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Rover localization from long stereo image sequences using visual odometry based on bundle adjustment 利用基于束平差的视觉里程法从长立体图像序列中定位漫游车
Pub Date : 2010-09-14 DOI: 10.1117/12.910363
W. Wan, Zhaoqin Liu, K. Di
This paper proposes a rover localization method from long stereo image sequences by using visual odometry based on bundle adjustment. Firstly, a progressive stereo image network is built by feature tracking in multiple frames of the stereo image sequence. Then exterior orientation parameters of all images in the network are solved by using bundle adjustment technique to get the rover position. Field experimental results demonstrate that the developed method can localize the rover in real time (2fps) with an accuracy of between than 1.5%.
提出了一种基于束平差的视觉里程法在长立体图像序列中定位漫游车的方法。首先,对多帧立体图像序列进行特征跟踪,构建渐进式立体图像网络;然后利用束平差技术求解网络中所有图像的外部方位参数,得到漫游车的位置。现场实验结果表明,该方法可以实现实时(2fps)定位,定位精度在1.5%以内。
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引用次数: 1
Design of highway landslide warning and emergency response systems based on UAV 基于无人机的公路滑坡预警应急系统设计
Pub Date : 2010-09-14 DOI: 10.1117/12.910424
Yujie Huang, Shen Yi, Zongyu Li, S. Shao, Xiaochun Qin
Landslide is one of the serious geological disasters that bring serious impact on transportation construction and highway traffics. It is critical to improve the level of warning and emergency response to the highway landslide. Based on the application of unmanned aerial vehicles (UAV), the highway landslide warning and emergency response system is developed in this paper. The system consists of two main components, including landslide warning sub-system and the UAV emergency response sub-system. The establishment of this system will contribute to: 1) improving the warning and monitoring of highway landslide; 2) quickly understanding the situation of landslide disaster, and therefore helping the policy-makers with emergency rescue, disaster assessment, and reconstruction; and 3) using it as a research platform for large-scale landslides, debris flow monitoring and warning, and other emergency relief work.
滑坡是严重影响交通建设和公路交通的地质灾害之一。提高公路滑坡的预警和应急水平至关重要。基于无人机的应用,开发了公路滑坡预警与应急响应系统。该系统由滑坡预警子系统和无人机应急响应子系统两大部分组成。该系统的建立有助于:1)提高公路滑坡预警与监测水平;2)快速了解滑坡灾情,帮助决策者进行应急救援、灾情评估和灾后重建;3)将其作为大型滑坡、泥石流监测预警等应急救援工作的研究平台。
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引用次数: 15
Land-cover change of the wuda coal fire area 乌达煤火区土地覆被变化
Pub Date : 2010-09-14 DOI: 10.1117/12.910411
Chunyan Zhang, Y. Guan, Shan Guo, Jia-Hong Li, Jianjun Wu, Yuerong Jia, Danlu Cai, Hong-Wei Duan, Xin Zhang, Tiejun Zhao, Xudong An, Lihua Kang
Coal fire generates a number of environmental problems and results in disorderly changes of landcover. Detecting the change of Land-cover is an important scientific issue of the land evaluation and the eco-environmental change forecasting. The temporal land cover maps with high accuracy make it possible to explore the eco-environmental changes of coal fire area. In thispaper, the multi-layer segmentation-based classification approach, Markov Transition Matrix methodology and Dynamic indexesby using Landsat TM data was carried out. The results reveal that coal mine and resident change are mostly in recent decades among all land cover types. Private coal mining exploitation and government administrative measures are the deriving factors.
