EnsoMOSAIC Aerial mapping tools Jakarta and Kuala Lumpur, 2013
Contents MosaicMill MM Application examples Software introduction System introduction Rikola HS sensor UAV platform examples SW Syst HS UAV MosaicMill Ltd. 1.10.2013
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 MosaicMill Ltd. 4.9.2012 3
MM MosaicMill and partners ESPA Systems 3D M. Rantasuo Electronics Rikola Hyperspectral Simosol Programming MosaicMill Marketing Sales Support PIEneering Photogrammetry Direct sales ~50 % 30 Resellers 100+ clients 30+ countries MosaicMill Ltd. 4.9.2012 4
MM Why EnsoMOSAIC? Gatewing x100, TSKAY; Malaysia MosaicMill Ltd. 17.11.2009 5
MM EnsoMOSAIC applications examples Topographic mapping Volume calculations Agriculture HS sensor Corridors and power lines Forestry Large area mapping MosaicMill Ltd. 17.11.2009 6
MM Why EnsoMOSAIC benefits 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 MosaicMill Ltd. 16.3.2011 7
EnsoMOSAIC Software EnsoMOSAIC image rectification Rapidterrain point cloud EnsoMOSAIC 3D
SW 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) MosaicMill Ltd. 16.3.2011 9
SW EnsoMOSAIC orthorectification processing steps Ground Control Points Aerial triangulation and Block adjustment Quality control Orthomosaicking MosaicMill Ltd. 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. MosaicMill Ltd. 17.11.2012 11
SW EnsoMOSAIC 3D specifications 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 MosaicMill Ltd. 16.3.2011 12
SW Camera calibration 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 MosaicMill Ltd. 16.3.2011 13
SW Camera calibration Testfield dimensions Testfield hardware Labelled marks on corners Optimal calibration geometry, exposure locations WS Business Intelligence 17/12/2013 14
SW DigiPreProcess Image enhancement 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 MosaicMill Ltd. 16.3.2011 15
SW DigiPreProcess Image enhancement Before DigiPreProcess - RAW 12-bit image After DigiPreProcess - TIF 8-bit CIR image MosaicMill Ltd. 16.3.2011 16
SW SeamLineEditor Mosaic enhancement 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 MosaicMill Ltd. 16.3.2011 17
SW SeamLineEditor Mosaic enhancement Before applying seam lines After applying seam lines MosaicMill Ltd. 16.3.2011 18
EnsoMOSAIC Complete imaging system
Syst EnsoMOSAIC complete system Imaging hardware Processing hardware Software EnsoMOSAIC for conventional flight + + Control box with GPS Digital camera: RGB, CIR, hyperspectral Laptop PC for navigation or Any UAV platform Standard PC 3D screen NavCam: Navigation EnsoMOSAIC ortho EnsoMOSAIC point cloud EnsoMOSAIC 3D + Training Maintenance Support MosaicMill Ltd. 16.3.2011 20
Syst Work flow conventional system 1. Planning 2. Imaging 3. Orthorectification 4. 3D-processing EnsoMOSAIC FlyPlan EnsoMOSAIC imaging Hardware + NavCam EnsoMOSAIC ortho EnsoMOSAIC point cloud or EnsoMOSAIC 3D 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 Images Orthophotos, Image mosaics City models Topo maps 3D measurements Volumes MosaicMill Ltd. 16.3.2011 21
Syst Work flow UAV platform 1. Planning 2. Imaging 3. Orthorectification 4. 3D-processing Planning tools by UAV manufacturer Practically any UAV system EnsoMOSAIC UAV EnsoMOSAIC point cloud or EnsoMOSAIC 3D 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 Images Orthophotos, Image mosaics City models Topo maps 3D measurements Volumes MosaicMill Ltd. 16.3.2011 22
Syst Business opportunities Imaging service Georeferenced imagery VALUE Mapping service Orthoimages Image maps Value-added service Interpretation Classification 3D-modelling 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 MosaicMill Ltd. 16.3.2011 23
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 System accuracy should be defined according to application needs, higher accuracy means higher investment costs MosaicMill Ltd. 17.11.2009 24
HS 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 MosaicMill Ltd. 4.9.2013 25
HS Technical specifications 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 39 o MosaicMill Ltd. 4.9.2013 26
HS Fabry-Perot 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 MosaicMill Ltd. 4.9.2013 27
HS Hyperspectral mosaics 667nm 771nm 834nm One-band mosaics created by EnsoMOSAIC MosaicMill Ltd. 4.9.2013 28
HS applications NDVI vs. NRVI (Normalized Ratio Vegetation Index) Red band 668nm and NIR band 834nm MosaicMill Ltd. 4.9.2013 29
EnsoMOSAIC single orthorectified image MosaicMill Ltd. 17.11.2009 30
EnsoMOSAIC orthorectified mosaic MosaicMill Ltd. 17.11.2009 31
EnsoMOSAIC Hyperspectral mosaic Hyperspectral (up to 25 channels) are processed same way as standard mosaics Rikola hyperspectral camera applied MosaicMill Ltd. 17.11.2009 32
EnsoMOSAIC contour maps and 3D models MosaicMill Ltd. 16.3.2011 33
EnsoMOSAIC 3D point clouds MosaicMill Ltd. 22.11.2012 34
3D - results DSM, photogrammetric process only, 0.5 m resolution MosaicMill Ltd. 31.01.2013
EnsoMOSAIC FOREST INVENTORY AND MANAGEMENT PLANNING MosaicMill Ltd. 23.8.2011 36
EnsoMOSAIC TOPOGRAPHIC MAPPING MosaicMill Ltd. 23.8.2011 37
EnsoMOSAIC PLANTATIONS MONITORING MosaicMill Ltd. 23.8.2011 38
EnsoMOSAIC LOG YARD AND STOCK PILE INVENTORY MosaicMill Ltd. 23.8.2011 39
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 MosaicMill Ltd. 16.3.2011 40
EnsoMOSAIC UAV platforms
UAV 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) MosaicMill Ltd. 23.8.2011 42
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) Most UAVs suitable for mapping, fixed wing vehicles more stable, payload should be at least 0.3 kg MosaicMill Ltd. 16.3.2011 43
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 Legislation the only real bottleneck MosaicMill Ltd. 23.3.2011 44
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 Use UAVs only for small or medium size areas, areas over 50 km2 always with manned vehicle MosaicMill Ltd. 21.4.2010 45
UAV 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 MosaicMill Ltd. 17.11.2009 46
UAV example: Idetec MosaicMill Ltd. 23.3.2011 47
UAV example: Idetec Stardust II MosaicMill Ltd. 23.3.2011 48
UAV example: Cropcam MosaicMill Ltd. 17.11.2009 49
UAV Examples: Gatewing UX5 MosaicMill Ltd. 17.11.2009 50
UAV Examples: UAVER MosaicMill Ltd. 17.11.2009 51
Supporting slides MosaicMill Ltd. 23.3.2011 52
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 MosaicMill Ltd. 16.3.2011 53
UAV Sensors 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 Camera MUST be calibrated regularly, usable for most accurate jobs MosaicMill Ltd. 23.3.2011 54