On precise three-dimensional environment modeling via UAV-based photogrammetric systems

Abstract : Images acquired from unmanned aerial vehicles (UAVs) can provide data with unprecedented spatial and temporal resolution for three-dimensional (3D) modeling. Solutions developed for this purpose are mainly operating based on photogrammetry concepts, namely UAV-Photogrammetry Systems (UAV-PS). Such systems are used in applications where both geospatial and visual information of the environment is required. These applications include, but are not limited to, natural resource management such as precision agriculture, military and police-related services such as traffic-law enforcement, precision engineering such as infrastructure inspection, and health services such as epidemic emergency management. UAV-photogrammetry systems can be differentiated based on their spatial characteristics in terms of accuracy and resolution. That is some applications, such as precision engineering, require high-resolution and high-accuracy information of the environment (e.g. 3D modeling with less than one centimeter accuracy and resolution). In other applications, lower levels of accuracy might be sufficient, (e.g. wildlife management needing few decimeters of resolution). However, even in those applications, the specific characteristics of UAV-PSs should be well considered in the steps of both system development and application in order to yield satisfying results. In this regard, this thesis presents a comprehensive review of the applications of unmanned aerial imagery, where the objective was to determine the challenges that remote-sensing applications of UAV systems currently face. This review also allowed recognizing the specific characteristics and requirements of UAV-PSs, which are mostly ignored or not thoroughly assessed in recent studies. Accordingly, the focus of the first part of this thesis is on exploring the methodological and experimental aspects of implementing a UAV-PS. The developed system was extensively evaluated for precise modeling of an open-pit gravel mine and performing volumetric-change measurements. This application was selected for two main reasons. Firstly, this case study provided a challenging environment for 3D modeling, in terms of scale changes, terrain relief variations as well as structure and texture diversities. Secondly, open-pit-mine monitoring demands high levels of accuracy, which justifies our efforts to improve the developed UAV-PS to its maximum capacities. The hardware of the system consisted of an electric-powered helicopter, a high-resolution digital camera, and an inertial navigation system. The software of the system included the in-house programs specifically designed for camera calibration, platform calibration, system integration, onboard data acquisition, flight planning and ground control point (GCP) detection. The detailed features of the system are discussed in the thesis, and solutions are proposed in order to enhance the system and its photogrammetric outputs. The accuracy of the results was evaluated under various mapping conditions, including direct georeferencing and indirect georeferencing with different numbers, distributions and types of ground control points. Additionally, the effects of imaging configuration and network stability on modeling accuracy were assessed. The second part of this thesis concentrates on improving the techniques of sparse and dense reconstruction. The proposed solutions are alternatives to traditional aerial photogrammetry techniques, properly adapted to specific characteristics of unmanned, low-altitude imagery. Firstly, a method was developed for robust sparse matching and epipolar-geometry estimation. The main achievement of this method was its capacity to handle a very high percentage of outliers (errors among corresponding points) with remarkable computational efficiency (compared to the state-of-the-art techniques). Secondly, a block bundle adjustment (BBA) strategy was proposed based on the integration of intrinsic camera calibration parameters as pseudo-observations to Gauss-Helmert model. The principal advantage of this strategy was controlling the adverse effect of unstable imaging networks and noisy image observations on the accuracy of self-calibration. The sparse implementation of this strategy was also performed, which allowed its application to data sets containing a lot of tie points. Finally, the concepts of intrinsic curves were revisited for dense stereo matching. The proposed technique could achieve a high level of accuracy and efficiency by searching only through a small fraction of the whole disparity search space as well as internally handling occlusions and matching ambiguities. These photogrammetric solutions were extensively tested using synthetic data, close-range images and the images acquired from the gravel-pit mine. Achieving absolute 3D mapping accuracy of 11±7 mm illustrated the success of this system for high-precision modeling of the environment.

Drones y el orden legal internacional. Tecnología, estrategia y largas cadenas de acción

The main thesis of this article is that the increasing recourse to the use of unmanned aerial systems in asymmetric warfare and the beginning routinization of U.S. drone operations represent part of an evolutionary change in the spatial ordering of global politics -- Using a heuristic framework based on actor-network theory, it is argued that practices of panoptic observation and selective airstrikes, being in need of legal justification, contribute to a reterritorialization of asymmetric conflicts -- Under a new normative spatial regime, a legal condition of state immaturity is constructed, which establishes a zone of conditional sovereignty subject to transnational aerial policing -- At the same time, this process is neither a deterministic result of the new technology nor a deliberate effect of policies to which drones are merely neutral instruments -- Rather, military technology and political decisions both form part of a long chain of action which has evolved under the specific circumstances of recent military interventions

