Search Results (11)

In our contribution, we conduct a thematic literature review on trajectory estimation using a decentralized multi-sensor system based on robotic total stations (RTS) with a focus on unmanned aerial system (UAS) platforms. While RTS are commonly used for trajectory estimation in areas where GNSS is not sufficiently accurate or is unavailable, they are rarely used for UAS trajectory estimation. Extending the RTS with integrated camera images allows for UAS pose estimation (position and orientation). We review existing research on the entire RTS measurement processes, including time synchronization, atmospheric refraction, prism interaction, and RTS-based image evaluation. Additionally, we focus on integrated trajectory estimation using UAS onboard measurements such as IMU and laser scanning data. Although many existing articles address individual steps of the decentralized multi-sensor system, we demonstrate that a combination of existing works related to UAS trajectory estimation and RTS calibration is needed to allow for trajectory estimation at sub-$\mathrm{c}$$\mathrm{m}$ and sub-$0.01$ gon accuracies, and we identify the challenges that must be addressed. Investigations into the use of RTS for kinematic tasks must be extended to realistic distances (approx. 300–500 m) and speeds (>2.5 m s⁻¹). In particular, image acquisition with the integrated camera must be extended by a time synchronization approach. As to the estimation of UAS orientation based on RTS camera images, the results of initial simulation studies must be validated by field tests, and existing approaches for integrated trajectory estimation must be adapted to optimally integrate RTS data. Full article

Accurately identifying the source and controlling the total amount of pollutants are the basis for achieving regulation of pollution sources, which is critical for the prevention and control of surface water pollution. For this purpose, this study used the Xinjian River in Jinyun County, Lishui City, Zhejiang Province, China, as a case study to explore whether and how the tributary inflow impacts the downstream water quality. The main pollution sources in the upstream, midstream, and downstream of the Xinjian River were apportioned using the Positive Matrix Factorization (PMF) model based on the water quality data from four sample stations from January 2018 to September 2022. According to the unmatched factor in different sections, it is plausible to infer that the TN and TP are mainly caused by the tributaries. To enhance the reliability of pollution source apportionment based on the receptor model, a series of remote sensing images with high resolution were used to derive the water quality concentrations to present the spatial distribution and reveal the long-term trend of the local water environment. It is anticipated that the apportionment results could be of great assistance to local authorities for the control and management of pollution, as well as the protection of riverine water quality. Full article

A novel method for structural health monitoring (SHM) by using RGB+D data has been recently proposed. RGB+D data are created by fusing image and laser scan data, where the D channel represents the distance, interpolated from laser scanner data. RGB channel represents image data obtained by an image sensor integrated in robotic total station (RTS) telescope, or on top of the telescope i.e., image assisted total station (IATS). Images can also be obtained by conventional cameras, or cameras integrated with RTS (different kind of prototypes). RGB+D image combines the advantages of the two measuring methods. Laser scans are used for distance changes in the line of sight and image data are used for displacements determination in two axes perpendicular to the viewing direction of the camera. Image feature detection and matching algorithms detect and match discrete points within RGB+D images obtained from different epochs. These way 3D coordinates of the points can be easily calculated from RGB+D images. In this study, the implementation of this method was proposed for measuring displacements and monitoring the behavior of structural elements under constant load in field conditions. For the precision analysis of the proposed method, displacements obtained from a numerical model in combination with measurements from a high precision linear variable differential transformer (LVDT) sensor was used as a reference for the analysis of determined displacements from RGB+D images. Based on the achieved results, we calculated that in this study, the precision of the image matching and fusion part of the RGB+D is ±1 mm while using the ORB algorithm. The ORB algorithm was determined as the optimal algorithm for this study, with good computing performance, lowest processing times and the highest number of usable features detected. The calculated achievable precision for determining height displacement while monitoring the behavior of structural element wooden beam under different loads is ±2.7 mm. Full article

