Structure From Motion Point Cloud Research Articles

Using structure-from-motion to estimate cover crop biomass and characterize canopy structure

ContextVariability in biomass production poses a challenge for growers when using cover crops for weed control. However, most methods for assessing cover crop biomass are laborious and impractical on a field scale. ObjectiveThe goal of the present study was to determine the feasibility of using Structure-from-Motion (SfM) photogrammetry to estimate biomass in cereal rye (Secale cereale L.) and winter wheat (Triticum aestivum L.) cover crops by correlating biomass with 3-D point cloud pixel density and crop height. MethodsPoint clouds were generated using a SfM algorithm from RGB (red, green, and blue) videos collected by a hand-held GoPro camera over sixteen crop fields in North Carolina, Iowa, and Maryland, USA, throughout two growing seasons (2021–2023). Crop height, leaf area index (LAI), and photosynthetically active radiation (PAR) were also measured. ResultsBiomass was positively correlated with crop height for both cereal rye (R2 = 0.621) and wheat (R2 = 0.55). LAI was positively correlated with biomass accumulation and crop height for both species, increasing linearly in rye and exponentially in wheat. Conversely, PAR penetration below the canopy decreased with biomass accumulation and crop height in both species, with a more rapid extinction in wheat than rye. Point cloud pixel density showed a positive linear relationship with biomass in rye but saturated after 2.5 tonnes ha−1 (2500 kg ha−1). In wheat, point cloud pixel density was weakly and negatively correlated with biomass due to a denser canopy causing faster saturation of tissue detection by SfM point clouds. However, considering crop height and point cloud density integrating them both in the model allowed obtaining a positive relationship with biomass through levels of 8 tonnes ha−1 (8000 kg ha−1) in both species. When models were validated with independent data, predicted and measured biomass were positively correlated for both rye (R2 = 0.86) and wheat (R2 = 0.78). ConclusionsBased on the results, using SfM to generate 3-D point clouds can provide a more accurate estimation of biomass than canopy height alone by capturing species-level differences in canopy architecture. ImplicationsThe results of this study suggest that SfM can potentially be used as a non-destructive tool for growers to monitor biomass production in cereal cover crops other systems such as energy/forage crops, which can help inform management decisions and conserve resources.

A Ground Point Fitting Method for Winter Wheat Height Estimation Using UAV-Based SfM Point Cloud Data

Height is a key factor in monitoring the growth status and rate of crops. Compared with large-scale satellite remote sensing images and high-cost LiDAR point cloud, the point cloud generated by the Structure from Motion (SfM) algorithm based on UAV images can quickly estimate crop height in the target area at a lower cost. However, crop leaves gradually start to cover the ground from the beginning of the stem elongation stage, making more and more ground points below the canopy disappear in the data. The terrain undulations and outliers will seriously affect the height estimation accuracy. This paper proposed a ground point fitting method to estimate the height of winter wheat based on the UAV SfM point cloud. A canopy slice filter was designed to reduce the interference of middle canopy points and outliers. Random Sample Consensus (RANSAC) was applied to obtain the ground points from the valid filtered point cloud. Then, the missing ground points were fitted according to the known ground points. Furthermore, we achieved crop height monitoring at the stem elongation stage with an R2 of 0.90. The relative root mean squared error (RRMSE) of height estimation was 5.9%, and the relative mean absolute error (RMAE) was 4.6% at the stem elongation stage. This paper proposed the canopy slice filter and fitting missing ground points. It was concluded that the canopy slice filter successfully optimized the extraction of ground points and removed outliers. Fitting the missing ground points simulated the terrain undulations effectively and improved the accuracy.

Cross-scale erosion on shore platforms using the micro-erosion meter and Structure-from-Motion (SfM) photogrammetry