煤火产生了一系列的环境问题,造成了土地覆盖的无序变化。土地覆被变化监测是土地评价和生态环境变化预测的重要科学问题。高精度的时相土地覆被图为探索煤火区生态环境变化提供了可能。本文采用基于Landsat TM数据的多层分割分类方法、马尔可夫转移矩阵方法和动态指标。结果表明,近几十年来,各土地覆盖类型中煤矿和居民变化最多。民间采煤开采和政府行政措施是造成煤炭污染的主要因素。
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引用次数: 3
Removing the stripe noise in HJ-1A HSI images 去除HJ-1A HSI图像中的条纹噪声
Pub Date : 2010-09-14 DOI: 10.1117/12.910364
Hailiang Gao, Xingfa Gu, Tao Yu, Xiaoying Li, Jinging Zhi, Yujuan Xie, Xiaohong Ma
The first 20 channel images of Hyper Spectral Image (HSI) have obvious stripe noise, which seriously affects the application of the HSI data. This paper summarized and analyzed the existed destriping methods. Based on the image characteristics of HSI, a new stripe noise removal method was proposed by using spline interpolation function to resample. Taking the HSI image of Guangzhou area as an example, the Fourier transform method, moment matching method and the new method proposed in this paper were used to remove the stripe noise. The results showed that the Fourier transform method couldn't remove the image stripe noise effectively; the moment matching method could remove the image stripe noise, but it also forced the image mean column value to 1, which would destroy the differences of image features information; The new method proposed in this paper was able to retain the differences of image surface features while removing the image stripe noise. The destriping efficiency of the new method was better than the other methods.
高光谱图像(HSI)前20通道图像存在明显的条纹噪声,严重影响了高光谱数据的应用。对现有的去条纹方法进行了总结和分析。根据HSI图像的特点,提出了一种利用样条插值函数进行重采样的条带噪声去除方法。以广州地区HSI图像为例,分别采用傅里叶变换法、矩匹配法和本文提出的新方法去除条纹噪声。结果表明,傅里叶变换方法不能有效去除图像中的条纹噪声;矩匹配方法可以去除图像的条纹噪声,但也会使图像的平均列值为1,破坏了图像特征信息的差异性;本文提出的新方法能够在去除图像条纹噪声的同时保留图像表面特征的差异。新方法的去条纹效果优于其他方法。
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引用次数: 3
The influence of urban reconstruction in urban heat island effect: Cangxia area of Fuzhou City, China 城市改造对城市热岛效应的影响:福州市仓下地区
Pub Date : 2010-09-14 DOI: 10.1117/12.910413
Fei Tang, Hanqiu Xu
The urban development is usually accompanied with the re-planning and reconstruction of the old urban area, which is one of the key issues of the urban development program. Over the past decade, Fuzhou City of Fujian province, SE China, has speeded up its reconstruction progress. The Cangxia area, located in the southwestern of the city, was replaned and reconstructed to improve people's living conditions because the area was full of intensively-built squatter settlements. In order to study the thermal environmental changes of the Cangxia area before and after the reconstruction, three Landsat TM images of 1986, 1996 and 2006 were utilized to perform feature extractions of the thermal-related information of the area, such as the land surface temperature (LST), impervious surface area (ISA) and vegetation coverage. The quantitative analysis on the relationship between ISA and LST suggested a positive exponential relationship between the two factors. With the assistance of the Urban-Heat-Island Ratio Index (URI), the digital image processing on the three multi-temporal images revealed the spatial and temporal variations of the urban heat island (UHI) effect in the investigated area from 1986 to 2006. The results showed that after the launch of the reconstruction project of this squatter settlement-dominated area, the UHI effect in the area had been greatly mitigated in the past 20 years, since the URI value had been decreased from 0.648 in 1986 to 0.245 in 2006. This owes greatly to the significant decrease in high-density ISAs and the notable increase in vegetation covers. The reconstruction is of benefit to the UHI mitigation of the Cangxia area.
