People describe and explore space with a strong emphasis on the visual senses, yet modelling the field of view has received little attention within the realm of Location Based Services (LBS), in part due to the lack of useful data. Advances in data capture, such as Light Detection and Ranging (LiDAR), provide new opportunities to build digital city models and expand the range of applications which use visibility analysis. This thesis capitalises on these advances with the development of a visibility model to support a number of innovative LBS functions in an urban region and particular focus is given to the visibility model‟s supporting role in the formation of referring expressions, the descriptive phrases used to identify objects in a scene, which are relevant when delivering spatial information to the user through a speech based interface. Speech interfaces are particularly useful to mobile users with restricted screen viewing opportunities, such as navigational support for motorists and a wider range of tasks including delivering information to urban pedestrians. As speech recognition accuracies improve so new interaction opportunities will allow users to relate to their surroundings and retrieve information on buildings in view through spoken descriptions. The papers presented in this thesis work towards this goal, by translating spatial information into a form which matches the user‟s perspective and can be delivered over a speech interface. The foundation is the development of a new visual exposure model for use in urban areas, able to calculate a number of metrics about Features of Interest (FOIs), including the façade area visible and the percentage on the skyline. The impact of urban vegetation as a semi-permeable visual barrier is also considered, and how visual exposure calculations may be adjusted to accommodate under canopy and through canopy views. The model may be used by pedestrian LBSs, or applied to vehicle navigation tasks to determine how much of a route ahead is in view for a car driver, identifying the sections with limited visibility or the best places for an overtaking manoeuvre. Delivering information via a speech interface requires FOI positions to be defined according to projective space relating to the user‟s viewpoint, rather than topological or metric space, and this is handled using a new egocentric model. Finally descriptions of the FOIs are considered, including a method to automatically collect façade colours by excluding foreground objects, and a model to determine the most appropriate description to direct the LBS user‟s attention to a FOI in view.

O sistema de varredura a LASER aerotransportado é uma tecnologia competitiva para levantamentos que visam à geração de modelos digitais de superfície (MDS) e modelos digitais de terreno (MDT). Esta tecnologia sofreu certa resistência por parte das empresas de aerolevantamento e de alguns usuários, porém vem conquistando o mercado, graças à grande quantidade de trabalhos recentemente publicados. Uma das limitações associadas ao levantamento a LASER é a correta detecção de objetos não pertencentes ao terreno como árvores e edificações. Esses objetos, quando devidamente identificados, são essenciais para várias aplicações como cadastro e avaliação da qualidade cartográfica. Este trabalho propõe uma metodologia de identificação de edificações através da detecção de suas bordas, em uma rede triangular (TIN) construída sobre a nuvem de pontos. A utilização da TIN preserva os valores originais da amostra e, representa o universo real com melhor fidelidade que os modelos matriciais. A detecção é realizada calculando-se as declividades para todos os triângulos da TIN. Após esta etapa, são segmentados todos os triângulos que possuem valor de declividade acima de um limiar, pois representam variações abruptas no terreno, condizentes com edificações. A definição do limiar depende da resolução da nuvem de pontos, padrão de varredura e natureza do terreno. O trabalho apresenta ferramentas preliminares para automatizar a vetorização das bordas detectadas. As edificações extraídas pela metodologia e ferramentas apresentadas, podem ser utilizadas para avaliação da qualidade cartográfica do MDS/MDT. Para isso, compara-se o MDS a um documento cartográfico de referência, e realizam-se testes para: detecção e eliminação de erros grosseiros, detecção de tendências e minimização de erros sistemáticos, testes de precisão e de atendimento ao Padrão de Exatidão Cartográfico (PEC). Após análises, conclui-se que a metodologia de detecção de bordas propostas é eficiente, porém as ferramentas de automatização precisam ser aperfeiçoadas. Conclui-se também que o MDS oriundo do levantamento a LASER tem qualidade cartográfica compatível com o produto cartográfico de referência. Recomenda-se aplicação das metodologias propostas em outros conjuntos de dados. / The airborne LASER scanner is competitive technology for surveys that generates digital surface models (DSM) and Digital Terrain Models (DTM). This technology suffered some resistance by the aerosurvey enterprise (and some users), but is conquering its market share