Investigations comparing surface downwearing rates derived from photogrammetry data and the micro-erosion meters (MEM) are limited due to the former's coarse spatial resolution and the temporal scale of data collection. These space and time limitations were revisited with the possibility of simultaneously using the Structure-from-Motion (SfM) photogrammetric workflow and the MEM. Using a cross-scale nested survey approach over one year to cover micro (10−2 m2) and meso (100 m2)-spatial scales, this paper presents erosion rates on uplifted intertidal shore platforms and marine terraces at Kaikōura Peninsula, New Zealand. The survey represents one of the first investigations combining the MEM and the SfM technique to estimate erosion rates on horizontal coastal bedrock. In a unique way, we applied established methods which allowed comparative accuracy between models via similar point matching to provide a detailed representation and visualisation of the changing rock surfaces at similar spatial and temporal scales. Over one year, across a microscale area (~0.01 m2) of rock, the MEM and SfM point clouds (SfM PCs) measured the lowest and highest erosion rates on a similar rock type and erosion site. The mean annual erosion rate of 2.244 mm/yr from the MEM was lower than the rates of 2.608 mm/yr and 10.299 mm/yr estimated using the SfM micro- and mesoscale PCs, respectively. A lower range of erosion rates (0.131 to 4.750 mm/yr) was measured using the MEM compared to erosion rates estimated from the SfM microscale PCs (0.194 to 10.106 mm/yr). Across the mesoscale (1 m2) areas, higher erosion rates were recorded using the SfM mesoscale PCs on all but one erosion site showing that a significant amount of erosion was undetected by the MEM. Using the SfM-orthomosaics, we link the erosion rates measured across the micro and mesoscale areas to intense granular disintegration, flaking, micro- and polygonal cracking and biological activities. These results provide statistical evidence to argue against extrapolating MEM erosion data obtained over small areas to larger areas on shore platforms affected by recent tectonic uplift. The implications of these findings are considered within the context of techniques for measuring shore platform erosion across spatial and temporal scales.

Extraction of Forest Structural Parameters by the Comparison of Structure from Motion (SfM) and Backpack Laser Scanning (BLS) Point Clouds

Forest structural parameters are key indicators for forest growth assessment, and play a critical role in forest resources monitoring and ecosystem management. Terrestrial laser scanning (TLS) can obtain three-dimensional (3D) forest structures with ultra-high precision without destruction, whereas some shortcomings such as non-portability and cost-consuming can limit the quick and broad acquisition of forest structure. Structure from motion (SfM) and backpack laser scanning (BLS) technology have the advantages of low-cost and high-portability while obtaining 3D structure information of forests. In this study, the high-overlapped images and the BLS point cloud, combined with the point cloud registration and individual tree segmentation to extract the forest structural parameters and compared with the TLS for assessing the accuracy and efficiency of low-cost SfM and portable BLS point clouds. Three plots with different forest structural complexity (coniferous, broadleaf and mixed plot) in the northern subtropical forests were selected. Firstly, portable photography camera, BLS and TLS were used to acquire 3D SfM and LiDAR point clouds, and spatial co-registration of different-sourced point cloud datasets were carried out based on the understory markers. Secondly, the point clouds of individual tree trunk and crown were segmented by the comparative shortest-path algorithm (CSP), and then the height and position of individual tree were extracted based on the tree crown point cloud. Thirdly, the trunk diameter at different heights were calculated by point cloud slices using the density-based spatial clustering of applications with noise (DBSCAN) algorithm, and combined with the stem curve of individual tree which was constructed using four Taper equations to estimate the individual tree volume. Finally, the extraction accuracy of forest structural parameters based on SfM and BLS point clouds were verified and comprehensively compared with field-measured and TLS data. The results showed that: (1) the individual tree segmentation based on SfM and BLS point clouds all performed quite well, among which the segmentation accuracy (F) of SfM point cloud was 0.80 and the BLS point cloud was 0.85; and (2) the accuracy of DBH and tree height extraction based on the SfM and BLS point clouds in comparison with the field-measured data were relatively high. The root mean square error (RMSE) of DBH and tree height extraction based on SfM point cloud were 2.15 cm and 4.08 m, and the RMSE of DBH and tree height extraction based on BLS point cloud were 2.06 cm and 1.63 m. This study shows that with the adopted image capture method, terrestrial SfM photogrammetry can be applied quite well in extracting DBH.