Evapotranspiration (ET) is a significant consumer of irrigation water and precipitation on cropland. Global and regional interest in the sustainable management of limited freshwater supplies to meet the rapidly increasing population and food demands has resulted in advanced scientific research on ET measurement, rapid water accounting, and irrigation schedules in the NENA region. The primary goal of this paper is to compare actual daily evapotranspiration (ET) collected by a remote sensing model and validated by Energy Balance (EB) flux tower field measurements. The flux tower was installed in a wheat field in Sids Agricultural Research Station in Beni Suef Governorate. Through the integration of Moderate Resolution Imaging Spectroradiometer (MODIS) Terra and Sentinel-2 data, a new remote sensing-based ET model is built on two parties: Thermal condition factor (TCF) and vegetation condition fraction (VCF). The remote sensing-based ET estimation model was evaluated using ET field measurements from the Energy Balance flux tower. The land use and land cover maps were created to assist the interpretation of remotely sensed ET data. Field data for five categories were collected to test the accuracy of the land use and cover maps: Water bodies (93 points), urban areas (252 points), trees (104 points), other field crops (227 points), and wheat (249 points), for a total of 925 ground points. The Google Earth Engine (GEE) imported sentinel-2 datasets and filtered the necessary dates and regions. From 1 October 2020 to 30 May 2021, sentinel-2 data were processed and transformed into the Normalized Difference Vegetation Index (NDVI), Normalized Difference Water Index (NDWI), and Normalized Difference Built-up Index (NDBI), which were then combined. The composite layer data were classified using the Random Forest (RF) method on the GEE platform, and the results showed an overall accuracy of 91 percent. The validation factors revealed good indices when RS-based ET results were compared to ground-measured ET. The Root Mean Square Error (RMSE) was 0.84 mm/day. The ‘r’ and ‘d’ values indicated satisfactory results, where ‘r’ yielded a value of 0.785, which indicates that the correlation between predicted and reference results is robust. The analysis of d values revealed a high degree of correlation between predicted (RS-based ET) and reference results (measured ET). The d value was found to be 0.872. Between 21 November 2020 and 30 April 2021, RS-based accumulated ET was 418 mm/season, while ground-measured ET was 376 mm/season. The new RS-based ET model produced acceptable daily and seasonal results. Full article

Percutaneous pedicle screw instrumentation is the keystone of minimally invasive spine surgery. Percutaneous screw placement demands experience and relies greatly on intra-operative image guidance. This study aims to validate the feasibility and accuracy of augmented-reality (AR)-assisted percutaneous pedicle screw instrumentation. One cadaveric torso was prepared for this study. After a pre-operative computed tomography (CT) scan, the images were transferred to an AR station to generate a 3D hologram. The 3D hologram and navigation images were projected to a pair of goggles with a display screen. With registration, the 3D spine hologram was overlayed onto the cadaver. Bilateral instrumentation from T6 to L5 was performed by two surgeons using AR assistance. A post-operative CT scan was obtained. The Gertzbein–Robbins scale (grade 0–3) was used for accuracy assessment. A total of 24 screws were placed. The overall screw accuracy was 87.5%. There were three major medial breaches that occurred on Rt T6/7/8, which were the most distant screws from the iliac reference. The cause of the three major medial breaches appeared to be related to their distance from the iliac reference. AR-assisted percutaneous pedicle screw instrumentation could improve anatomical visualization, facilitate surgical workflow, and provide an intuitive way of performing surgery. Full article

Measuring structures and its documentation is one of the tasks of engineering geodesy. Structural health monitoring (SHM) is defined as a periodic or continuous method to provide information about the condition of the construction through the determination of measurement data and their analysis. In SHM, wide varieties of sensors are used for data acquisition. In the following, the focus is on the application of image assisted total stations (IATS). The combination of tacheometry and photogrammetric measurement offers high flexibility and precision. Different approaches of automated detecting and matching whose applications have been tested in practice are briefly explained. A distinction is made between built-in cameras (commercial) and external camera systems (prototypes). Various successful applications of IATS in the field of SHM are presented and explained. Full article