due the amount of papers recently published in this field. A limitation associated with this technique is the correct detection of the offterrain objects, like trees and buildings. These objects, when well identified, are essential to a sort of applications like cadastre e map quality evaluation. This dissertation proposes a methodology to identify buildings by the edge detection of a triangular irregular net (TIN) built over the point cloud. The utilization of TIN preserves the original values, representing the real 3D universe with fidelity despite the raster models. The detection is done calculating the slopes for all triangles of the TIN. After that, the triangles with slope values above a threshold are segmented. The Threshold definition depends on resolution of the point cloud, scan pattern and target behavior. Triangles with high slope values represent hard variation and may mean buildings. This work shows preliminary tools to automate the vectorization of the detected edges. The extracted buildings may be used for map quality evaluation of the DSM/DTM, by comparing it with a reference map. This means: test for detection e elimination of bundles, test for detection and minimization of systematic errors, precision tests and evaluate the meeting the Brazilian cartographic accuracy standard (PEC). Theses analysis concludes that the proposed methodology of edge detection is efficient but the developed tools of automation may be sharpened. Also, concludes that the DSM built with LASER scanner survey is compatible with reference map. Its recommended the application of the methodology on other collections of data.

No description available.

<p>Digital geometry is the geometry of digital images. Compared to Euclid’s geometry, which has been studied for more than two thousand years, this field is very young.</p><p>Efim Khalimsky’s topology on the integers, invented in the 1970s, is a digital counterpart of the Euclidean topology on the real line. The Khalimsky topology became widely known to researchers in digital geometry and computer imagery during the early 1990s.</p><p>Suppose that a continuous function is defined on a subspace of an <i>n-</i>dimensional Khalimsky space. One question to ask is whether this function can be extended to a continuous function defined on the whole space. We solve this problem. A related problem is to characterize the subspaces on which every continuous function can be extended. Also this problem is solved.</p><p>We generalize and solve the extension problem for integer-valued, Khalimsky-continuous functions defined on arbitrary smallest-neighborhood spaces, also called Alexandrov spaces.</p><p>The notion of a digital straight line was clarified in 1974 by Azriel Rosenfeld. We introduce another type of digital straight line, a line that respects the Khalimsky topology in the sense that a line is a topological embedding of the Khalimsky line into the Khalimsky plane.</p><p>In higher dimensions, we generalize this construction to digital Khalimsky hyperplanes, surfaces and curves by digitization of real objects. In particular we study approximation properties and topological separation properties. </p><p>The last paper is about Khalimsky manifolds, spaces that are locally homeomorphic to <i>n-</i>dimensional Khalimsky space. We study different definitions and address basic questions such as uniqueness of dimension and existence of certain manifolds.</p>

Digital geometry is the geometry of digital images. Compared to Euclid’s geometry, which has been studied for more than two thousand years, this field is very young. Efim Khalimsky’s topology on the integers, invented in the 1970s, is a digital counterpart of the Euclidean topology on the real line. The Khalimsky topology became widely known to researchers in digital geometry and computer imagery during the early 1990s. Suppose that a continuous function is defined on a subspace of an n-dimensional Khalimsky space. One question to ask is whether this function can be extended to a continuous function defined on the whole space. We solve this problem. A related problem is to characterize the subspaces on which every continuous function can be extended. Also this problem is solved. We generalize and solve the extension problem for integer-valued, Khalimsky-continuous functions defined on arbitrary smallest-neighborhood spaces, also called Alexandrov spaces. The notion of a digital straight line was clarified in 1974 by Azriel Rosenfeld. We introduce another type of digital straight line, a line that respects the Khalimsky topology in the sense that a line is a topological embedding of the Khalimsky line into the Khalimsky plane. In higher dimensions, we generalize this construction to digital Khalimsky hyperplanes, surfaces and curves by digitization of real objects. In particular we study approximation properties and topological separation properties. The last paper is about Khalimsky manifolds, spaces that are locally homeomorphic to n-dimensional Khalimsky space. We study different definitions and address basic questions such as uniqueness of dimension and existence of certain manifolds.

