Estimation of urban tree canopy parameters plays a crucial role in urban forest management. Unmanned aerial vehicles (UAV) have been widely used for many applications particularly forestry mapping. UAV-derived images, captured by an onboard camera, provide a means to produce 3D point clouds using photogrammetric mapping. Similarly, small UAV mounted light detection and ranging (LiDAR) sensors can also provide very dense 3D point clouds. While point clouds derived from both photogrammetric and LiDAR sensors can allow the accurate estimation of critical tree canopy parameters, so far a comparison of both techniques is missing. Point clouds derived from these sources vary according to differences in data collection and processing, a detailed comparison of point clouds in terms of accuracy and completeness, in relation to tree canopy parameters using point clouds is necessary. In this research, point clouds produced by UAV-photogrammetry and -LiDAR over an urban park along with the estimated tree canopy parameters are compared, and results are presented. The results show that UAV-photogrammetry and -LiDAR point clouds are highly correlated with R² of 99.54% and the estimated tree canopy parameters are correlated with R² of higher than 95%.

Spoofing of Unmanned Aerial Vehicles (UAV) is generally carried out through spoofing of the UAV’s Global Positioning System (GPS) receiver. This paper presents a vision-based UAV spoofing detection method that utilizes Visual Odometry (VO). This method is independent of the other complementary sensors and any knowledge or archived map and datasets. The proposed method is based on the comparison of relative sub-trajectory of the UAV from VO, with its absolute replica from GPS within a moving window along the flight path. The comparison is done using three dissimilarity measures including (1) Sum of Euclidian Distances between Corresponding Points (SEDCP), (2) angle distance and (3) taxicab distance between the Histogram of Oriented Displacements (HOD) of these sub-trajectories. This method can determine the time and location of UAV spoofing and bounds the drift error of VO. It can be used without any restriction in the usage environment and can be implemented in real-time applications. This method is evaluated on four UAV spoofing scenarios. The results indicate that this method is effective in the detection of UAV spoofing due to the Sophisticated Receiver-Based (SRB) GPS spoofing. This method can detect UAV spoofing in the long-range UAV flights when the changes in UAV flight direction is larger than 3° and in the incremental UAV spoofing with the redirection rate of 1°. Additionally, using SEDCP, the spoofing of the UAV, when there is no redirection and only the velocity of the UAV is changed, can be detected. The results show that SEDCP is more effective in the detection of UAV spoofing and fake GPS positions.

Keywords: Registration, Optical Imagery, LiDAR Point Cloud Automatic registration of multi-sensor data is a basic step in data fusion for photogrammetric and remote sensing applications. The effectiveness of intensity-based methods such as Mutual Information (MI) for automated registration of multi-sensor image has been previously reported for medical and remote sensing applications. In this paper, a new multivariable MI approach that exploits complementary information of inherently registered LiDAR DSM and intensity data to improve the robustness of registering optical imagery and LiDAR point cloud, is presented. LiDAR DSM and intensity information has been utilised in measuring the similarity of LiDAR and optical imagery via the Combined MI. An effective histogramming technique is adopted to facilitate estimation of a 3D probability density function (pdf). In addition, a local similarity measure is introduced to decrease the complexity of optimisation at higher dimensions and computation cost. Therefore, the reliability of registration is improved due to the use of redundant observations of similarity. The performance of the proposed method for registration of satellite and aerial images with LiDAR data in urban and rural areas is experimentally evaluated and the results obtained are discussed.

Urban trees deliver many ecological services to the urban environment, including reduced runoff generation in storms. Trees intercept rainfall and store part of the water on leaves and branches, reducing the volume and velocity of water that reaches the soil. Moreover, trees modify the spatial distribution of rainwater under the canopy. However, measuring interception parameters is a complex task because it depends on many factors, including environmental conditions (rainfall intensity, wind speed, etc.) and tree characteristics (plant surface area, leaf and branch inclination angle, etc.). In the few last decades, remotely sensed data have been tested for retrieving tree metrics, but the use of this derived data for predicting interception parameters are still being developed. In this study, we measured the minimum water storage capacity (C_min) and throughfall under the canopies of 12 trees belonging to three different species. All trees had their plant surface metrics calculated: plant surface area (PSA), plant area index (PAI), and plant area density (PAD). Trees were scanned with a mobile terrestrial laser scan (TLS) to obtain their individual canopy point clouds. Point clouds were used to calculate canopy metrics (canopy projected area and volume) and TLS-derived surface metrics. Measured surface metrics were then correlated to derived TLS metrics, and the relationship between TLS data and interception parameters was tested. Additionally, TLS data was used in analyses of throughfall distribution on a sub-canopy scale. The significant correlation between the directly measured surface area and TLS-derived metrics validates the use of the remotely sensed data for predicting plant area metrics. Moreover, TLS-derived metrics showed a significant correlation with a water storage capacity parameter (C_min). The present study supports the use of TLS data as a tool for measuring tree metrics and ecosystem services such as C_min; however, more studies to understand how to apply remotely sensed data into ecological analyses in the urban environment must be encouraged.

Automatic image registration is a basic step in multi-sensor data integration in remote sensing and photogrammetric applications such as data fusion. The effectiveness of Mutual Information (MI) as a technique for automated multi-sensor image registration has previously been demonstrated for medical and remote sensing applications. In this paper, a new General Weighted MI (GWMI) approach that improves the robustness of MI to local maxima, particularly in the case of registering optical imagery and 3D point clouds, is presented. Two different methods including a Gaussian Mixture Model (GMM) and Kernel Density Estimation have been used to define the weight function of joint probability, regardless of the modality of the data being registered. The Expectation Maximizing method is then used to estimate parameters of GMM, and in order to reduce the cost of computation, a multi-resolution strategy has been used. The performance of the proposed GWMI method for the registration of aerial orthotoimagery and LiDAR range and intensity information has been experimentally evaluated and the results obtained are presented.