城市发展往往伴随着旧城区的重新规划和改造,旧城区的重新规划和改造是城市发展规划的关键问题之一。在过去的十年里,中国东南部福建省福州市加快了重建进程。位于城市西南部的苍峡地区,由于到处都是密集建造的棚户区,为了改善人们的生活条件,进行了重新规划和重建。为了研究重建前后苍峡地区的热环境变化,利用1986年、1996年和2006年3幅Landsat TM影像对该地区的地表温度(LST)、不透水面面积(ISA)和植被覆盖度等热相关信息进行特征提取。定量分析了ISA与LST之间的关系,二者呈正指数关系。利用城市热岛比指数(urban - heat - island Ratio Index, URI)对3幅多时相影像进行数字图像处理,揭示了1986 - 2006年调查区城市热岛效应的时空变化特征。结果表明:在棚户区改造工程启动后,该地区的UHI效应在过去的20年里得到了很大的缓解,URI值从1986年的0.648下降到2006年的0.245。这在很大程度上是由于高密度isa的显著减少和植被覆盖的显著增加。重建对缓解苍峡地区热岛影响具有重要意义。
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引用次数: 2
The extraction of mangrove within intertidal zone based on multi-temporal HJ CCD images 基于多时相HJ CCD影像的潮间带红树林提取
Pub Date : 2010-09-14 DOI: 10.1117/12.910407
Shanshan Li, Q. Tian, Tao Yu, Xingfa Gu
The coastal zone in Beibu Gulf is dominated by diurnal tide and there exists the largest mangrove community in China. The frequently used mangrove extraction methods seldom took the tide influence into account which would lead to extracted area loss on single instantaneous remote sensing image. The loss cannot be ignored when the mangrove submerged time is long. This study took one portion of Beibu gulf coastline as research site. Four temporal HJ CCD images with different tide levels were selected for inundation mangrove extraction and coastal terrain classification. Based on the analysis of targets image-spectra, several decision factors were proposed, and subsequently a multi-layer decision tree was constructed. After the classification, target distributions at research site including the submerged mangrove were acquired. The overall classification precision was high up to 91.79%, and the Kappa coefficient was 0.9064. The obtained submerged mangrove area was 2.155 km2, which comprised 4.5% of total mangrove area and would be lost if the extraction were only applied on single image.
北部湾沿岸以日潮为主,存在中国最大的红树林群落。常用的红树林提取方法很少考虑潮汐的影响,导致提取的红树林面积在单个瞬时遥感图像上有损失。当红树林淹没时间较长时,损失不可忽视。本研究以北部湾海岸线的一部分为研究地点。选取4幅不同潮位的HJ CCD影像进行淹没红树林提取和海岸地形分类。在分析目标图像光谱的基础上,提出了若干决策因素,并构建了多层决策树。分类后,获得了包括淹没红树林在内的研究点的目标分布。总体分类精度高达91.79%,Kappa系数为0.9064。获得的淹没红树林面积为2.155 km2,占红树林总面积的4.5%,如果仅对单幅图像进行提取,则会丢失淹没红树林面积。
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引用次数: 2
Status monitoring and exception handling mechanism for geospatial information services 地理空间信息服务的状态监控和异常处理机制
Pub Date : 2010-09-14 DOI: 10.1117/12.910371
Dengrong Zhang, Bin Xie, Yan Ma
This paper proposes a status monitoring and exception handling mechanism for geospatial information services. After introducing a two-level collaborative model and information exchange center, definition and monitoring methods of service status are provided. On this basis, multi-geospatial agents based collaborative monitoring process and exception handling activities are used to enhance the quality and reliability of geospatial information services.
提出了一种地理空间信息服务的状态监测与异常处理机制。在引入两级协同模型和信息交换中心后,给出了服务状态的定义和监控方法。在此基础上,采用基于多地理空间代理的协同监控流程和异常处理活动,提高地理空间信息服务的质量和可靠性。
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引用次数: 0
Spatial scale of chlorophyll-a concentration in Lake Taihu by using remote sensing images 基于遥感影像的太湖叶绿素a浓度空间尺度研究
Pub Date : 2010-09-14 DOI: 10.1117/12.910421
Y. Bao, Q. Tian
Chlorophyll-a concentration is one of the most important indexes of Lake Eutrophication. Fine temporal and spatial resolution remote sensing images provide an effective way to monitor blue-green algae in Lake Taihu by studying the spatial distribution regularities of chla concentration. However, both low spatial resolution remote sensing images (e.g. MODIS) due to their heterogeneity and high or moderate spatial resolution remote sensing images (e.g. TM/ETM+) due to their low temporal resolution give rise to unsatisfactory estimate of chla concentration. Therefore, in this study, an effective method for estimating chla concentration using remote sensing images at different scales was developed. Chla concentration was inferred from Hyperion images at 30m resolution and MODIS images at 250m resolution. The spatial variability of Chla concentration was analyzed and Taihu Lake was divided into area with low variability and area with high variability. The quadratic polynomial (R2=0.8709) and linear (R2=0.7387) correlation was established. Finally, the obtained relationship between chla concentration estimate at different spatial scales were applied to correct the estimate from MODIS data.
