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This end-to-end obstacle negotiation system is envisioned to be useful in optimized path planning and vehicle navigation in terrain conditions cluttered with vegetation, bushes, rocks, etc. Results on natural terrain with various natural materials are presented.
In improved scheme for Bayesian classification of picture elements in polarimetric synthetic-aperture radar image of terrain, priori probability that given picture element belongs to given class, adjusted according to spatial variation of statistical properties of image data. Accuracy increases dramatically in first few iterations. Scheme involves sequence of classifications. In first, a priori probability that element belongs to class taken to be constant over the whole image. In subsequent classifications, adaptive a priori probabilities calculated for each picture element.
The author has identified the following significant results. A method for monitoring the snow cover in high mountain terrain such as the Swiss Alps includes the rapid classification of multitemporal data for small watersheds with very high accuracy. In addition to LANDSAT channels 4,5,6 and 7 an artificial channel was created containing the average altitude information of each pixel and allowing a subdivision of the watershed in accordance to the requirements of the runoff model. Even in very small watersheds of about 40 sq km the results achieved from LANDSAT data are at least as accurate as the ones gained from measurements of orthophotographs.
The results of LANDSAT and Skylab research programs on the effects of the atmosphere on computer mapping of terrain include: (1) the concept of a ground truth map needs to be drastically revised; (2) the concept of training areas and test areas is not as simple as generally thought because of the problem of pixels that represent a mixture of terrain classes; (3) this mixture problem needs to be more widely recognized and dealt with by techniques of calculating spectral signatures of mixed classes, or by other methods; (4) atmospheric effects should be considered in computer mapping of terrain and in monitoring changes; and (5) terrain features may be used as calibration panels on the ground, from which atmospheric conditions can be determined and monitored. Results are presented of a test area in mountainous terrain of south-central Colorado for which an initial classification was made using simulated mixture-class spectral signatures and actual LANDSAT-1-MSS data.
Rectifications of multispectral scanner and thematic mapper data sets for full and subscene areas, analyses of planimetric errors, assessments of the number and distribution of ground control points required to minimize errors, and factors contributing to error residual are examined. Other investigations include the generation of three dimensional terrain models and the effects of spatial resolution on digital classification accuracies.
We explore the use of machine learning, computer vision, and pattern recognition techniques to automatically identify volcanic ash plumes and plume shadows, in WorldView-2 imagery. Using information of the relative position of the sun and spacecraft and terrain information in the form of a digital elevation map, classification, the height of the ash plume can also be inferred. We present the results from applying this approach to six scenes acquired on two separate days in April and May of 2010 of the Eyjafjallajokull eruption in Iceland. These results show rough agreement with ash plume height estimates from visual and radar based measurements.
A study on the performance of a supervised fully polarimetric maximum likelihood classifier for synthetic aperture radar (SAR) data when applied to a specific classification context: forest classification based on age classes and in the presence of a sloping terrain is presented. For the experimental part, the polarimetric AIRSAR data at P, L, and C-band, acquired over the German Black Forest near Freiburg in the frame of the 1989 MAESTRO-1 campaign and the 1991 MAC Europe campaign was used, MAESTRO-1 with an ESA/JRC sponsored campaign, and MAC Europe (Multi-sensor Aircraft Campaign); in both cases the multi-frequency polarimetric JPL Airborne Synthetic Aperture Radar (AIRSAR) radar was flown over a number of European test sites. The study is structured as follows. At first, the general characteristics of the classifier and the dependencies from some parameters, like frequency bands, feature vector, calibration, using test areas lying on a flat terrain are investigated. Once it is determined the optimal conditions for the classifier performance, we then move on to the study of the slope effect. The bulk of this work is performed using the Maestrol data set. Next the classifier performance with the MAC Europe data is considered. The study is divided into two stages: first some of the tests done on the Maestro data are repeated, to highlight the improvements due to the new processing scheme that delivers 16 look data. Second we experiment with multi images classification with two goals: to assess the possibility of using a training set measured from one image to classify areas in different images; and to classify areas on critical slopes using different viewing angles. The main points of the study are listed and some of the results obtained so far are highlighted.