Submitted by Raquel Alves de Oliveira (raquel88@gmail.com) on 2017-12-07T10:06:49Z No. of bitstreams: 1 Oliveira_2017_TESE.pdf: 10400710 bytes, checksum: 4c4e6b235bd849c0d16074edea702847 (MD5) / Approved for entry into archive by ALESSANDRA KUBA OSHIRO null (alessandra@fct.unesp.br) on 2017-12-07T11:22:22Z (GMT) No. of bitstreams: 1 oliveira_ra_dr_prud.pdf: 10400710 bytes, checksum: 4c4e6b235bd849c0d16074edea702847 (MD5) / Made available in DSpace on 2017-12-07T11:22:23Z (GMT). No. of bitstreams: 1 oliveira_ra_dr_prud.pdf: 10400710 bytes, checksum: 4c4e6b235bd849c0d16074edea702847 (MD5) Previous issue date: 2017-06-29 / Coordenação de Aperfeiçoamento de Pessoal de Nível Superior (CAPES) / Fundação de Amparo à Pesquisa do Estado de São Paulo (FAPESP) / Recentemente, os sensores hiperespectrais miniaturizados entraram no mercado e alguns modelos adquirem bandas hiperespectrais com geometria de quadro, com a vantagem de serem também operados em veículos aéreos remotamente pilotados (VARP). As imagens deste tipo de câmara podem ser utilizadas para a geração de modelos digitais de superfície hiperespectral (MDSHs) de alta resolução, usando o VARP, sem a necessidade do registro de dados de diferentes sensores ou diferente datas de aquisição. MDSHs aumentam o conhecimento sobre os alvos, uma vez que permitem modelar a reflectância do alvo utilizando dados provenientes de diferentes direções. Neste trabalho, a câmara hiperespectral de quadro utilizada não adquire todas as bandas instantaneamente, causando um deslocamento entre as bandas devido ao movimento da plataforma. Os principais objetivos deste projeto foram estudar e desenvolver técnicas para a geração de MDSHs em áreas de florestas, investigando e avaliando as principais etapas para o processamento das imagens da câmara hiperespectral de quadro até a geração do MSDH. Considerando que a tecnologia da câmara baseia-se em filtros ajustáveis, o estudo avaliou: a auto-calibração da câmara, verificando o comportamento dos parâmetros de orientação interior em diferentes bandas espectrais; o corregistro das bandas através de transformações geométricas 2D; e a estimativa dos parâmetros de orientação exterior. Em relação à geração do MDS, uma abordagem baseada em correspondência de imagem no espaço do objeto foi desenvolvida, adaptando o método de busca em linha vertical (VLL) para a geração MDSH e foi nomeado como VLL hiperespectral (HVLL). Adicionalmente, o uso de imagens classificadas para a adaptação dos parâmetros de correspondência foi avaliado com o objetivo de melhorar o processo de correspondência para diferentes objetos (HVLLC). Posteriormente, foram utilizadas múltiplas bandas no processo de correspondência de imagens, dados como múltiplos ângulos de visada e informação espectral foram calculados simultaneamente ao processo de correspondência de imagens. A avaliação da qualidade foi realizada comparando-se os MDSs gerados com os produzidos por um software comercial e por dados Airborne Laser Scanning (ALS). Esta investigação demonstrou que a técnica proposta pode ser usada para a geração de modelos 3D integrados aos dados hiperespectrais multiangulares da câmara hiperespectral de quadro. A avaliação de todas as etapas demonstrou que esta tecnologia pode fornecer dados geométricos e espectrais precisos e os MDSHs resultantes possuem potencial para várias aplicações de sensoriamento remoto. / Recently, miniaturized hyperspectral sensors, operable from small Remotely Piloted Aerial Systems (RPAS), have entered the market and some of these sensors acquire hyperspectral bands in frame geometry. Images of the lightweight hyperspectral 2D frame camera can be used to generate high-resolution hyperspectral digital surface models (HDSMs), without the registration of data from different sensors or different dates of acquisition. HSDMs increase the knowledge about the targets since it allows modeling the target reflectance using data coming from different directions. In this study, the hyperspectral 2D frame camera used does not acquire