We discuss the evolution and state-of-the-art of the use of Unmanned Aerial Systems (UAS) in the field of Photogrammetry and Remote Sensing (PaRS). UAS, Remotely-Piloted Aerial Systems, Unmanned Aerial Vehicles or simply, drones are a hot topic comprising a diverse array of aspects including technology, privacy rights, safety and regulations, and even war and peace. Modern photogrammetry and remote sensing identified the potential of UAS-sourced imagery more than thirty years ago. In the last five years, these two sister disciplines have developed technology and methods that challenge the current aeronautical regulatory framework and their own traditional acquisition and processing methods. Navety and ingenuity have combined off-the-shelf, low-cost equipment with sophisticated computer vision, robotics and geomatic engineering. The results are cm-level resolution and accuracy products that can be generated even with cameras costing a few-hundred euros. In this review article, following a brief historic background and regulatory status analysis, we review the recent unmanned aircraft, sensing, navigation, orientation and general data processing developments for UAS photogrammetry and remote sensing with emphasis on the nano-micro-mini UAS segment

Keywords: UAV, search-and-rescue, thermal imaging, integrity, reliability, INS, GNSS This paper will introduce the goals, concept and results of the project named CLOSE-SEARCH, which stands for ’Accurate and safe EGNOS-SoL Navigation for UAV-based low-cost Search-And-Rescue (SAR) operations’. The main goal is to integrate a medium-size, helicopter-type Unmanned Aerial Vehicle (UAV), a thermal imaging sensor and an EGNOS-based multi-sensor navigation system, including an Autonomous Integrity Monitoring (AIM) capability, to support search operations in difficult-to-access areas and/or night operations. The focus of the paper is three-fold. Firstly, the operational and technical challenges of the proposed approach are discussed, such as ultra-safe multi-sensor navigation system, the use of combined thermal and optical vision (infrared plus visible) for person recognition and Beyond-Line-Of-Sight communications among others. Secondly, the implementation of the integrity concept for UAV platforms is discussed herein through the AIM approach. Based on the potential of the geodetic quality analysis and on the use of the European EGNOS system as a navigation performance starting point, AIM approaches integrity from the precision standpoint; that is, the derivation of Horizontal and Vertical Protection Levels (HPLs, VPLs) from a realistic precision estimation of the position parameters is performed and compared to predefined Alert Limits (ALs). Finally, some results from the project test campaigns are described to report on particular project achievements. Together with actual Search-and-Rescue teams, the system was operated in realistic, user-chosen test scenarios. In this context, and specially focusing on the EGNOS-based UAV navigation, the AIM capability and also the RGB/thermal imaging subsystem, a summary of the results is presented.

Recurrent monitoring of sandy beaches and of the dunes behind them is needed to improve the scientific knowledge on their dynamics as well as to develop sustainable management practices of those valuable landforms. Unmanned Aircraft Systems (UAS) are sought as a means to fulfill this need, especially leveraged by photogrammetric and LiDAR-based mapping methods and technology. The present study compares different strategies to carry UAS photogrammetric corridor mapping over linear extensions of sandy shores. In particular, we present results on the coupling of a UAS with a mobile laser scanning system, operating simultaneously in Cap Ferret, SW France. This aerial-terrestrial tandem enables terrain reconstruction with kinematic ground control points, thus largely avoiding the deployment of surveyed ground control points on the non-stable sandy ground. Results show how these three techniques—mobile laser scanning, photogrammetry based on ground control points, and photogrammetry based on kinematic ground control points—deliver accurate (i.e., root mean square errors < 15 cm) 3D reconstruction of beach-to-dune transition areas, the latter being performed at lower survey and logistic costs, and with enhanced spatial coverage capabilities. This study opens the gate for exploring longer (hundreds of kilometers) shoreline dynamics with ground-control-point-free air and ground mapping techniques.