Quantificação do acréscimo sonoro provocado pela passagem de aeronaves sobre sobre a cidade do Porto

Dissertação de Mestrado em Gestão Integrada da Qualidade, Ambiente e Segurança

Aplicação do EMAR 66 a Sistemas de Aeronaves Não Tripuladas

Este trabalho de investigação tem como objetivo aferir quais as tarefas e valências específicas necessárias para a manutenção permanente de UAS, em contraste com os requisitos preconizados nos regulamentos de aeronavegabilidade permanente de aeronaves militares. A aeronavegabilidade consiste na avaliação e certificação de uma aeronave voar de acordo com os padrões de segurança estabelecidos. Esta é dividida em aeronavegabilidade continuada, que avalia a condição de uma aeronave após a sua construção, e a aeronavegabilidade permanente, que estabelece as ações de manutenção necessárias para manter os níveis de aeronavegabilidade pretendidos durante a sua operação. Para assegurar que os UAS atingem os padrões aeronáutica atuais, é importante perceber como os regulamentos podem ser adaptados para responder à sua especificidade. Para aferir quais as tarefas e valências de manutenção específicas para UAS, é desenvolvido um modelo qualitativo e indutivo fazendo uso da análise de literatura e dados recolhidos através de entrevistas estruturadas a pessoal de manutenção de UAS. As dimensões consideradas seguem o modelo SHELL preconizado pela ICAO para a análise de fatores humanos em sistemas aeronáuticos. A partir do modelo gerado, é sintetizado um conjunto de conteúdos curriculares como proposta para adequação a UAS dos conteúdos requeridos no EMAR 66. Abstract: This research work has the objective of assessing which specific tasks and skills are necessary for the continuous maintenance of UAS, in contrast with the requirements recommended in the rules and regulations for continuous airworthiness of militar aircrafts. Airworthiness consists on the evaluation and certification of the capability of an aircraft to fly in compliance with the established safety standards. It is divided in initial airworthiness, which evaluates the condition of na aircraft after its construction, and the continuous airworthiness, which establishes what are the necessary maintenance actions in order to keep the desired airworthiness levels during operation. In order to assure that UAS meet the current aeronautics standards, it is paramount to understand how the rules and regulations can be adapted to cope with its specific features. In order to understand which are the specific maintenance tasks and skills specific for UAS, it is developed a qualitative and inductive model taking into consideration a literature analysis and structured interviews to UAS maintenance personnel. The dimensions considered follow the SHELL model recommended by ICAO for the analysis of human factors in aviation. From the developed model, it is synthesized a set of learning topics that serves as a proposal for extending the basic skills required by the EMAR 66.

Caracterização dos fatores contribuintes em acidentes de pequenas aeronaves da aviação geral brasileira utilizando inteligência artificial

Dissertação (mestrado)—Universidade de Brasília, Faculdade de Tecnologia, Departamento de Engenharia Civil e Ambiental, 2016.

Uso de aeronaves remotamente pilotadas (ARP) no planejamento florestal.

O uso da fotogrametria digital a partir de Aeronaves Remotamente Pilotadas (ARP/RPA) surge como uma alternativa viável para realização do planejamento florestal em distintas tipologias de nativa ou em sistemas de plantios florestais, além de ser uma importante ferramenta de monitoramento.

MAVwork : a framework for unified interfacing between micro aerial vehicles and visual controllers

Debugging control software for Micro Aerial Vehicles (MAV) can be risky out of the simulator, especially with professional drones that might harm people around or result in a high bill after a crash. We have designed a framework that enables a software application to communicate with multiple MAVs from a single unified interface. In this way, visual controllers can be first tested on a low-cost harmless MAV and, after safety is guaranteed, they can be moved to the production MAV at no additional cost. The framework is based on a distributed architecture over a network. This allows multiple configurations, like drone swarms or parallel processing of drones' video streams. Live tests have been performed and the results show comparatively low additional communication delays, while adding new functionalities and flexibility. This implementation is open-source and can be downloaded from github.com/uavster/mavwork

Long-range stereo visual odometry for unmanned aerial vehicles

This thesis explored the utility of long-range stereo visual odometry for application on Unmanned Aerial Vehicles. Novel parameterisations and initialisation routines were developed for the long-range case of stereo visual odometry and new optimisation techniques were implemented to improve the robustness of visual odometry in this difficult scenario. In doing so, the applications of stereo visual odometry were expanded and shown to perform adequately in situations that were previously unworkable.