The role and importance of geodesists in the planning and building of civil engineering constructions are well known. However, the importance and benefits of collected data during maintenance in exploitation have arisen in the last thirty years due primarily to the development of Global Positioning Systems (GPS) and Global Navigation Satellite System (GNSS) instruments, sensors and systems, which can receive signals from multiple GPS systems. In the last fifteen years, the development of Terrestrial Laser Scanners (TLS) and Image-Assisted Total Stations (IATS) has enabled much wider integration of these types of geodetic instruments with their sensors into monitoring systems for the displacement and deformation monitoring of structures, as well as for regular structure inspections. While GNSS sensors have certain limitations regarding their accuracy, their suitability in monitoring systems, and the need for a clean horizon, IATS do not have these limitations. The latest development of Total Stations (TS) called IATS is a theodolite that consists of a Robotic Total Station (RTS) with integrated image sensors. Today, IATS can be used for structural and geo-monitoring, i.e., for the determination of static and dynamic displacements and deformations, as well as for the determination of civil engineering structures’ natural frequencies. In this way, IATS can provide essential information about the current condition of structures. However, like all instruments and sensors, they have their advantages and disadvantages. IATS’s biggest advantage is their high level of accuracy and precision and the fact that they do not need to be set up on the structure, while their biggest disadvantage is that they are expensive. In this paper, the developed low-cost IATS prototype, which consists of an RTS Leica TPS1201 instrument and GoPro Hero5 camera, is presented. At first, the IATS prototype was tested in the laboratory where simulated dynamic displacements were determined. After the experiment, the IATS prototype was used in the field for the purpose of static and dynamic load testing of the railway bridge Kloštar, after its reconstruction according to HRN ISO NORM U.M1.046—Testing of bridges by load test. In this article, the determination of bridge dynamic displacements and results of the computation of natural frequencies using FFT from the measurement data obtained by means of IATS are presented. During the load testing of the bridge, the frequencies were also determined by accelerometers, and these data were used as a reference for the assessment of IATS accuracy and suitability for dynamic testing. From the conducted measurements, we successfully determined natural bridge frequencies as they match the results gained by accelerometers. Full article

Theodolites are fundamental geodetic measuring instruments for all practical geodetic tasks, as well as for experimental geodetic scientific purposes. Their development has a long history. Photo and video theodolites represent the advanced development of classic theodolites. Development started in 19th century, but only in the last 15 years has commercial application been achieved in the geodetic profession. The latest development, called image-assisted total stations (IATS), is a theodolite which consists of a classic robotic total station (RTS) with integrated image sensors. It was introduced in the early 2000s. With the development of theodolites, their application became much wider; today, they can be used for structural and geo-monitoring, i.e., for the determination of static and dynamic displacements and deformations of civil engineering structures such as bridges, dams, wind turbines, and high buildings, as well as natural structures, such as mountain slopes. They can be implemented in geodetic monitoring systems, which are an integral part of engineering structural diagnosis, and they provide essential information about the current condition of the structure. This paper describes the technological development of photo and video theodolites divided into phases according to the main innovations in their development. The application of modern video theodolites (i.e., IATS) is presented through several experimental studies that were performed. The procedure of conducting measurements with this kind of instrument, as well as the analysis of acquired data and achieved results, is elaborated. Lastly, the authors conclude, according to the achieved results, that IATS can today be used for determination of quasi-static and dynamic displacements with small and high amplitudes. Full article