all bands instantaneously, causing band misalignment due to the platform motion. The main aims of this project were to study and develop techniques for the generation of HDSMs in forest areas, studying and assessing the main steps to process the hyperspectral 2D frame camera images until the HDSM generation. Considering that the camera technology is based on tunable filters, the study have assessed the orientation and DSM generation steps: the self-calibrating bundle adjustment to verify the behaviour of the interior orientation parameters using different spectral bands; the co-registration of the bands using 2D geometric transformation; the exterior orientation parameter estimation. Regarding to the DSM generation, an approach based on object space image matching was developed, adapting the vertical line locus (VLL) method for HDSM generation, and was named as hyperspectral VLL (HVLL). Additionally, the use of image classification data was investigated in order to adapt the image matching parameters and improve the process of image matching for different objects (hyperspectral VLL classes - HVLLC). Further, multiple bands were used and the spectral and multiangular viewing geometry were computed simultaneously to the image matching method. Quality assessment was performed by comparing to DSMs generated to those produced by commercial software and also by Airborne Laser Scanning (ALS) data. This investigation demonstrated that the proposed technique can be used to generate integrated 3D information and multiangular hyperspectral data from hyperspectral 2D frame camera. The assessment of all steps showed that the hyperspectral 2D frame technology can provide accurate geometric and spectral data and the resulting HDSMs have potential for several remote sensing applications. / FAPESP: 2013/17787-3 / FAPESP: 2013/14444-0 / FAPESP: 2014/24844-6

Made available in DSpace on 2015-03-26T13:28:05Z (GMT). No. of bitstreams: 1 texto completo.pdf: 2957688 bytes, checksum: ef8183fb03ec7b7417a321bf7d2a225e (MD5) Previous issue date: 2011-10-31 / The purpose of this study is the quality assessment of Digital Surface Models (DSMs) generated from stereo pairs of PRISM/ALOS images, considering aspects regarding different approaches of geometric correction, image matching strategies, grid distance and positional accuracy. The standard of accuracy expected for the products evaluated considers the Technical Standards of the National Cartography, defined by the Cartographic Accuracy Standard of the brazilian systematic mapping for 1:25,000 scale, class A. In the geometric correction step are considered the approaches of rigorous sensor model and generalized model using Rational Polynomial Coefficients (RPCs). The ground control points used in geometric correction and in global assessment of the positional accuracy of orthoimages and DSMs, were determined by GPS relative static positioning. The local assessments, aiming the analysis of DSMs as to different morphologies, are performed from control points determined by relative kinematic GPS positioning in low-slope surfaces and on inclined surfaces. The global results achieved indicate that the geometric modeling, the number of control points considered, as well as the strategies for image matching and grid distance influence the vertical accuracy of the DSM, in relation to the expected accuracy standard. The experiments performed to orthorectify the nadir images using the DSMs previously selected, show that variations as to these factors, beyond different vertical accuracies, not affect the expected horizontal accuracy of the orthoimage, portraying, therefore, the same horizontal quality standard for the MDSs used in the orthorectification. The statistical tests for trend and precision detection, confirm the relative consistency on all orthoimages and MDSs generated. However, most of these products presents trend, except for some isolated cases. As to the local assessment, the results indicate that different morphologies influence the accuracy