Deaths due to external and natural causes with forensic intervention require medical-legal autopsy. In order to be included in the mortality statistics the results are reported in the statistical document MNP52. The accuracy of cause of death depends on the characteristics of the document, the point at which it is completed (after the death or after the autopsy) and the person that completes it. The objective is to determine the accuracy of external and natural causes of death with forensic intervention, reported in the official statistical documents by a medical-legal autopsy report of these deaths occurred in Catalonia in 1996. Two samplings were undertaken--one for natural causes and another for external causes--that were stratified by sex and judicial district. The information sources were the Mortality Register of Catalonia for the statistical documents and the criminal courts for the medical-legal autopsy, toxicological and pathological reports. We calculated the index of agreement, the sensitivity or detection rate (DR) and the positive predictive value of confirmation rate (CR), and their respective 95% confidence intervals. The index of agreement was 72.3% (IC 95%: 68.7-75.9). The DR for external causes groups was 65.9% (60.6-71.2) and the CR was 69% (63.6-71.2). For natural causes the DR was 79.4% (74.7-84.2) and the CR was 75.5% (70.7-80.5). In deaths with forensic intervention, the official statistical documents do not correctly report external causes of death, and statistics for natural causes of death approach acceptable levels of accuracy. The results are mainly due to deficits in reporting and certifying these causes in the official statistics.

In this article, we report about the first results of the mapKITE system, a tandem terrestrial-aerial concept for geodata acquisition and processing, obtained in corridor mapping missions. The system combines an Unmanned Aerial System (UAS) and a Terrestrial Mobile Mapping System (TMMS) operated in a singular way: real-time waypoints are computed from the TMMS platform and sent to the UAS in a follow-me scheme. This approach leads to a simultaneous acquisition of aerial-plus-ground geodata and, moreover, opens the door to an advanced post-processing approach for sensor orientation. The current contribution focuses on analysing the impact of the new, dynamic Kinematic Ground Control Points (KGCPs), which arise inherently from the mapKITE paradigm, as an alternative to conventional, costly Ground Control Points (GCPs). In the frame of a mapKITE campaign carried out in June 2016, we present results entailing sensor orientation and calibration accuracy assessment through ground check points, and precision and correlation analysis of self-calibration parameters’ estimation. Conclusions indicate that the mapKITE concept eliminates the need for GCPs when using only KGCPs plus a couple of GCPs at each corridor end, achieving check point horizontal accuracy of ${\mu }_{E,N}\approx 1.7$ px (3.4 cm) and ${\mu }_h\approx 4.3$ px (8.6 cm). Since obtained from a simplified version of the system, these preliminary results are encouraging from a future perspective.

In this paper, we present mapKITE, a new mobile, simultaneous terrestrial and aerial, geodata collection and post-processing method. On one side, the method combines a terrestrial mobile mapping system (TMMS) with an unmanned aerial mapping one, both equipped with remote sensing payloads (at least, a nadir-looking visible-band camera in the UA) by means of which aerial and terrestrial geodata are acquired simultaneously. This tandem geodata acquisition system is based on a terrestrial vehicle (TV) and on an unmanned aircraft (UA) linked by a 'virtual tether', that is, a mechanism based on the real-time supply of UA waypoints by the TV. By means of the TV-to-UA tether, the UA follows the TV keeping a specific relative TV-to-UA spatial configuration enabling the simultaneous operation of both systems to obtain highly redundant and complementary geodata. On the other side, mapKITE presents a novel concept for geodata post-processing favoured by the rich geometrical aspects derived from the mapKITE tandem simultaneous operation. The approach followed for sensor orientation and calibration of the aerial images captured by the UA inherits the principles of Integrated Sensor Orientation (ISO) and adds the pointing-and-scaling photogrammetric measurement of a distinctive element observed in every UA image, which is a coded target mounted on the roof of the TV. By means of the TV navigation system, the orientation of the TV coded target is performed and used in the post-processing UA image orientation approach as a Kinematic Ground Control Point (KGCP). The geometric strength of a mapKITE ISO network is therefore high as it counts with the traditional tie point image measurements, static ground control points, kinematic aerial control and the new point-and-scale measurements of the KGCPs. With such a geometry, reliable system and sensor orientation and calibration and eventual further reduction of the number of traditional ground control points is feasible. The different technical concepts, challenges and breakthroughs behind mapKITE are presented in this paper, such as the TV-to-UA virtual tether and the use of KGCP measurements for UA sensor orientation. In addition, the use in mapKITE of new European GNSS signals such as the Galileo E5 AltBOC is discussed. Because of the critical role of GNSS technologies and the potential impact on the corridor mapping market, the European Commission and the European GNSS Agency, in the frame of the European Union Framework Programme for Research and Innovation “Horizon 2020,” have recently awarded the “mapKITE” project to an international consortium of organizations coordinated by GeoNumerics S.L.