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ACCURACY ASSESSMENT OF HEIGHT COORDINATE USING UNMANNED
AERIAL VEHICLE IMAGES BASED ON ORTHOMETRIC HEIGHT
SYAMSUL ANUAR BIN ABU KASIM
A project report submitted in partial fulfilment of the
requirements for the award of the degree of
Master of Science (Geomatic Engineering)
Faculty of Geoinformation and Real Estate
Universiti Teknologi Malaysia
JUN 2015
iii
DEDICATION
To my beloved father and mother
My wife
My lecturers and
My friends
iv
ACKNOWLEDGEMENTS
All praises are belonging to Allah S.W.T, the Lord of the world, for His love,
grace and guidance. May the blessing and peace of Allah be upon Prophet
Muhammad S.A.W, his family members and companions.
I would like to dedicate my sincere gratitude to my supervisors Dr. Othman
Bin Zainon and Associate Professor Dr. Hj. Anuar Bin Hj. Ahmad for their keen
interest on me at every stage of my research. Their prompt inspirations, valuable
advices, continuous guidance, timely suggestions with kindness and enthusiasm have
enabled me to complete my writing.
Special appreciation also to my family for the support and encouragement.
Last but not least, thanks to all friends and the staffs in Universiti Teknologi Mara
who have lend a hand throughout the process of completing this thesis. Only Allah
can repay all your kindness and may Allah bless us.
v
ABSTRACT
Most of the Unmanned Aerial Vehicle (UAV) images studies are focusing
on the horizontal plane with minimal covered on its height values. This thesis will
study about the accuracy assessment in height coordinates using UAV images
processing based on orthometric height observation data. Apart from that, the
accuracy of height coordinates using UAV images processing based on different
number of ground control point (GCP) are also assess. In this study, Agisoft
PhotoScan v0.9.0 and Global Mapper v15.2.3 are the software used for the
processing and analysis. Ground control points and check points were established
using Real Time Kinematic Global Positioning System (RTK-GPS) and leveling
method. There are two photogrammetric products produced in this study such as
orthophoto and digital elevation model (DEM). The analyses of the photogrammetric
products were performed based on different number of GCP and different
orthometric height observation data. The results of this study showed that the height
accuracy of photogrammetric products using UAV images processing based on 10
GCPs produced better accuracy than 5 GCPs. RMSE values of check point height
coordinates based on data from leveling method are ± 0.161 meter for 5 GCPs and ±
0.116 meter for 10 GCPs while RMSE values of check point height coordinates
based on data from RTK-GPS method are ± 0.167 meter for 5 GCPs and ± 0.124
meter for 10 GCPs. The results also showed that photogrammetric products using
UAV images processing based on leveling method provide more accurate height
results than RTK-GPS method. The RMSE value of check point height coordinates
based on RTK-GPS method is ± 0.148 meter (10 GCPs) and RMSE value of check
point height coordinates based on leveling method is ± 0.116 meter (10 GCPs). As
conclusion, UAV images can be used to generate DEM that give height coordinate
values with sub-meter accuracy.
vi
ABSTRAK
Kebanyakan kajian Kenderaan Udara Tanpa Pemandu (UAV)
bertumpukan kepada satah mendatar dan kurang melihat kepada nilai ketinggian
yang diperolehi. Kajian ini dibuat bagi menilai kejituan terhadap koordinat
ketinggian menggunakan imej daripada UAV yang diproses berdasarkan data cerapan
ketinggian ortometrik. Selain daripada itu, ketepatan koordinat ketinggian juga
dinilai melalui imej UAV yang diproses berdasarkan bilangan titik kawalan tanah
yang berbeza. Dalam kajian ini, perisian Agisoft PhotoScan v0.9.0 dan Global
Mapper v15.2.3 digunakan untuk memproses imej UAV dan untuk membuat analisis.