A dynamic navigation model for unmanned aircraft systems and an application to autonomous front-on environmental sensing and photography using low-cost sensor systems

This paper presents an unmanned aircraft system (UAS) that uses a probabilistic model for autonomous front-on environmental sensing or photography of a target. The system is based on low-cost and readily-available sensor systems in dynamic environments and with the general intent of improving the capabilities of dynamic waypoint-based navigation systems for a low-cost UAS. The behavioural dynamics of target movement for the design of a Kalman filter and Markov model-based prediction algorithm are included. Geometrical concepts and the Haversine formula are applied to the maximum likelihood case in order to make a prediction regarding a future state of a target, thus delivering a new waypoint for autonomous navigation. The results of the application to aerial filming with low-cost UAS are presented, achieving the desired goal of maintained front-on perspective without significant constraint to the route or pace of target movement.

Remote Sensing and Data Collection from Solar Powered Wireless Sensor Network using an Unmanned Aerial Vehicle System

Sensor networks for environmental monitoring present enormous benefits to the community and society as a whole. Currently there is a need for low cost, compact, solar powered sensors suitable for deployment in rural areas. The purpose of this research is to develop both a ground based wireless sensor network and data collection using unmanned aerial vehicles. The ground based sensor system is capable of measuring environmental data such as temperature or air quality using cost effective low power sensors. The sensor will be configured such that its data is stored on an ATMega16 microcontroller which will have the capability of communicating with a UAV flying overhead using UAV communication protocols. The data is then either sent to the ground in real time or stored on the UAV using a microcontroller until it lands or is close enough to enable the transmission of data to the ground station.

Reproductive interference between honey bee species in artificial sympatry

Reproductive isolation between closely related species is often incomplete. The Western honey bee, Apis mellifera, and the Eastern hive bee, A. cerana have been allopatric for millions of years, but are nonetheless similar in morphology and behaviour. During the last century the two species were brought into contact anthropogenically, providing potential opportunities for interspecific matings. Hybrids between A. mellifera and A. cerana are inviable, so natural interspecific matings are of concern because they may reduce the viability of A. cerana and A. mellifera populations – two of the world's most important pollinators. We examined the mating behaviour of A. mellifera and A. cerana queens and drones from Caoba Basin, China and Cairns, Australia. Drone mating flight times overlap in both areas. Analysis of the spermathecal contents of queens with species-specific genetic markers indicated that in Caoba Basin, 14% of A. mellifera queens mated with at least one A. cerana male, but we detected no A. cerana queens that had mated with A. mellifera males. Similarly, in Cairns, no A. cerana queens carried A. mellifera sperm, but one third of A. mellifera queens had mated with at least one A. cerana male. No hybrid embryos were detected in eggs laid by interspecifically-mated A. mellifera queens in either location. However A. mellifera queens artificially inseminated with A. cerana sperm produced inviable hybrid eggs, or unfertilised drones. This suggests that reproductive interference will impact the viability of honey bee populations wherever A. cerana and A. mellifera are in contact. This article is protected by copyright. All rights reserved.

Experimentos de coordinación multi-robot con quadcopteros

El objetivo principal de este proyecto es crear un sistema capaz de controlar varios UAVs y hacer experimentos con ellos de manera coordinada. El UAV utilizado será la plataforma robótica aérea AR.Drone. Estos drones son cuadricópteros con sus cuatro servomotores eléctricos que permiten un control muy robusto de sus maniobras en el aire. El sistema completo estará compuesto por varios drones y un controlador, que en este caso será un ordenador. A partir de la creación de la red compuesta por los drones y el controlador, se detallarán los programas que se han utilizado para controlar los drones, ya sea en los vuelos autónomos o vuelos controlados. El objetivo de estos vuelos será transportar objetos lineales, como pueden ser mangueras o cuerdas, mediante el vuelo coordinado de los drones dotados de sistemas de jación para que los puedan transportar. Esto es, gracias a un sistema de sujeción que le añadiremos a cada drone probaremos el transporte de varios tipos de cuerdas por dos o más drones a la vez guiados por un solo controlador. Los programas creados tendrán el objetivo de corregir el vuelo e intentar conseguir la estabilidad necesaria para que los drones puedan transportar las cuerdas o mangueras sin perder el control debido a su peso o algún efecto producido por los otros drones, como corrientes de aire inducidas por los rotores. Este proyecto tiene dos partes importantes: La primera es la creación del sistema que nos permite transportar las cuerdas y la segunda es observar y analizar el comportamiento del sistema durante diferentes experimentos. A la hora de explicar las pruebas experimentales se detallará la situación del sistema con el número de drones y el objeto a transportar. Además, se resumirán los resultados de los experimentos re ejados en valores de parámetros de vuelo recibidos de los drones. Para acabar, se detallarán las diferentes conclusiones a las que se ha llegado mediante los experimentos y que nos han servido también para escribir las lineas futuras de trabajo que se detallan al nal.