Learning Objectives LIGHT DETECTION AND RANGING. Sensing. Blacksburg, VA July 24 th 30 th, 2010 LiDAR: Mapping the world in 3-D Page 1

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1 LiDAR: Mapping the world in 3-D Val Thomas Department of Forest Resources & Environmental Conservation July 29, 2010 Learning Objectives Part 1: Lidar theory What is lidar? How does lidar work? What are some applications of lidar? Somelidar concepts. Part 2: Viewing and analyzing lidar data Lidar Data Viewer MARS Explorer 6.1 (Viewer license) A quick tutorial Example 1: Urban Analysis Example 2: Forests LIGHT DETECTION AND RANGING LiDAR, lidar, laser scanning, laser altimetry July 24 th 30 th, 2010 LiDAR: Mapping the world in 3-D Page 1

2 What is lidar? A type of remote sensing Uses laser pulses to measure distance When done from above, the distances can be converted to heights data can be collected from a tripod, from the air (plane or helicopter), or from space (satellite) na05_files/image002.jpg 007/09/LidarFig1TUcvLG.jpg hics/icesat.jpg What is remote sensing? The science and art of obtaining information about something without touching it. Passive Remote Sensors detect the reflected or emitted electro magnetic radiation from natural sources. Example: a photograph Active remote Sensors detect reflected responses from objects that are irradiated from artificially generated energy sources Example: lidar Can you think of an example where people do remote sensing every day? Of our five senses (sight, hearing, taste, smell, touch), three may be considered forms of "remote sensing Sight Uses visible light, electromagnetic energy from the sun Hearing Smell /index.php/2009/11/11/ July 24 th 30 th, 2010 LiDAR: Mapping the world in 3-D Page 2

3 Most remote sensing uses Electromagnetic Energy Radiant energy emitted by all matter whose temperature is greater than absolute zero (0 K). The warmer the radiant object, the shorter the frequency of electromagnetic waves it emits. Includes: electric currents, heat, radio waves, microwaves, infrared radiation, visible light, ultraviolet radiation, x rays, gamma rays, and cosmic rays. Can you think of another type of energy, other than electromagnetic energy, that could be used for remote sensing? Sound, used for sonar, is caused by vibrations transmitted through an elastic solid, a liquid, or gas. Lidar uses electromagnetic energy in the near infrared wavelengths NIR Just beyond what our eyes are capable of detecting July 24 th 30 th, 2010 LiDAR: Mapping the world in 3-D Page 3

4 How does lidar work? A beam of light is shot from a sensor Laser pulse Pulse is reflected off an object and returns to the system receiver. A receiver system measures the time from when the pulse is sent and when it returns We can convert that time to a distance, and to height _scanners_literature_/images/litemapper_5600_.g IF Lidar heights Speed of light is constant (3 x 10 8 m/s) Distance = (Speed of Light x Time of Flight) / 2 On board GPS is used to convert distance to height above the earth s ellipsoid Lovell et al., 2005 What does lidar data look like? A collection of x,y,and z locations X and Y are coordinates Z is elevation above the ellipsoid Dataset can be viewed as a 3 D point cloud July 24 th 30 th, 2010 LiDAR: Mapping the world in 3-D Page 4

5 Can you think of some applications where lidar data would be useful? Video created by Airborne 1, Inc. What are lidar data used for? Any application that requires height or distance High resolutions DEMs Urban applications Wireless communications Emergency route planning Signal propagation Vegetation Removal Shorelines Coastal engineering Flood management Erosion monitoring Powerlines/Pipelines/corridor mapping Image georegistration Many, many applications! Lidar can even be used to fight crime! Crime scene reconstruction in seconds Allows for accurate measurements Can be saved and revisited Video length: 4:01 July 24 th 30 th, 2010 LiDAR: Mapping the world in 3-D Page 5