The Southwest U.S. has experienced a growth of invasive riparian species, specifically Elaeagnus angustifolia (Russian olive), Tamarix ramosissima (saltcedar), and Ulmus pumila (Siberian elm), which alter local soil chemistry and outcompete native species. Locating these exotic species is critical for ecological conservation; however, field identification can be resource intensive. NASA DEVELOP partnered with the National Park Service (NPS) at Bandelier National Monument (BAND) to assess the feasibility of using Earth observation data to map invasive species along the Rio Grande corridor of the park. The team used Landsat 8 OLI, Sentinel-2 MSI, and ISS DESIS imagery to compute principal components based on spectral bands, vegetation indices, and terrain indices. Using the first five principal components, the team created classification maps using both a k-means classification algorithm and a random forest algorithm to differentiate between native and non-native species. The team derived maps for the three invasive riparian species in the region for the last five years. The team found that invasive species covered 33% of the park's river corridor in 2023, and the invasive species extent has increased by 5.7% from 2019 to 2023. The methods will serve as a guide for aiding historic and present invasive species identification in riparian regions, and the NPS staff at BAND will use the results to inform local mitigation practices and advocate for invasive species removal.
Results from a series of geologic classifications conducted on a thematic mapper subscene of the northern Death Valley, California are reported. Measurements of accuracy are made through comparison with the 1977 edition of the Death Valley geologic sheet. This employs a simplified map version which is registered by computer to the image data base, allowing a pixel by pixel match with the classified scene. The results show accuracy ranges from 36 to 79% depending on the type of classifier used and the statistical adjustments made to the data. Accuracy values in identifying geologic units were 2 to 3 times higher for those in the relatively flat valleys than for units in the rugged mountainous terrain. Improvements in accuracy will be sought by correcting for slope/aspect variations in mountainous terrain using topographic data recorded in Defense Mapping Agency (DMA) tapes. The above classification results will also be compared with ratio and principal component image classifications made from the same scene.
Laser studies dealing with various aspects of forest canopy measurement are reviewed. Aircraft LIDAR data have been used to estimate canopy density, tree heights, forest volume and biomass, to discriminate terrain units, and to add a height component to multispectral forest cover classifications. Linear comparisons between photogrammetrically-estimated canopy density and laser metrics indicate that the laser explains 45-65 percent of the variation noted in the photo estimates.
Two vector quantizer designs for compression of multispectral imagery and their impact on terrain categorization performance are evaluated. The mean-squared error (MSE) and classification performance of the two quantizers are compared, and it is shown that a simple two-stage design minimizing MSE subject to a constraint on classification performance has a significantly better classification performance than a standard MSE-based tree-structured vector quantizer followed by maximum likelihood classification. This improvement in classification performance is obtained with minimal loss in MSE performance. The results show that it is advantageous to tailor compression algorithm designs to the required data exploitation tasks. Applications of joint compression/classification include compression for the archival or transmission of Landsat imagery that is later used for land utility surveys and/or radiometric analysis.
Hurricane Harvey produced record-breaking rainfall of up to 60 inches resulting in extensive flooding in Houston, Texas, in late August and early September of 2017. The slow forward motion of the storm following landfall left much of the area unobservable to optical remote sensing instruments for several days due to cloud cover. The active nature of Synthetic Aperture Radar (SAR) instruments allows for observations through clouds, which can supplement efforts to estimate hurricane-induced flood impacts. A growing fleet of SAR constellations has helped lower the latency of imagery following a hurricane, allowing for more timely detections of flooding to help support emergency response efforts. In this study, we leverage publicly available C-band SAR observations from the European Space Agency’s Sentinel-1B (S1B) satellite, collected on 30 August, and X-band SAR imagery collected on 1 September by the Airbus TanDEM-X (TDX) satellite made available through the NASA Commercial Smallsat Data Acquisition (CSDA) program. For each dataset, one co-polarized, StripMap, Radiometric Terrain Corrected (RTC) image was used to create a binary water/no water classification map by referencing permanent water in the Cropland Data Layer (CDL) dataset to determine thresholds. A validation dataset of randomly distributed “ground truth” points was generated using optical imagery from PlanetScope on 31 August, where the domain had relatively little cloud cover. We found that the S1B- and TDX-derived open water maps achieved overall accuracies of 94.17% and 91.57%, respectively. The variation in performance is attributed to both the penetrative abilities of C- and X-band SAR wavelengths in vegetated areas and the increased spatial resolution of the commercial SAR (~3 m) over Sentinel-1 (30 m). While publicly available Sentinel-1 observations are commonly relied upon in response and recovery efforts, these results suggest that including commercial X-band SAR imagery could be beneficial by providing both increased spatial resolution and more frequent revisits when deriving post-event flood mapping products.