of the DSM, in relation to global assessment. In general, the results in low-slope areas present greater accuracy. The local analyses also indicate that the slope, associated with factors such as failure image matching and interpolation procedures, provides degradation of DSM vertical accuracy. / O objetivo deste trabalho é a análise da qualidade de Modelos Digitais de Superfície (MDSs) gerados a partir de pares estereoscópicos de imagens do sensor PRISM/ALOS, considerando-se aspectos quanto a diferentes abordagens de correção geométrica, estratégias de correlação de imagens, espaçamento da grade e acurácia posicional. O padrão de acurácia esperado para os produtos avaliados considera as Normas Técnicas da Cartografia Nacional, através do Padrão de Exatidão Cartográfica (PEC) para a escala 1:25.000, classe A, do mapeamento sistemático brasileiro. Na etapa de correção geométrica são consideradas as abordagens do modelo rigoroso do sensor e do modelo generalizado com uso de Rational Polynomial Coefficients (RPCs). Os pontos de controle usados na correção geométrica, bem como para avaliação global da acurácia posicional de ortoimagens e MDSs, foram determinados por posicionamento GPS relativo estático. As avaliações locais, visando análise do comportamento dos MDSs segundo diferentes morfologias, são realizadas a partir de pontos de controle determinados por posicionamento GPS relativo cinemático, em superfícies de baixa declividade e em encostas de anfiteatros. Os resultados alcançados em nível global sinalizam que a modelagem geométrica utilizada, o número de pontos de controle considerados, assim como estratégias de correlação e espaçamento da grade influenciam a acurácia altimétrica dos MDSs, relativamente ao padrão de acurácia esperado. Os experimentos realizados para ortorretificar as imagens nadir com emprego de MDSs previamente selecionados, demonstram que variações quanto a esses fatores, além de acurácias altimétricas diferentes, não influenciam a qualidade planimétrica esperada para as ortoimagens, retratando, portanto, o mesmo padrão de qualidade planimétrica para os MDSs empregados na ortorretificação. Os testes estatísticos quanto à tendência e precisão confirmam a consistência relativa das ortoimagens e MDSs gerados, porém, a maioria desses produtos apresenta tendência, com exceção de alguns casos isolados. Quanto à avaliação local, os resultados indicam que diferentes morfologias influenciam a acurácia dos MDSs relativamente à análise global. De forma geral, áreas com menor declividade apresentam resultados com maior acurácia. As análises locais indicam ainda que a variável declividade, associada a fatores como a falha na correlação e procedimentos de interpolação, proporciona degradação da acurácia altimétrica dos MDSs.

In this thesis, an approach to automatically derive information about land cover from the remotely sensed data is presented. The data interpretation was done with classification process and performed in software eCognition Developer. The Object-based image analysis, which assignes the classes - for example land cover types, to clusters of pixels (=objects), was used. For the classification, products of two different data sources were combined - the orthophotos generated from aerial imagery and Normalized Digital surface model derived from LiDAR data. Five types of landscape elements were identified and classified.

This diploma thesis deals with the processing and evaluation of the pictures taken by unmanned aerial vehicles - UAV. The introductory part is devoted to the definition, use, applications and types of UAV especially for photogrammetric purposes. Also the software equipment is described, including a description and examples of several types of possible outcomes. Further the measurements, computational works and process of elaboration in used software programs are described. Achieved outcomes of elaboration are also presented. In conclusion, the overall evaluation and assessment of the results of measurement is done of set of points.