6 A good teaching resource: Leica Geosystems, one of the companies that makes lidar sensors, has several tutorial videos. geosystems.us/en/video Tutorials_64249.htm If you are interested in forensics specifically, another excellent resource from Leica is: Natural resources applications Tree Height Tree Shape Tree volume/biomass Watershed management Discriminating wetlands/flood planning Timber harvest planning To help identify/plan logging roads To lessen visibility of forest clearcuts from major transportation routes Fire management To model forest productivity and species diversity As inputs into landscape classification Slope and aspect derivatives Some lidar concepts Footprints, footprint size, scanning versus profiling, discrete versus full waveform, pulse density July 24 th 30 th, 2010 LiDAR: Mapping the world in 3-D Page 6

7 Lidar footprint The area on the ground covered by the individual pulse. sometimes described by the diameter of the laser pulse by the time it reaches the ground Varies according to: Altitude Scan angle Ground slope Beam divergence Flight velocity Lovell et al., spx?pid=90321 Footprint size can estimate footprint size when looking straight down (nadir) calculated based on beam divergence and altitude Note: some companies report halfangles and some report full angles tan( half _ angle ) = r / h The smaller the footprint, the more detail we see. 20 For info on beam divergence see: If the beam divergence is 0.8mrad and the altitude is 3000m, what is the footprint diameter? Tan(0.4mrad)=r/ x Tan(0.0004) = r 1.2m = r Diameter of footprint = 2.4 meters July 24 th 30 th, 2010 LiDAR: Mapping the world in 3-D Page 7

8 General rule of thumb Small footprint lidar: ~1 m footprint or smaller Often a foot or less Can be many returns/square meter Airbornediscrete systems Large footprint lidar Satellite or airborne waveform lidar This is slowly changing as technology changes there are now some small footprint waveform systems. Discrete versus waveform lidar Discrete lidar sensors only save part of the data (2-5 returns) This saves computer space, time, geog883/l5_p5.html Waveform Discrete Discrete systems record one, two, or several returns for each emitted laser pulse (i.e., because each pulse consists of multiple photons) horizontal sampling is determined by the ground area of the footprint caused by the divergence of the laser pulse and the number of footprints per unit area. Full waveform systems record the amount of energy return to the sensor over equal time intervals. The number of these time intervals determines the detail of data within the laser footprint July 24 th 30 th, 2010 LiDAR: Mapping the world in 3-D Page 8

9 scanning versus profiling Lidar concepts: density or pulse frequency Number of pulses per unit area on the ground. For airborne systems, this will vary Calculate average #returns/area For satellites over a given area, constant. Will determine the appropriate type of analysis To increase density, fly lower, fly slower, do multiple passes. Lidar intensity X,Y location of lidar return dependent of on board GPS, and corrections for pitch, yaw, roll, scan angle, and height. Height calculations dependent on scan angle, time of pulse return, and ellipsoid Intensity is dependent on the amount of photons that return to the sensor. A solid reflective object will cause most of the pulse to return, giving a high intensity, or a bright response ces.ca/images/servi cesapplications/tran sintensity.jpg July 24 th 30 th, 2010 LiDAR: Mapping the world in 3-D Page 9

10 Lidar concepts: intensity Why would some features, such as the road in the previous slide, or the right hand side of this image, appear dark in an intensity image? Most lidar systems use NIR radiation. Certain materials and surfaces, such as water, asphalt, tar, clouds, and fog absorb NIR wavelengths causing null or poor returns. /lidar_intensity.htm Typical specifications when reporting a lidar data collection Altitude Wavelength Frequency Number of returns Pulse spacing on the ground/pulse density Footprint size Or beam divergence/altitude d Scan angle 0 degrees = nadir As scan angle (and altitude) increase, the accuracy of prediction decreases Many studies report scan angle < 15 deg. Flightlines If multiple overlapping lines are used to decrease the pulse spacing X,y,z accuracy Important to report all parameters, because the effect of varying them is still under scientific debate. 29 Lovell et al., 2005 Geoscience Laser Altimeter System (GLAS) Lidar from space 1 st (only) spaceborne lidar (waveform) Launched 2003 aboard ICESat to measure ice sheets cloud and atmospheric properties. July 24 th 30 th, 2010 LiDAR: Mapping the world in 3-D Page 10

