sanitation, and the Normalized Difference Vegetation Index. Model results suggest that in 2006, 71% of Vietnam's 10,891 communes were rural, 18% peri-urban, 3% urban, and 4% urban core. Of the communes our model classified as peri-urban, 61% were classified by the Vietnamese government as rural. More than 7% of Vietnam's land area can be classified as peri-urban and approximately 13% of its population (more than 11 million people) lives in peri-urban areas. We identified and mapped three types of peri-urban places: communes in the periphery of large towns and cities; communes along highways; and communes associated with provincial administration or home to industrial, energy, or natural resources projects (e.g., mining). We validated this classification based on ground observations, analyses of multi-temporal night-time lights data, and an examination of road networks. The model provides a method for rapidly assessing the rural–urban nature of places to assist planners in identifying rural areas undergoing rapid change with accompanying needs for investments in building, sanitation, road infrastructure, and government institutions.

Mapping decadal land cover changes in the woodlands of north eastern Namibia using the Landsat satellite archive (1975-2014)

Woodland savannahs provide essential ecosystem functions and services to communities. On the African continent, they are widely utilized and converted to intensive land uses. This study investigates the land cover changes of 108,038 km**2 in NE Namibia using multi-temporal, multi-sensor Landsat imagery, at decadal intervals from 1975 to 2014, with a post-classification change detection method and supervised Regression Tree classifiers. We discuss likely impacts of land tenure and reforms over the past four decades on changes in land use and land cover. These changes included losses, gains and exchanges between predominant land cover classes. Exchanges comprised logical conversions between woodland and agricultural classes, implying woodland clearing for arable farming, cropland abandonment and vegetation succession. The most dominant change was a reduction in the area of the woodland class due to the expansion of the agricultural class, specifically, small-scale cereal and pastoral production. Woodland area decreased from 90% of the study area in 1975 to 83% in 2014, while cleared land increased from 9% to 14%. We found that the main land cover changes are conversion from woodland to agricultural and urban land uses, driven by urban expansion and woodland clearing for subsistence-based agriculture and pastoralism.

Landsat derived percent vegetation cover of Israel (as of 2003)

Wildfires are part of the Mediterranean ecosystem, however, in Israel all wildfires are human caused, either intentionally or un-intentionally. In this study we aimed to develop and test a new method for mapping fire scars from MODIS imagery, to examine the temporal and spatial patterns of wildfires in Israel in the 2000s and to examine the factors controlling Israel's wildfire regime. To map the fires we used two 'off-the-shelf' MODIS fire products as our basis-the 1 km MODIS Collection 5 fire hotspots, the 500 m MCD45A1 burnt areas-and we created a new set of fire scar maps from the 250 m MOD13Q1 product. We carried out a cross comparison of the three MODIS based wildfire scar maps and evaluated them independently against the wild fire scars mapped from 30 m Landsat TM imagery. To examine the factors controlling wildfires we used GIS layers of rainfall, land use, and a Landsat-based national vegetation map. Wildfires occurred in areas where annual rainfall was above 250 mm, mostly in areas with herbaceous vegetation. Wildfire frequency was especially high in the Golan Heights and in the foothills of the Judean mountains, and a high correspondence was found between military training zones and the spatial distribution of fire scars. The use of MODIS satellite images enabled us to map wildfires at a national scale due to the high temporal resolution of the sensor. Our MOD13Q1 based mapping of fire scars adequately mapped large (>1 km**2) fires with accuracies above 80%. Such large fires account for a large proportion of all fires, and pose the greatest threats. This database can aid managers in determining wildfire risks in space and in time.

A fractional vegetation cover remote sensing product on pan-arctic scale with link to geotiff image

The paper presents first results of a pan-boreal scale land cover harmonization and classification. A methodology is presented that combines global and regional vegetation datasets to extract percentage cover information for different vegetation physiognomy and barren for the pan-arctic region within the ESA Data User Element Permafrost. Based on the legend description of each land cover product the datasets are harmonized into four LCCS (Land Cover Classification System) classifiers which are linked to the MODIS Vegetation Continuous Field (VCF) product. Harmonized land cover and Vegetation Continuous Fields products are combined to derive a best estimate of percentage cover information for trees, shrubs, herbaceous and barren areas for Russia. Future work will concentrate on the expansion of the developed methodology to the pan-arctic scale. Since the vegetation builds an isolation layer, which protects the permafrost from heat and cold temperatures, a degradation of this layer due to fire strongly influences the frozen conditions in the soil. Fire is an important disturbance factor which affects vast processes and dynamics in ecosystems (e.g. biomass, biodiversity, hydrology, etc.). Especially in North Eurasia the fire occupancy has dramatically increased in the last 50 years and has doubled in the 1990s with respect to the last five decades. A comparison of global and regional fire products has shown discrepancies between the amounts of burn scars detected by different algorithms and satellite data.