Four radiometric correction methods for the reduction of slope-aspect effects in a Landsat TM data set are tested in a mountainous test site with regard to their physical soundness and their influence on forest classification, as well as on the visual appearance of the scene. Excellent ground reference information and a fine-resolution DEM allowed precise assessment of the applicability of the methods under investigation. The results of the study presented here demonstrate the weakness of the classical cosine correction method for radiometric correction in rugged terrain. The statistical, Minnaert and C-correction approaches, however, yielded an improvement of the forest classification and an impressive reduction of the visual topography effect.
LANDSAT data is seen as providing essential up-to-date resource information for the planning process. LANDSAT data of Mindoro Island in the Philippines was processed to provide thematic maps showing patterns of agriculture, forest cover, terrain, wetlands and water turbidity. A hybrid approach using both supervised and unsupervised classification techniques resulted in 30 different scene classes which were subsequently color-coded and mapped at a scale of 1:250,000. In addition, intensive image analysis is being carried out in evaluating the images. The images, maps, and aerial statistics are being used to provide data to seven technical departments in planning the economic development of Mindoro. Multispectral aircraft imagery was collected to compliment the application of LANDSAT data and validate the classification results.
Techniques described include: (1) steps in the preprocessing of LANDSAT data; (2) the training of a classifier; (3) maximum likelihood classification and precision; (4) geometric correction; (5) class description; (6) digitizing; (7) digital terrain data; (8) an overview of sample design; (9) allocation and selection of primary sample units; (10) interpretation of secondary sample units; (11) data collection ground plots; (12) data reductions; (13) analysis for productivity estimation and map verification; (14) cost analysis; and (150) LANDSAT digital products. The evaluation of the pre-inventory planning for P.J. is included.
Many papers have been published concerning the analysis of visual texture and yet, very few application domains use texture for image classification. A possible reason for this low transfer of the technology is the lack of experience and testing in real-world imagery. In this paper, we assess the performance of texture-based classification methods on a number of real-world images relevant to autonomous navigation on cross-country terrain and to autonomous geology. Texture analysis will form part of the closed loop that allows a robotic system to navigate autonomously. We have implemented two different classifiers on features extracted by Gabor filter banks. The first classifier models feature distributions for each texture class using a mixture of Gaussians. Classification is performed using Maximum Likelihood. The second classifier represents local statistics using marginal histograms of the features over a region centered on the pixel to be classified. We measure system performance by comparison to ground truth image labels.
Texture analysis would permit improved autonomous, onboard science data interpretation for adaptive navigation, sampling, and downlink decisions. These analyses would assist with terrain analysis and instrument placement in both macroscopic and microscopic image data products. Unfortunately, most state-of-the-art texture analysis demands computationally expensive convolutions of filters involving many floating-point operations. This makes them infeasible for radiation- hardened computers and spaceflight hardware. A new method approximates traditional texture classification of each image pixel with a fast decision-tree classifier. The classifier uses image features derived from simple filtering operations involving integer arithmetic. The texture analysis method is therefore amenable to implementation on FPGA (field-programmable gate array) hardware. Image features based on the "integral image" transform produce descriptive and efficient texture descriptors. Training the decision tree on a set of training data yields a classification scheme that produces reasonable approximations of optimal "texton" analysis at a fraction of the computational cost. A decision-tree learning algorithm employing the traditional k-means criterion of inter-cluster variance is used to learn tree structure from training data. The result is an efficient and accurate summary of surface morphology in images. This work is an evolutionary advance that unites several previous algorithms (k-means clustering, integral images, decision trees) and applies them to a new problem domain (morphology analysis for autonomous science during remote exploration). Advantages include order-of-magnitude improvements in runtime, feasibility for FPGA hardware, and significant improvements in texture classification accuracy.
Method of unsupervised segmentation of polarimetric synthetic-aperture-radar (SAR) image data into classes involves selection of classes on basis of multidimensional fuzzy clustering of logarithms of parameters of polarimetric covariance matrix. Data in each class represent parts of image wherein polarimetric SAR backscattering characteristics of terrain regarded as homogeneous. Desirable to have each class represent type of terrain, sea ice, or ocean surface distinguishable from other types via backscattering characteristics. Unsupervised classification does not require training areas, is nearly automated computerized process, and provides nonsubjective selection of image classes naturally well separated by radar.