叶绿素-a浓度是湖泊富营养化的重要指标之一。精细时空分辨率遥感影像通过研究chla浓度的空间分布规律,为太湖蓝绿藻监测提供了有效途径。然而,低空间分辨率遥感图像(如MODIS)由于其异质性,以及高或中等空间分辨率遥感图像(如TM/ETM+)由于其低时间分辨率,都导致对chla浓度的估计不令人满意。因此,本研究开发了一种利用不同尺度遥感影像估算chla浓度的有效方法。Chla浓度由30m分辨率的Hyperion图像和250m分辨率的MODIS图像推断。分析了Chla浓度的空间变异性,将太湖划分为低变异性区和高变异性区。建立二次多项式相关(R2=0.8709)和线性相关(R2=0.7387)。最后,利用不同空间尺度下chla浓度估计值之间的关系对MODIS数据的估计值进行校正。
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引用次数: 2
Modeling the bidirectional reflectance distribution function (BRDF) of water based on Monte Carlo simulation 基于蒙特卡罗模拟的水的双向反射分布函数(BRDF)建模
Pub Date : 2010-09-14 DOI: 10.1117/12.910368
Zaiying Ling, Bin Zhou, Jingang Jiang, Wenjie Dou, Fangfang Zhou
Bi-directional Reflectance Distribution Function (BRDF) of water is one of the most important factors to describe the optical characteristics of ocean using Lidar. It also plays important roles in the research on remote sensing modelling and inversion. This research was based on certain assumptions, by using Monte Carlo method to track a large number of photon collisions in the water, and study on the influence of the laser beam incident zenith angle and Inherent Optical Properties of water (i.e. scattering phase function, single scattering albedo) on the water BRDF. The simulation result showed that both incident zenith angle of laser beam and IOP of water have an impact on shape and quantity of BRDF.
水的双向反射分布函数(BRDF)是激光雷达描述海洋光学特性的重要因素之一。在遥感建模和反演研究中也发挥着重要作用。本研究基于一定的假设,采用蒙特卡罗方法跟踪水中大量的光子碰撞,研究激光束入射天顶角和水的固有光学性质(即散射相函数、单次散射反照率)对水中BRDF的影响。模拟结果表明,激光入射天顶角和水的IOP对BRDF的形状和数量都有影响。
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引用次数: 2
A 3-dimensional polynomial model for geometric corrections of airborne SAR images 机载SAR图像几何校正的三维多项式模型
Pub Date : 2010-09-14 DOI: 10.1117/12.910393
Jingjing Song, Jingjuan Liao
Terrain undulations have significant influence on the geometric and radiometric quality of high-resolution airborne synthetic aperture radar images. The correction of these effects becomes indispensable before image analyzing. The paper presents a new approach to the geometric correction under unknown parameters of the SAR imaging geometry. Using a three-dimensional (3D) polynomial model, the image of the testing area is geo-corrected. The selection of polynomial order is emphasized. The best appropriate polynomial order for testing area is selected after testing nine different polynomial orders which are 1-1-0, 1-1-1, 2-2-0, 2-2-1, 2-2-2, 3-3-0, 3-3-1, 3-3-2, 3-3-3. The resulting image is a fully terrain corrected one and could be used for real-time monitoring and evaluating emergencies (e.g., hurricanes or earthquakes).
地形起伏对高分辨率航空合成孔径雷达图像的几何质量和辐射质量影响很大。在图像分析之前,对这些影响进行校正是必不可少的。提出了一种SAR成像几何参数未知情况下的几何校正方法。利用三维(3D)多项式模型,对测试区域的图像进行地理校正。重点介绍了多项式阶的选择。对1-1-0、1-1-1、2-2-0、2-2-1、2-2-2、2-2-2、3-3-0、3-3-1、3-3-2、3-3-3 9种不同的多项式阶次进行了测试,选出了适合试验区的最佳多项式阶次。生成的图像是完全地形校正的图像,可用于实时监测和评估紧急情况(例如飓风或地震)。
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引用次数: 1
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China Symposium on Remote Sensing
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