In conducting land boundary verification surveys in digitalized cadastral areas in Taiwan, possible parcel points must be surveyed. These points are employed in the overlap analysis and map registration of possible parcel points and digitalized cadastral maps to identify the coordinates of parcel points. Based on the computed horizontal distance and angle between control points and parcel points, parcels are staked out using ground surveys. Most studies survey possible parcel points using ground surveys with, for example, total stations. Compared with ground surveys, UAV (Unmanned Aerial Vehicle) aerial photogrammetry can provide more possible parcel points. Thus, an overlap analysis of digitalized cadastral maps, combined with the collection of possible parcel points, will be more comprehensive. In this study, a high-quality-medium format camera, with a 55 mm focal length, was carried on a rotary UAV to take images, with a 3 cm ground sampling distance (GSD), flying 300 m above the ground. The images were taken with an 80% end-lap and side-lap to increase the visibility of the terrain details for stereo-mapping. According to the test conducted in this study, UAV aerial photogrammetry can accurately provide supplementary control points and assist in the boundary verification of digitalized cadastral areas in Taiwan. Full article

Satellite-based monitoring can retrieve ground-level PM_2.5 concentrations with higher-resolution and continuous spatial coverage to assist in making management strategies and estimating health exposures. The Sichuan Basin has a complex terrain and several city clusters that differ from other regions in China: it has an enclosed air basin with a unique planetary boundary layer dynamic which accumulates air pollution. The spatiotemporal distribution of 1-km resolution Aerosol Optical Depth (AOD) in the Sichuan Basin was retrieved using the improved dark pixel method and Moderate Resolution Imaging Spectroradiometer (MODIS) data in this study. The retrieved seasonal AOD reached its highest values in spring and had the lowest values in autumn. The higher correlation (r = 0.84, N = 171) between the ground-based Lidar AOD and 1-km resolution MODIS AOD indicated that the high-resolution MODIS AOD could be used to retrieve the ground-level PM_2.5 concentration. The Lidar-measured annual average extinction coefficient increased linearly with the Planetary Boundary Layer Height (PBLH) in the range of 100~670 m, but exponentially decreased between the heights of 670~1800 m. Both the correlation and the variation tendency of simulated PBLH from the Weather Research and Forecasting (WRF) model & Shin-Hong (SHIN)/California Meteorological (CALMET) model (WRF_SHIN/CALMET) were closer to the Lidar observation than that of three other Planetary Boundary Layer (PBL) schemes (the Grenier-Bretherton-McCaa (GBM) scheme, the Total Energy-Mass Flux (TEMF) scheme and the University of Washington (UW) scheme), which suggested that the simulated the Planetary Boundary Layer Height (PBLH) could be used in the vertical correction of retrieval PM_2.5. Four seasonal fitting functions were also obtained for further humidity correction. The correlation coefficient between the aerosol extinction coefficient and the fitted surface-level PM_2.5 concentration at the benchmark station of Southwest Jiao-tong University was enhanced significantly from 0.62 to 0.76 after vertical and humidity corrections during a whole year. During the evaluation of the retrieved ground-level PM_2.5 with observed values from three cities, Yibin (YB), Dazhou (DZ), and Deyang (DY), our algorithm performed well, resulting in higher correlation coefficients of 0.78 (N = 177), 0.77 (N = 178), and 0.81 (N = 181), respectively. Full article

Surveying fields from geosciences to infrastructure monitoring make use of a wide range of instruments for accurate 3D geometry acquisition. In many cases, the Terrestrial Laser Scanner (TLS) tends to become an optimal alternative to total station measurements thanks to the high point acquisition rate it offers, but also to ever deeper data processing software functionalities. Nevertheless, traditional surveying techniques are valuable in some kinds of projects. Nowadays, a few modern total stations combine their conventional capabilities with those of a laser scanner in a unique device. The recent Trimble SX10 scanning total station is a survey instrument merging high-speed 3D scanning and the capabilities of an image-assisted total station. In this paper this new instrument is introduced and first compared to state-of-the-art image-assisted total stations. The paper also addresses the topic of various laser scanning projects and the delivered point clouds are compared with those of other TLS. Directly and indirectly georeferenced projects have been carried out and are investigated in this paper, and a polygonal traverse is performed through a building. Comparisons with the results delivered by well-established survey instruments show the reliability of the Trimble SX10 for geodetic work as well as for scanning projects. Full article