Mapping the visual landscape quality in Europe using physical attributes

he inclusion of environmental care data in the decision-making process should be based on the results obtained after scienti?cally evaluating different environmental variables. Herein, a European landscape geographic model is presented. This landscape map would allow the environmental care variable ?visual landscape?, along with other information related to vegetation, geology, soils, cultural variables, etc., to be integrated into the planning process. The methodology used is not new since it has already been tested in Spain by the authors. Nevertheless, the model was adapted to cope with the much more extensive territory of the European Union. This meant dealing with computational dif?culties, and a lack of information. The result of this work is a raster map (100 m cell size) that evaluates landscape quality in Europe by dividing the area into seven visual quality classes. This is a practical tool for territorial development that will facilitate the environmental assessment of plans, such as infrastructure plans, within a strategic pan-European framework.

Detection and mapping of burnt areas from time series of MODIS-derived NDVI data in a Mediterranean region

Moderate resolution remote sensing data, as provided by MODIS, can be used to detect and map active or past wildfires from daily records of suitable combinations of reflectance bands. The objective of the present work was to develop and test simple algorithms and variations for automatic or semiautomatic detection of burnt areas from time series data of MODIS biweekly vegetation indices for a Mediterranean region. MODIS-derived NDVI 250m time series data for the Valencia region, East Spain, were subjected to a two-step process for the detection of candidate burnt areas, and the results compared with available fire event records from the Valencia Regional Government. For each pixel and date in the data series, a model was fitted to both the previous and posterior time series data. Combining drops between two consecutive points and 1-year average drops, we used discrepancies or jumps between the pre and post models to identify seed pixels, and then delimitated fire scars for each potential wildfire using an extension algorithm from the seed pixels. The resulting maps of the detected burnt areas showed a very good agreement with the perimeters registered in the database of fire records used as reference. Overall accuracies and indices of agreement were very high, and omission and commission errors were similar or lower than in previous studies that used automatic or semiautomatic fire scar detection based on remote sensing. This supports the effectiveness of the method for detecting and mapping burnt areas in the Mediterranean region.

Gakara region, Burundi, 1994, Defense Mapping Agency (DMA) Series Z724, Sheet 4673-I (Raster Image)

This layer is a georeferenced raster image of the United States Defense Mapping Agency (DMA) Series Z724, Burundi, 1:50,000 Topographic Line Map (TLM) Series sheet map entitled: Gakara. Printed in: 1994. Covers portions of Gakara region, Burundi. Sheet: 4673-I. Edition statement: Ed. 1 - DMA. The image inside the map neatline is georeferenced to the surface of the earth and fit to World Geodetic System (1984) coordinates. All map collar information is also available as part of the raster image. Burundi 1:50:000 Series Z724 maps are in English and French (legends also include Rundi). Each source map in the series is printed in color at a scale of 1:50,000. Series source sheets were published in 1994-1995 by the United States Defense Mapping Agency, Hydrographic/Topographic Center. The source map was scanned and georeferenced for Harvard University's Center for Geographic Analysis' AfricaMap project by East View Cartographic. Individual TLM sheets covering Burundi (40 sheets in total) were selected from the TLM worldwide series. DMA Topographic Line Map series maps are typical topographic maps portraying both natural and manmade features. They show and name works of nature, such as mountains, valleys, lakes, rivers, vegetation, etc. They also identify the principal works of humans, such as roads, railroads, boundaries, transmission lines, major buildings, etc. Relief is shown with standard contour intervals of 20 meters, with some sheets having supplemental meter contours, form lines, hachures, shading, and/or spot heights. Depths shown by bathymetric isolines. Please pay close attention to map collar information on projections, spheroid, compilation dates, legend information, and keys to grid numbering and other numbers which appear inside the neatline.

Bubanza region, Burundi, 1994, Defense Mapping Agency (DMA) Series Z724, Sheet 4674-I (Raster Image)

This layer is a georeferenced raster image of the United States Defense Mapping Agency (DMA) Series Z724, Burundi, 1:50,000 Topographic Line Map (TLM) Series sheet map entitled: Bubanza. Printed in: 1994. Covers portions of Bubanza region, Burundi. Sheet: 4674-I. Edition statement: Ed. 1 - DMA. The image inside the map neatline is georeferenced to the surface of the earth and fit to World Geodetic System (1984) coordinates. All map collar information is also available as part of the raster image. Burundi 1:50:000 Series Z724 maps are in English and French (legends also include Rundi). Each source map in the series is printed in color at a scale of 1:50,000. Series source sheets were published in 1994-1995 by the United States Defense Mapping Agency, Hydrographic/Topographic Center. The source map was scanned and georeferenced for Harvard University's Center for Geographic Analysis' AfricaMap project by East View Cartographic. Individual TLM sheets covering Burundi (40 sheets in total) were selected from the TLM worldwide series. DMA Topographic Line Map series maps are typical topographic maps portraying both natural and manmade features. They show and name works of nature, such as mountains, valleys, lakes, rivers, vegetation, etc. They also identify the principal works of humans, such as roads, railroads, boundaries, transmission lines, major buildings, etc. Relief is shown with standard contour intervals of 20 meters, with some sheets having supplemental meter contours, form lines, hachures, shading, and/or spot heights. Depths shown by bathymetric isolines. Please pay close attention to map collar information on projections, spheroid, compilation dates, legend information, and keys to grid numbering and other numbers which appear inside the neatline.

