UAV systems for cultural heritage€¦ · UAV systems for cultural heritage HERICT ERASMUS IP...
Transcript of UAV systems for cultural heritage€¦ · UAV systems for cultural heritage HERICT ERASMUS IP...
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UAV systems for cultural heritageHERICT ERASMUS IP
Technical lecture 2
Dr. Dimitrios SkarlatosLecturer Cyprus university of Technology
Photogrammetric Vision LabDept. of Civil Eng. & Geomatics
Dipl. Eng. NTUA, MSc Univ. London (UCL), PhD NTUAwww.photogrammetric‐vision.com
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Technical lecture layout
Definitions and categories
Brief flashback and problems
Commercial Systems
Planning and navigating the flight
Applications
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Photogrammetry and deliverables
Vector plots
Digital Elevation Models [3D]
Ortho‐photo‐mosaics
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UAV: Definition and categoriesRC vs AutonomousFixed wings vs multi rotors
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UAV Definition
Unmanned aerial vehicle (UAV), are to be understood as uninhabited and reusable motorized aerial vehicles (Blyenburgh, 1999).
Developed mainly for military applicationsReusable (excluding missiles) Flight using an engine and aerodynamics (excluding balloons and kites)
May be categorized in RC, assisted, autonomous
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Following the definition …
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More categories UASystemsRPAS (Remotely Piloted Aircraft Systems)
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Brief flashback and problemsRadio controlled flightsImprovements by using UAVs
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Examples of photo coverage'sfrom standard aerial photography
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Examples of photo coverage'sfrom kite, balloon and RC helicopterNot vertical
Coverage ‐ completeness
Height – scale variations
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GPS/INS systems for UAVs
Position awareness GPS for global positioning
L1 (most cases) L1/L2 RTK (weight)
INS or IMU for relative positioning 3 gyroscopes 3 accelerometers 3‐axis magnetometer
LSQ Kalman filter RT and/or PP
Additional navigation sensorsBarometer
Laser/Sonar height measurement
Wind speedometerCompass
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Advantages of using GPS/INS
Autonomous flight• Program the flight• No flight and camera operator
• Guaranteed coverage• Signal loss• Autonomous return• Flight on dangerous areas
Flight stability• Vertical photography• Guaranteed % of coverage
Flight altitude fixation
Meta data for post processing and A/T
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Disadvantages
GPS/INS and camera
eccentricityObstacle avoidance
Legal aspects not fully addressed – different among countries
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Inherent advantages of AUAVs
Low cost (buy and maintain) Low flying heights (small groundel)No need for operatorsPin point photography Flexibility on programming and execution of flights Small response timeVertical, oblique or horizontal shootingMeta data recordingReal time data linkUse in emergencies and hostile environmentEducational use
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Inherent disadvantages of AUAVs
Low payloads Low flying roof height (up to 300m)Data links are usually up to 5km, more typically to 1 km
Legal background
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Aviation legislation
Depends on the country…1) Stand by operator2) Within visual range3) Take off and landing by operator4) Need to get testify flight plan and ask for permission from
local civil aircraft authority for every flight above 150m5) Combinations…The article 8 of the Convention on International Civil Aviation, about the Pilotless aircraft says :“No aircraft capable of being flown without a pilot shall be flown without a pilot over the
territory of a contracting State without special authorization by that State and in accordance with the terms of such authorization. Each contracting State undertakes to insure that the flight of such aircraft without a pilot in regions open to civil aircraft shall be so controlled as to obviate danger to civil aircraft.”
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CUT’s AUAVSwingletCam by SensFly
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Navigation
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Typical base station
EmergencyOperator
Flight control computer
RT Video & Data link
Antenna
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Flight stability [rotations]WeP
ilot1
000
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Flight stability [speed]WeP
ilot1
000
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Speed:Design vs Execution
WeP
ilot1
000
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Fixed wings Vs multi rotorFlight planningAssisted controlBase stationMeta data
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Major category
Much better range
Cover large areas (1km2 or more)
Fully autonomous
Lower flying height
Wind endurance
Smaller take off and landing space
Fixed wings Multi rotor
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Take off by hand
Mavinci LehmannAviation
Swinglet Zephyr
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Take off and landing… in a single short video
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Take off
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Best landing ever
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Take off with catapult(some may land using parachute)
AVI system Gatewing
C‐ASTRAL Pteryx
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Multi rotor
Aibotix Microdrones
Dragonfly High Tech
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Microdrones
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Aibotix
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Flight planning s/w
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Planning vs Excecution
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Photo triggering
Manual through video link
Automatically using on board GPS
With time interval
Hovering above the exact location and manual triggering [only multi rotor]
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Archaeological applications & examples
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3D color point cloudRC Helicopter (8 high resolution full frame photos)
945 K points
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Orthophotomap in Akrotiriarcaeological site
AUAV flights under permission from SBA Total on site time for flight preparation and flight = 40min
Control point collection with GPS (3 hr) Fully automated processing
Aerial triangulation DEM @ 20cm and contour creation Orthophotomosaic with 10cm pixel size
Final result and assessment RMSE on check points = 0.12 m RMSE using direct georeferencing = 0.80 m
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Flight and Α/Τ
Flight height 260 mGround pixel 0,10 m70%‐50% coverage72 photos
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Orthophoto with 1m contours
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Λεπτομέρεια
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Detail ortho & DEM
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Low flight42m flight height (minimum)0.012 m ground pixel size
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Ancient DION
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2007
600 acres in total
RC helicopter
Full frame camera
25‐35m flying height
120 acres ortho with 0.01m pixel size
Separated to sub‐areas
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Improvements to be anticipated… Obstacle avoidance Automation improvements towards a fully functional
and autonomous cartographic tool Payload increase Incorporation of more sensors (LiDAR & Linear Array
Cameras) Sensor calibration SLAM using the optical sensors onboard Swarm of AUVs to map larger areas Increased navigational accuracy Open source code New applications
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Thanks
Presentation will be available at
http://photogrammetric-vision.com/presentations.html
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References Eisenbeib, H., 2009. UAV Photogrammetry. PhD thesis, ETH Zurich, Diss. ETH No 18515.
Everaerts, J., 2009. New platforms. EuroSDR. Blyenburgh, 2008. Unmanned aircraft systems: The current situation. Presentation in EASE UAS Workshop, Paris.
Pteryx flyer & specification pricelist Geoanalysis S.A. flyer A. Gruen, 2011, Advances in UAV Photogrammetry, International Scientific and Technical Conference “From imagery to map: digital photogrammetric technologies”, Sept. 2011, Spain
Remondino F., presentation in UAV photogrammetry: Current status and future perspectives