10. Real Time Mapping System INTRODUCTION REALTIME VOLCANO ACTIVITY MAPPING SYSTEM WITH GROUND FIXED SINGLE DIGITAL CAMERA

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1 10. Real Time System Real Time Road Object from Mobile Vehicle Real Time Position/Target Identification Minimum Accuracy but Enough Response Time Dynamic Phenomena Mobile Platform Current Topics Real Time Volcano System Real Time Building Identification System Real Time Disaster System Real Time Forest Fire Finding/ REALTIME VOLCANO ACTIVITY MAPPING SYSTEM WITH GROUND FIXED SINGLE DIGITAL CAMERA Kiyoshi HONDA Masahiko NAGAI Space Technology Applications and Research Asian Institute of Technology Volcanic Activity Lahar Lava flow Ash Monitoring of Volcano Activity Pre-Eruption During-Eruption -> Real Time Monitoring Post-Eruption Satellite Remote Sensing Air Craft Ground Fixed Camera Lava flow Pyroclastic flow Pyroclastic flow Gas Mud flow Landscape Image REAL TIME! Volcano Activity Map Objectives Test Site To design the volcano activity mapping system with ground fixed single digital camera for real time monitoring. Mt.Mayon To develop rectification method, which is called skyline matching. Mayon Volcano The latest eruption was August, objectives Mayon volcano is highly active. Sample site

2 Real Time Real Time METHODOLOGY ( ) Mayon Volcano Image Consumer Digital Camera Development of digital camera technology Inexpensive Real time data acquisition Camera position: 1 (UTM 51 ) Northing: 1,454,403 Easting: 581,311 Altitude: 53m It is Acquired by GPS. Summit position: (UTM 51 ) Northing: 1,466,026 Easting: 574,220 Altitude: 2,460m From existing maps METHODOLOGY ( ) Approximation of Camera Attitudes (ω, ψ, κ ) Cross Section Map d e Summit Position ω -33 Camera Position Plane Map ω = tan -1 ( d / e ) ψ= 0 κ = cos -1 ( f / e ) Accuracy of ω, ψ, κ is not enough for. e κ f 2 METHODOLOGY ( ) 3 METHODOLOGY ( ) 4 Estimation of Viewing Angles (Horizontal and Vertical ) Field Survey Canon PowerShot Pro90IS Focus Point CCD 4.8mm Viewing Angle 6.4mm CCD Size -33 VA = (tan -1 ( a / b )) 2 Focus Length VA = Viewing Angle a = 1/2 of CCD size b = Focus Length Image in Field Cameras

3 Real Time METHODOLOGY ( ) s Camera Position (Xs, Ys, Zs) Camera Attitude (ω, ψ, κ) Viewing Angle Image Original Image ω, ψ, κ ω, ψ, κ are approximately only. Real Time METHODOLOGY () Overview of Sobel Filter Edge Sobel Filter Original Original Edge METHODOLOGY () - Control points are not required. - is not affected by surface feature change. - Whole skyline is not required. METHODOLOGY () Pyramid Method ( Coarse to fine Resolution) 1/10 image Shift X 1/2 image Shift Y Rotation 1/1 image Edge Image Original Edge Image Image Correlation Reducing Processing Time

4 METHODOLOGY () Mask ( Image Correlation Calculation in Only Limited Area ) METHODOLOGY () Shift X: -51 Shift Y: 111 Rotation: 1.4 Mask Edge Image Reducing Processing Time Overlaid and Rectified mage Real Time METHODOLOGY () Making Orthophoto Grid line Coordinate conversion Orthophoto Satellite Image as Background RESULT (Orthophoto) RESULT (Thermograph Use) Thermograph Image for Night Time Monitoring Orthophoto Map THERMOVIEWER by JOEL Ltd. September 12, :31 PM

5 RESULT (Orthophoto form Thermograph Image) RESULT (Processing Speed) Image size: 3 Mega Pixels PC: Pentium 4 130MB RAM The First Image at one location From the 2nd Image Attitude Calc. s Edge Detection Applying Shift Value Orthophoto ( 0.1 sec ) ( 26 sec ) ( 6 sec ) ( 39 sec ) ( 2 sec ) ( 40 sec ) Apply Shift Value Orthophoto Orthophoto Map 113 sec 3 sec Image IO 2 Sec RESULT (Accuracy Assessment) RESULT (Accuracy Assessment) Accuracy Assessment - Depending on Angle of Slope and Look, and Distance Cross Section Map Plane Map Accuracy Assessment - Difference of Feature Points from Geo- Morphological Map Gully 1 3 Gully 2 Lava - Variation of Feature Points Coordinates among several camera position mapping result A B C - Camera Calibration Camera Calibration is not performed for this case. - Theoretical Accuracy Distortion at CCD 0.05mm at Mountain m CCD Mountain ( Stability) Accuracy Practically Acceptable Accuracy for real time monitoring Feature Points Difference from Geo- Morphological Map. 51m 61m 65m Difference from Average of several camera position. 31m 28m 15m FUTURE STUDY Multi Camera Use (Multi Camera Use) FUTURE STUDY (Practical System Development) Development for More durable and practical system Multi-Post Monitoring System Communication ( Radio, Satellite ) Internet Broadcast Durable System ( H/w S/w ) Internet People

6 FUTURE STUDY Land slide (Apply other fields) Application to Other Area and Other Disaster Mt. Pinatubo, Merapi, Fuji, Bandai Landslides, Avalanche, Fire Other Development Urban Image from Aircraft Avalanche Fire Future Study Development for More durable and practical system Durable System ( H/w S/w ) Communication ( Radio, Satellite ) Internet Broadcast Application to Other Mt. Mayon, Pinatubo, Merapi, Fuji, Bandai Volcano, Snow, Landslides, Fire Other Development Urban Image from Aircraft c CONCLUSION Volcano System using Ground fixed digital camera has been developed, which is useful for volcanic disaster mitigation has been developed. is done by Algorithm automatically, in which no ground control point is needed. CONCLUSION Patent Pending (Japan) Japan SME Promotion Foundation Project to make practical system Test Field: Asama Volcano in Japan Enough speed and accuracy for Real time Monitoring. Thermography images can be applicable for Night time. High Potential for other Applications Conclusion4 Conclusion1 Thank you Patent Pending