AUTOMATIC EXTRACTION OF CONTROL POINTS FROM 3D LIDAR MOBILE MAPPING AND UAV IMAGERY FOR AERIAL TRIANGULATION

Abstract. Installing targets and measuring them as ground control points (GCPs) are time consuming and cost inefficient tasks in a UAV photogrammetry project. This research aims to automatically extract GCPs from 3D LiDAR mobile mapping system (L-MMS) measurements and UAV imagery to perform aerial triangulation in a UAV photogrammetric network. The L-MMS allows to acquire 3D point clouds of an urban environment including floors and facades of buildings with an accuracy of a few centimetres. Integration of UAV imagery, as complementary information enables to reduce the acquisition time of measurement as well as increasing the automation level in a production line. Therefore, a higher quality measurements and more diverse products are obtained. This research hypothesises that the spatial accuracy of the L-MMS is higher than that of the UAV photogrammetric point clouds. The tie points are extracted from the UAV imagery based on the well-known SIFT method, and then matched. The structure from motion (SfM) algorithm is applied to estimate the 3D object coordinates of the matched tie points. Rigid registration is carried out between the point clouds obtained from the L-MMS and the SfM. For each tie point extracted from the SfM point clouds, their corresponding neighbouring points are selected from the L-MMS point clouds, and then a plane is fitted and then a tie point was projected on the plane, and this is how the LiDAR-based control points (LCPs) are calculated. The re-projection error of the analyses carried out on a test data sets of the Glian area in Iran show a half pixel size accuracy standing for a few centimetres range accuracy. Finally, a significant increasing of speed up in survey operations besides improving the spatial accuracy of the extracted LCPs are achieved.

Analysis of structure from motion and airborne laser scanning features for the evaluation of forest structure

Airborne Laser Scanning (ALS) is widely extended in forest evaluation, although photogrammetry-based Structure from Motion (SfM) has recently emerged as a more affordable alternative. Return cloud metrics and their normalization using different typologies of Digital Terrain Models (DTM), either derived from SfM or from private or free access ALS, were evaluated. In addition, the influence of the return density (0.5–6.5 returns m-2) and the sampling intensity (0.3–3.4%) on the estimation of the most common stand structure variables were also analysed. The objective of this research is to gather all these questions in the same document, so that they serve as support for the planning of forest management. This study analyses the variables collected from 60 regularly distributed circular plots (r = 18 m) in a 150-ha of uneven-aged Scots pine stand. Results indicated that both ALS and SfM can be equally used to reduce the sampling error in the field inventories, but they showed differences when estimating the stand structure variables. ALS produced significantly better estimations than the SfM metrics for all the variables of interest, as well as the ALS-based normalization. However, the SfM point cloud produced better estimations when it was normalized with its own DTM, except for the dominant height. The return density did not have significant influence on the estimation of the stand structure variables in the range studied, while higher sampling intensities decreased the estimation errors. Nevertheless, these were stabilized at certain intensities depending on the variance of the stand structure variable.

Discrete and Distributed Error Assessment of UAS-SfM Point Clouds of Roadways

Perishable surveying, mapping, and post-disaster damage data typically require efficient and rapid field collection techniques. Such datasets permit highly detailed site investigation and characterization of civil infrastructure systems. One of the more common methods to collect, preserve, and reconstruct three-dimensional scenes digitally, is the use of an unpiloted aerial system (UAS), commonly known as a drone. Onboard photographic payloads permit scene reconstruction via structure-from-motion (SfM); however, such approaches often require direct site access and survey points for accurate and verified results, which may limit its efficiency. In this paper, the impact of the number and distribution of ground control points within a UAS SfM point cloud is evaluated in terms of error. This study is primarily motivated by the need to understand how the accuracy would vary if site access is not possible or limited. In this paper, the focus is on two remote sensing case studies, including a 0.75 by 0.50-km region of interest that contains a bridge structure, paved and gravel roadways, vegetation with a moderate elevation range of 24 m, and a low-volume gravel road of 1.0 km in length with a modest elevation range of 9 m, which represent two different site geometries. While other studies have focused primarily on the accuracy at discrete locations via checkpoints, this study examines the distributed errors throughout the region of interest via complementary light detection and ranging (lidar) datasets collected at the same time. Moreover, the international roughness index (IRI), a professional roadway surface standard, is quantified to demonstrate the impact of errors on roadway quality parameters. Via quantification and comparison of the differences, guidance is provided on the optimal number of ground control points required for a time-efficient remote UAS survey.