11 Geoscience Laser Altimeter System (GLAS) 40 pulses/second 1064nm for surface, 532 nm for cloud ~70m footprint separated 170m (5 cm precision) Size and ellipticity has varied throughout the mission 600km altitude 183 day ground track repeat cycle 15 km track spacing at equator 2.5 km spacing at 80 degrees latitude Secondary ICESat objectives: to measure cloud heights and the vertical structure of clouds and aerosols in the atmosphere; to map the topography of land surfaces; to measure roughness, reflectivity, vegetation heights, snow cover, and sea ice surface characteristics. m_content&task=view&id=28&itemid=76 Part 2: Viewing and analyzing lidar data Lidar Data Viewer MARS Explorer m/index.php/services/ / i / geospatialsolutions/marssoftware Can be freely downloaded and used with Windows PCs July 24 th 30 th, 2010 LiDAR: Mapping the world in 3-D Page 11

12 Example 1: Urban Analysis Denver, Colorado Sensor LiDAR LH Systems ALS40 upgraded to ALS50 Camera Merrick Digital Airborne Camera System (DACS(tm)) Aircraft Cessna 402C Flight Parameters Project Flight Date: September 2003 Flight Altitude: 7,500' Above Ground Level: 2,400' LiDARFOV: 40 degrees LiDAR Pulse Rate: 43,400 Hz LIDAR Scan Rate: 36 Hz Aircraft Speed: 100 knots Camera Lens Focal Length: 55mm Ground Sample Distance (GSD): 4.5ft Project Parameters Projection: State Plane, Colorado Central Zone Datum: NAD 83 (92) Units: U.S. Survey Feet To start a new project To add lidar data Lidar data is often stored as.las format a binary format Requires special programs to open the files Smaller and more efficient than text files July 24 th 30 th, 2010 LiDAR: Mapping the world in 3-D Page 12

13 If imagery are available Often, when a company collects lidar data, they will also collect imagery To flip between the lidar data and the image Display preferences July 24 th 30 th, 2010 LiDAR: Mapping the world in 3-D Page 13

14 Display Toolbar Display lidar points Show Images July 24 th 30 th, 2010 LiDAR: Mapping the world in 3-D Page 14

15 Zooming Lidar classification Color by elevation July 24 th 30 th, 2010 LiDAR: Mapping the world in 3-D Page 15

16 Color by classification Color by Intensity Color by return number July 24 th 30 th, 2010 LiDAR: Mapping the world in 3-D Page 16

17 3 D Tin Profile July 24 th 30 th, 2010 LiDAR: Mapping the world in 3-D Page 17

18 Measure Inspect Example 1: Tasks 1. Locate Invesco Field at Mile High Take the dimensions of this field. Does the elevation of the field live up to the it s name? What is the slope of the seating area? Blend the lidar points with intensity and examine in 3D. Can you find the highest edge of the stadium? How high are the power lines over the road? How many wires are there? July 24 th 30 th, 2010 LiDAR: Mapping the world in 3-D Page 18

19 Denver, Colorado Tasks, Continued. 2. Display the lidar points colored by classification. Can you find examples where the software vendor s lidar classification did not work properly? 3. Display the lidar points by intensity Why do you think the field is so bright, but the parking lot is so dark? Example 2: Forests Appomattox Buckingham State Forest, Virginia Tasks Compare the height of trees in natural versus plantation forests Where does the crown begin and end? Can you extract a single tree? Where is there so much depth to the lidar points in the natural forest? July 24 th 30 th, 2010 LiDAR: Mapping the world in 3-D Page 19

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