Cette thèse étudie les problèmes posés par l’estimation automatique de modèles numériques d’élévation de la surface terrestre à partir de photographies prises par des satellites. Ce travail a bénéficié d’une collaboration avec le CNES (Centre National d’Etudes Spatiales) sur le développement d’outils de vision stéréoscopique pour Pléiades, le premier satellite d’observation de la Terre capable de produire des paires ou triplets d’images quasi-simultanées. Le premier chapitre de la thèse décrit un modèle simplifié de caméra pushbroom destiné aux satellites d’observation de la Terre, et aborde le problème de la correction des données de calibration en faisant intervenir des mesures externes. Ce chapitre propose un nouvel algorithme pour affiner les paramètres d’orientation du satellite à partir d’un jeu de points de contrôle. Il est utilisable pour tous les satellites munis de caméras pushbroom. Dans le but d’appliquer aux images satellitaires les nombreux algorithmes de mise en correspondance stéréoscopique développés en traitement d’images et en vision par ordinateur, le deuxième chapitre explore l’adaptation de la théorie de la rectification épipolaire aux images prises par des caméras pushbroom. La rectification épipolaire est utilisée habituellement pour réduire la complexité du problème de mise en correspondance stéréoscopique, et permet d’appliquer les algorithmes les plus récents à des images satellitaires. Le chapitre suivant étudie les effets des erreurs de calibration géométrique sur la rectification et propose une méthode pour éliminer leur impact sur la mise en correspondance. Le quatrième chapitre décrit et analyse en détails une implémentation de l’algorithme Semi-Global Matching (SGM), classé actuellement parmi les meilleurs algorithmes de mise en correspondance stéréoscopique. En se fondant sur une réinterprétation récente de SGM, ce chapitre en propose une variante qui permet de réduire d’un facteur cinq son écart en énergie par rapport aux algorithmes de référence pour la minimisation de champs aléatoires de Markov. En assemblant les blocs algorithmiques décrits dans les chapitres précédents, le cinquième chapitre décrit S2P, une chaîne stéréoscopique complète qui produit des modèles numériques d’élévation à partir d’images satellitaires. Un modèle d’évolution de paysage est présenté dans le sixième chapitre comme exemple d’application. Le modèle est utilisé pour simuler numériquement la structure fine du réseau hydrographique sur des modèles numériques d’élévation obtenus à partir d’images prises par Pléiades. Le code source de la chaîne S2P2 est distribué en tant que logiciel open source. Afin d’assurer la reproductibilité des résultats obtenus, les algorithmes implémentés dans S2P sont en cours de publication dans le journal IPOL, accompagnés de descriptions et d’analyses détaillées, de codes sources documentés et de démonstrateurs en ligne. / This thesis deals with the problem of computing accurate digital elevationmodels of the Earth's surface from optical images taken by pushbroomobservation satellites. It takes advantage of the collaboration of thedefendant with CNES (the French Space Agency) on the development ofstereo vision tools for Pléiades, the first Earth observation satelliteproducing quasi simultaneous stereo pairs or triplets with small baseline.The first chapter describes a simple pushbroom camera model for observationsatellites orbiting around the Earth and addresses the correction of theacquisition geometry by involving extrinsic information. This chapter proposesa new algorithm to refine the orientation parameters from a set of groundcontrol points, applicable to all pushbroom satellites.With the goal of testing for satellite imaging the thriving exploration ofstereo matching by the computer vision community, the second chapter exploresthe adaptation of the theory of epipolar resampling to pushbroom images.Epipolar resampling is traditionally used in stereo to reduce the matchingcomputational cost, and permits to test for satellite imaging the mostcompetitive computer vision algorithms. The third chapter discusses the effectsof geometric calibration inaccuracies and proposes a method to cancel itsimpact on stereo matching.The fourth chapter analyzes and describes a detailed implementation of theSemi-Global Matching (SGM) algorithm, which is currently among the top-rankedstereo vision algorithms. Based on a recently proposed interpretation of SGM asa min-sum Belief Propagation algorithm, a variant is proposed that allows toreduce by a factor five the energy gap of SGM with respect to referencealgorithms for Markov Random Fields with truncated smoothness terms.By wrapping together the algorithmic blocks described in the previous chapters,the fifth chapter describes S2P, a complete stereo pipeline for producingdigital elevation models from satellite images. As an application, a landscapeevolution model is presented in the sixth chapter. The model is used tosimulate numerically the fine structure of the river networks on digitalelevation models obtained from Pléiades Earth observation images.The source code of the S2P stereo pipeline is distributed as open source. Toensure reproducibility, the algorithms implemented in each step of the S2Ppipeline are submitted to the IPOL journal, with detailed descriptions of thealgorithms, documented source codes and online demonstrations for each block ofthe pipeline.