Development of an unwanted-feature removal system for Structure from Motion of repetitive infrastructure piers using deep learning

Structure from Motion (SfM) is a photogrammetric technique that uses similar features between images to construct a point cloud or model. These outputs can be utilized for monitoring and inspection of civil infrastructure. However, feature matching is very delicate and prone to errors that can lead to the failure of the outputs. In our previous research, removal of unwanted features such as vegetation and boulders before processing raised the number of feature matches inside the region of interest (ROI). In theory, raising the number of feature matches should raise the quality of the SfM point cloud, but to date no quantitative evidence has been found to support this. Moreover, the removal of unwanted features must be performed manually during each inspection and is thus labor-intensive and time-consuming. To address these issues, in this study, a deep learning-based system was developed to assist the removal of unwanted features by using a deep convolutional neural network to segment and remove unwanted features from the input images before processing into an SfM application. The results showed that the removal of unwanted features increased the number of cloud points inside the ROI. The proposed system decreased the processing time by 75.33% and 85.85% compared with the manual process in the monorail pier and motorway pier samples, respectively, without complicating the image alignment. The proposed system could potentially support the monitoring and the inspection of infrastructure construction and maintenance projects, which have numerous similar components, by archiving more cloud points inside the ROI and lowering the burden from the manual removal of unwanted features.

Mapping tall shrub biomass in Alaska at landscape scale using structure-from-motion photogrammetry and lidar

Warming in arctic and boreal regions is increasing shrub cover and biomass. In southcentral Alaska, willow (Salix spp.) and alder (Alnus spp.) shrubs grow taller than many tree species and account for a substantial proportion of aboveground biomass, yet they are not individually measured as part of the operational Forest Inventory and Analysis (FIA) Program. The goal of this research was to test methods for landscape-scale mapping of tall shrub biomass in upper montane and subalpine environments using FIA-type plot measurements (n = 51) and predictor variables from imagery-based structure-from-motion (SfM) and airborne lidar. Specifically, we compared biomass models constructed from imagery acquired by unmanned aerial vehicle (UAV; ~1.7 cm pixels), imagery from the NASA Goddard's Lidar, Hyperspectral, and Thermal Airborne Imager (G-LiHT; ~3.1 cm pixels), and concomitant G-LiHT small-footprint lidar. Tall shrub biomass was most accurately predicted at 5 m resolution (R2 = 0.81, RMSE = 1.09 kg m−2) using G-LiHT SfM color and structure variables. Lidar-only models had lower precision (R2 = 0.74, RMSE = 1.26 kg m−2), possibly due to reduced model information content from variable multicollinearity or lower data density. Separate models for upper montane zones with trees and shrubs and subalpine zones with only shrubs were always chosen over single models based on minimization of Akaike's Information Criterion, indicating the need for variable sets robust to overhanging tree canopy. Decreasing point density from UAV (5000–8000 pts. m−2) to the G-LiHT SfM point cloud (500–2000 pts. m−2) had little impact on model fit, suggesting that high-resolution airborne imagery can extend SfM approaches well beyond line-of-sight restrictions for UAV platforms. Overall, our results confirmed that SfM from high-resolution imagery is a viable approach to estimate shrub biomass in the boreal region, especially when an existing lidar terrain model and local field calibration data are available to quantify uncertainty in the SfM point cloud and landscape-scale estimates of shrub biomass.

Biophysical parameters of coffee crop estimated by UAV RGB images

The advance of digital agriculture combined with computational tools and Unmanned Aerial Vehicles (UAVs) has enabled the collection of data for reliably extracting vegetation indices and biophysical parameters derived from the Structure from Motion (SfM) algorithm. This work aimed to evaluate the accuracy of the photogrammetry technique using an SfM point cloud for the estimation of the height (h) and crown diameter (d) of coffee trees from aerial images obtained by UAV with an RGB (Red, Green, Blue) camera and compared the results with data measured in situ for 12 months. The experiment was carried out in a coffee plantation, Lavras, Minas Gerais, Brazil. A rotary-wing UAV was used in autonomous flight mode and coupled to a conventional camera, flying at a height of 30 m with an image overlap of 80% and a speed of 3 m/s. The images were processed using PhotoScan software, and the analyses were performed in Qgis. A correlation of 87% was obtained between the h values in the field and h values obtained by the UAV, and there was a 95% correlation between the d values obtained in the field and the values obtained by the UAV. It was possible to obtain significant estimates of the attributes, such as the h and d of coffee trees, using UAV–SfM images acquired with an RGB digital camera.