Bujumbura region, Burundi, 1994, Defense Mapping Agency (DMA) Series Z724, Sheet 4674-II (Raster Image)

This layer is a georeferenced raster image of the United States Defense Mapping Agency (DMA) Series Z724, Burundi, 1:50,000 Topographic Line Map (TLM) Series sheet map entitled: Bujumbura. Printed in: 1994. Covers portions of Bujumbura region, Burundi. Sheet: 4674-II. Edition statement: Ed. 1 - DMA. The image inside the map neatline is georeferenced to the surface of the earth and fit to World Geodetic System (1984) coordinates. All map collar information is also available as part of the raster image. Burundi 1:50:000 Series Z724 maps are in English and French (legends also include Rundi). Each source map in the series is printed in color at a scale of 1:50,000. Series source sheets were published in 1994-1995 by the United States Defense Mapping Agency, Hydrographic/Topographic Center. The source map was scanned and georeferenced for Harvard University's Center for Geographic Analysis' AfricaMap project by East View Cartographic. Individual TLM sheets covering Burundi (40 sheets in total) were selected from the TLM worldwide series. DMA Topographic Line Map series maps are typical topographic maps portraying both natural and manmade features. They show and name works of nature, such as mountains, valleys, lakes, rivers, vegetation, etc. They also identify the principal works of humans, such as roads, railroads, boundaries, transmission lines, major buildings, etc. Relief is shown with standard contour intervals of 20 meters, with some sheets having supplemental meter contours, form lines, hachures, shading, and/or spot heights. Depths shown by bathymetric isolines. Please pay close attention to map collar information on projections, spheroid, compilation dates, legend information, and keys to grid numbering and other numbers which appear inside the neatline.

Butahana region, Burundi, 1994, Defense Mapping Agency (DMA) Series Z724, Sheet 4675-I (Raster Image)

This layer is a georeferenced raster image of the United States Defense Mapping Agency (DMA) Series Z724, Burundi, 1:50,000 Topographic Line Map (TLM) Series sheet map entitled: Butahana. Printed in: 1994. Covers portions of Butahana region, Burundi. Sheet: 4675-I. Edition statement: Ed. 1 - DMA. The image inside the map neatline is georeferenced to the surface of the earth and fit to World Geodetic System (1984) coordinates. All map collar information is also available as part of the raster image. Burundi 1:50:000 Series Z724 maps are in English and French (legends also include Rundi). Each source map in the series is printed in color at a scale of 1:50,000. Series source sheets were published in 1994-1995 by the United States Defense Mapping Agency, Hydrographic/Topographic Center. The source map was scanned and georeferenced for Harvard University's Center for Geographic Analysis' AfricaMap project by East View Cartographic. Individual TLM sheets covering Burundi (40 sheets in total) were selected from the TLM worldwide series. DMA Topographic Line Map series maps are typical topographic maps portraying both natural and manmade features. They show and name works of nature, such as mountains, valleys, lakes, rivers, vegetation, etc. They also identify the principal works of humans, such as roads, railroads, boundaries, transmission lines, major buildings, etc. Relief is shown with standard contour intervals of 20 meters, with some sheets having supplemental meter contours, form lines, hachures, shading, and/or spot heights. Depths shown by bathymetric isolines. Please pay close attention to map collar information on projections, spheroid, compilation dates, legend information, and keys to grid numbering and other numbers which appear inside the neatline.

Ndora region, Burundi, 1994, Defense Mapping Agency (DMA) Series Z724, Sheet 4675-II (Raster Image)

This layer is a georeferenced raster image of the United States Defense Mapping Agency (DMA) Series Z724, Burundi, 1:50,000 Topographic Line Map (TLM) Series sheet map entitled: Ndora. Printed in: 1994. Covers portions of Ndora region, Burundi. Sheet: 4675-II. Edition statement: Ed. 1 - DMA. The image inside the map neatline is georeferenced to the surface of the earth and fit to World Geodetic System (1984) coordinates. All map collar information is also available as part of the raster image. Burundi 1:50:000 Series Z724 maps are in English and French (legends also include Rundi). Each source map in the series is printed in color at a scale of 1:50,000. Series source sheets were published in 1994-1995 by the United States Defense Mapping Agency, Hydrographic/Topographic Center. The source map was scanned and georeferenced for Harvard University's Center for Geographic Analysis' AfricaMap project by East View Cartographic. Individual TLM sheets covering Burundi (40 sheets in total) were selected from the TLM worldwide series. DMA Topographic Line Map series maps are typical topographic maps portraying both natural and manmade features. They show and name works of nature, such as mountains, valleys, lakes, rivers, vegetation, etc. They also identify the principal works of humans, such as roads, railroads, boundaries, transmission lines, major buildings, etc. Relief is shown with standard contour intervals of 20 meters, with some sheets having supplemental meter contours, form lines, hachures, shading, and/or spot heights. Depths shown by bathymetric isolines. Please pay close attention to map collar information on projections, spheroid, compilation dates, legend information, and keys to grid numbering and other numbers which appear inside the neatline.