Comparison of stand characteristic parameters and biomass estimations from light detection and ranging and structure-from-motion point clouds

The accurate estimation and inversion of stand characteristic parameters and biomass is the premise for the evaluation of forest productivity, forest ecosystem carbon storage, and ecological forest service capacity. The horizontal accuracies of structure from motion (SfM) and light detection and ranging (LiDAR) point clouds were identical, whereas the descriptions of the upper canopy indices were similar ( R = 0.91 to 0.93). However, the descriptions of the lower canopy indices and vertical structure variables were different based on comparisons of the two point cloud types in the same region. Variables that described the vertical structure of the canopy in the SfM point clouds were much less important in the factor estimation models, exhibiting high correlations with basal area and volume. The factor estimation models with high correlations with tree height and diameter at breast height (DBH) exhibited similar importance for LiDAR variables. LiDAR ( R 2 = 0.515 to 0.895) was superior to SfM ( R 2 = 0.63 to 0.835) in estimating the same parameters, particularly those with high correlations with vertical structures. The combination of unmanned aerial vehicle aerial photogrammetry and LiDAR technology might enable the estimation of stand characteristic parameters and the inversion of biomass, as well as the estimation of characteristic parameters such as Lorey’s H and DBH, which are highly sensitive for large datasets. The LiDAR and SfM model outcomes were comparable. We found that the model outcomes exhibited the greatest differences for volume (ΔrRMSE % = 13.94 % ) and the lowest for average DBH (ΔrRMSE = 0.8 % )

A Two-Stage Outlier Filtering Framework for City-Scale Localization Using 3D SfM Point Clouds.

Three-dimensional structure-based localization aims to estimate the six-DOF camera pose of a query image by means of feature matches against a 3D Structure-from-Motion (SfM) point cloud. For city-scale SfM point clouds with tens of millions of points, it becomes more and more difficult to disambiguate matches. Therefore, a 3D structure-based localization method, which can efficiently handle matches with very large outlier ratios, is needed. We propose a two-stage outlier filtering framework for city-scale localization that leverages both visibility and geometry intrinsics of the SfM point clouds. First, we propose a visibility-based outlier filter, which is based on a bipartite visibility graph, to filter outliers on a coarse level. Second, we apply a geometry-based outlier filter to generate a set of fine-grained matches with a novel data-driven geometrical constraint for efficient inlier evaluation. The proposed two-stage outlier filtering framework only relies on the intrinsic information of the SfM point cloud. It is thus widely applicable to be embedded into the existing localization approaches. The experimental results on two real-world datasets demonstrate the effectiveness of the proposed two-stage outlier filtering framework for city-scale localization.

Research on a hole filling algorithm of a point cloud based on structure from motion.

A point cloud can be obtained from three-dimensional measurement reconstruction based on fringe projection. However, there are holes in a point cloud due to objects with complicated shapes and the defect of the method. The holes have a profound impact on the subsequent data processing. A fitting approach to fill the holes based on structure from motion (SFM) is proposed in this paper. First, fringe projection with a two-dimensional phase is used to extract the hole boundary. Second, the registration of the SFM point cloud and the fringe projection point cloud is carried out. Then supplementary points are extracted. Third, the holes are filled based on a radial basis function on the point cloud added with the supplementary points. This method has been proven to be robust by experiments, and information of complex surface holes can be restored sufficiently.

A Volumetric Fusing Method for TLS and SFM Point Clouds

A terrestrial laser scanning (TLS) point cloud acquired from a given ground view is incomplete because of severe occlusion and self-occlusion. The models reconstructed by aligning the cross-source point clouds [TLS and structure-from-motion (SFM) point clouds] provide a more complete large-scale outdoor scene. However, because of differences in nonrigid deformation, stratified redundancy of alignment is inevitable and ubiquitous. Therefore, this paper presents a volumetric fusing method for cross-source three-dimensional reconstructions. To eliminate the stratification of aligned cross-source point clouds, we propose a graph-cuts method with boundary constraints for blending the two cross-source point clouds. Then, to reduce the gaps that exist in the blending results, we develop a progressive migration method combined with the local average direction of normal vectors to smooth the unconnected boundary. Finally, experimental results demonstrate the effectiveness of eliminating stratification with the proposed blending algorithm, and the progressive migration method achieves a smooth connection in the boundary of the blended point clouds.

Surface Slip From the 2014 South Napa Earthquake Measured With Structure From Motion and 3‐D Virtual Reality

AbstractThe detailed features of an earthquake surface rupture may decay quickly in the landscape due to erosion or repair, such that primary displacements are seldom available for repeated study within the weeks following an earthquake. Here we describe a rapidly deployable field workflow using structure‐from‐motion (SfM) photogrammetry to produce three‐dimensional models of offset features and apply the technique to the 24 August 2014 Mw 6.0 South Napa earthquake surface rupture. We use repeated analyses of SfM point clouds using 3‐D interactive virtual reality tools to derive precise and reproducible fault‐slip measurements along the surface rupture and document the temporal evolution of afterslip at two sites along its trace. The SfM technique, combined with 3‐D virtual reality, enables archiving of primary field relationships and assessment of uncertainty in those data to a degree that was previously inaccessible.

Quantifying Boreal Forest Structure and Composition Using UAV Structure from Motion

The vast extent and inaccessibility of boreal forest ecosystems are barriers to routine monitoring of forest structure and composition. In this research, we bridge the scale gap between intensive but sparse plot measurements and extensive remote sensing studies by collecting forest inventory variables at the plot scale using an unmanned aerial vehicle (UAV) and a structure from motion (SfM) approach. At 20 Forest Inventory and Analysis (FIA) subplots in interior Alaska, we acquired overlapping imagery and generated dense, 3D, RGB (red, green, blue) point clouds. We used these data to model forest type at the individual crown scale as well as subplot-scale tree density (TD), basal area (BA), and aboveground biomass (AGB). We achieved 85% cross-validation accuracy for five species at the crown level. Classification accuracy was maximized using three variables representing crown height, form, and color. Consistent with previous UAV-based studies, SfM point cloud data generated robust models of TD (r2 = 0.91), BA (r2 = 0.79), and AGB (r2 = 0.92), using a mix of plot- and crown-scale information. Precise estimation of TD required either segment counts or species information to differentiate black spruce from mixed white spruce plots. The accuracy of species-specific estimates of TD, BA, and AGB at the plot scale was somewhat variable, ranging from accurate estimates of black spruce TD (+/−1%) and aspen BA (−2%) to misallocation of aspen AGB (+118%) and white spruce AGB (−50%). These results convey the potential utility of SfM data for forest type discrimination in FIA plots and the remaining challenges to develop classification approaches for species-specific estimates at the plot scale that are more robust to segmentation error.

Above-bottom biomass retrieval of aquatic plants with regression models and SfM data acquired by a UAV platform – A case study in Wild Duck Lake Wetland, Beijing, China

Above-bottom biomass (ABB) is considered as an important parameter for measuring the growth status of aquatic plants, and is of great significance for assessing health status of wetland ecosystems. In this study, Structure from Motion (SfM) technique was used to rebuild the study area with high overlapped images acquired by an unmanned aerial vehicle (UAV). We generated orthoimages and SfM dense point cloud data, from which vegetation indices (VIs) and SfM point cloud variables including average height (HAVG), standard deviation of height (HSD) and coefficient of variation of height (HCV) were extracted. These VIs and SfM point cloud variables could effectively characterize the growth status of aquatic plants, and thus they could be used to develop a simple linear regression model (SLR) and a stepwise linear regression model (SWL) with field measured ABB samples of aquatic plants. We also utilized a decision tree method to discriminate different types of aquatic plants. The experimental results indicated that (1) the SfM technique could effectively process high overlapped UAV images and thus be suitable for the reconstruction of fine texture feature of aquatic plant canopy structure; and (2) an SWL model based on point cloud variables: HAVG, HSD, HCV and two VIs: NGRDI, ExGR as independent variables has produced the best predictive result of ABB of aquatic plants in the study area, with a coefficient of determination of 0.84 and a relative root mean square error of 7.13%. In this analysis, a novel method for the quantitative inversion of a growth parameter (i.e., ABB) of aquatic plants in wetlands was demonstrated.

UAS-SfM for Coastal Research: Geomorphic Feature Extraction and Land Cover Classification from High-Resolution Elevation and Optical Imagery

The vulnerability of coastal systems to hazards such as storms and sea-level rise is typically characterized using a combination of ground and manned airborne systems that have limited spatial or temporal scales. Structure-from-motion (SfM) photogrammetry applied to imagery acquired by unmanned aerial systems (UAS) offers a rapid and inexpensive means to produce high-resolution topographic and visual reflectance datasets that rival existing lidar and imagery standards. Here, we use SfM to produce an elevation point cloud, an orthomosaic, and a digital elevation model (DEM) from data collected by UAS at a beach and wetland site in Massachusetts, USA. We apply existing methods to (a) determine the position of shorelines and foredunes using a feature extraction routine developed for lidar point clouds and (b) map land cover from the rasterized surfaces using a supervised classification routine. In both analyses, we experimentally vary the input datasets to understand the benefits and limitations of UAS-SfM for coastal vulnerability assessment. We find that (a) geomorphic features are extracted from the SfM point cloud with near-continuous coverage and sub-meter precision, better than was possible from a recent lidar dataset covering the same area; and (b) land cover classification is greatly improved by including topographic data with visual reflectance, but changes to resolution (when <50 cm) have little influence on the classification accuracy.

Multitemporal field-based plant height estimation using 3D point clouds generated from small unmanned aerial systems high-resolution imagery

Plant breeders and agronomists are increasingly interested in repeated plant height measurements over large experimental fields to study critical aspects of plant physiology, genetics and environmental conditions during plant growth. However, collecting such measurements using commonly used manual field measurements is inefficient. 3D point clouds generated from unmanned aerial systems (UAS) images using Structure from Motion (SfM) techniques offer a new option for efficiently deriving in-field crop height data. This study evaluated UAS/SfM for multitemporal 3D crop modelling and developed and assessed a methodology for estimating plant height data from point clouds generated using SfM. High-resolution images in visible spectrum were collected weekly across 12 dates from April (planting) to July (harvest) 2016 over 288 maize (Zea mays L.) and 460 sorghum (Sorghum bicolor L.) plots using a DJI Phantom 3 Professional UAS. The study compared SfM point clouds with terrestrial lidar (TLS) at two dates to evaluate the ability of SfM point clouds to accurately capture ground surfaces and crop canopies, both of which are critical for plant height estimation. Extended plant height comparisons were carried out between SfM plant height (the 90th, 95th, 99th percentiles and maximum height) per plot and field plant height measurements at six dates throughout the growing season to test the repeatability and consistency of SfM estimates. High correlations were observed between SfM and TLS data (R2=0.88–0.97, RMSE=0.01–0.02m and R2=0.60–0.77 RMSE=0.12–0.16m for the ground surface and canopy comparison, respectively). Extended height comparisons also showed strong correlations (R2=0.42–0.91, RMSE=0.11–0.19m for maize and R2=0.61–0.85, RMSE=0.12–0.24m for sorghum). In general, the 90th, 95th and 99th percentile height metrics had higher correlations to field measurements than the maximum metric though differences among them were not statistically significant. The accuracy of SfM plant height estimates fluctuated over the growing period, likely impacted by the changing reflectance regime due to plant development. Overall, these results show a potential path to reducing laborious manual height measurement and enhancing plant research programs through UAS and SfM.

What is the Point? Evaluating the Structure, Color, and Semantic Traits of Computer Vision Point Clouds of Vegetation

Remote sensing of the structural and spectral traits of vegetation is being transformed by structure from motion (SFM) algorithms that combine overlapping images to produce three-dimensional (3D) red-green-blue (RGB) point clouds. However, much remains unknown about how these point clouds are used to observe vegetation, limiting the understanding of the results and future applications. Here, we examine the content and quality of SFM point cloud 3D-RGB fusion observations. An SFM algorithm using the Scale Invariant Feature Transform (SIFT) feature detector was applied to create the 3D-RGB point clouds of a single tree and forest patches. The fusion quality was evaluated using targets placed within the tree and was compared to fusion measurements from terrestrial LIDAR (TLS). K-means clustering and manual classification were used to evaluate the semantic content of SIFT features. When targets were fully visible in the images, SFM assigned color in the correct place with a high accuracy (93%). The accuracy was lower when targets were shadowed or obscured (29%). Clustering and classification revealed that the SIFT features highlighted areas that were brighter or darker than their surroundings, showing little correspondence with canopy objects like leaves or branches, though the features showed some relationship to landscape context (e.g., canopy, pavement). Therefore, the results suggest that feature detectors play a critical role in determining how vegetation is sampled by SFM. Future research should consider developing feature detectors that are optimized for vegetation mapping, including extracting elements like leaves and flowers. Features should be considered the fundamental unit of SFM mapping, like the pixel in optical imaging and the laser pulse of LIDAR. Under optimal conditions, SFM fusion accuracy exceeded that of TLS, and the two systems produced similar representations of the overall tree shape. SFM is the lower-cost solution for obtaining accurate 3D-RGB fusion measurements of the outer surfaces of vegetation, the critical zone of interaction between vegetation, light, and the atmosphere from leaf to canopy scales.