Titik kawalan tanah dan titik semak telah diwujudkan menggunakan kaedah Sistem
Pendudukan Sejagat secara Kinematik Masa Hakiki (RTK-GPS) dan kaedah ukur
aras. Terdapat dua hasil fotogrammetri dihasilkan iaitu ortofoto dan model
ketinggian digital (DEM). Analisis terhadap hasil fotogrammetri dibuat berdasarkan
bilangan titik kawalan yang berbeza dan juga berdasarkan kepada data cerapan
ketinggian yang berbeza. Keputusan kajian ini menunjukkan kejituan ketinggian
hasil fotogrammetri dari imej UAV yang diproses menggunakan 10 titik kawalan
tanah memberikan ketepatan yang lebih baik berbanding 5 titik kawalan tanah. Nilai
RMSE koordinat ketinggian titik semak berdasarkan data dari kaedah ukur aras
adalah ± 0.161 meter untuk 5 GCPs dan ± 0.116 meter untuk 10 GCPs manakala
nilai RMSE koordinat ketinggian titik semak berdasarkan data dari kaedah RTK-GPS
adalah ± 0.167 meter untuk 5 GCPs dan ± 0.124 meter untuk 10 GCPs. Keputusan
kajian juga menunjukkan kejituan ketinggian hasil fotogrammetri dari imej UAV
yang diproses menggunakan kaedah ukur aras memberikan hasil ketinggian yang
lebih tepat berbanding kaedah RTK-GPS. Nilai RMSE koordinat ketinggian titik
semak berdasarkan data dari kaedah RTK-GPS adalah ± 0.148 meter (10 GCPs) dan
nilai RMSE koordinat ketinggian titik semak berdasarkan data dari kaedah ukur aras
adalah ± 0.116 meter (10 GCPs). Kesimpulannya, imej UAV boleh digunakan untuk
menjana DEM yang memberikan nilai koordinat ketinggian sehingga ketepatan sub-
meter.
vii
TABLE OF CONTENTS
CHAPTER TITLE PAGE
DECLARATION ii
DEDICATION iii
ACKNOWLEDGEMENTS iv
ABSTRACT v
ABSTRAK vi
TABLE OF CONTENT vii
LIST OF TABLES xii
LIST OF FIGURES xvi
LIST OF ABBREVIATIONS xxi
LIST OF APPENDICES xxiii
1 INTRODUCTION 1
1.1 Background of Research 1
1.2 Problem Statement 2
1.3 Aim of Study 3
1.4 Objective of Study 3
1.5 Significance of Study 4
1.6 Scope of Study 4
viii
1.7 General Methodology 5
1.8 Thesis Outline 7
2 UNMMANNED AERIAL VEHICLE (UAV) 9
PHOTOGRAMMETRY
2.1 Introduction 9
2.1.1 UAV Photogrammetry Classification 10
2.2 Aerial Photogrammetry 11
2.2.1 Determining Photo Scale 12
2.2.2 Photograph Overlap 13
2.2.3 Photogrammetric Control 16
2.2.4 Field Survey Methods for Establishing 17
Horizontal Control
2.2.5 Field Survey Methods for Establishing 18
Vertical Control
2.2.6 Ground Control Surveys by GPS 18
2.3 UAV Systems 19
2.3.1 Classification of UAV 20
2.4 Flight planning for UAV 22
2.5 UAV Applications 24
2.6 UAV Software Processing 27
2.6.1 Agisoft PhotoScan Software 27
2.6.2 Agisoft PhotoScan Version 0.9.0 28
build 1586System Requirements
2.6.3 Global Mapper Software 29
ix
2.6.4 Global Mapper Version 15.2.3 System 30
Requirements
2.7 Height Determination Using GPS 30
2.7.1 Geoid Heights 31
2.7.2 Orthometric Heights 32
2.7.3 MyGEOID 32
2.8 Chapter Summary 33
3 METHODOLOGY 34
3.1 Introduction 34
3.2 Research Methodology 34
3.3 Preparation Stage 36
3.4 Camera Calibration 36
3.5 Data Acquisition of UAV 38
3.5.1 Ground Control Points using GPS 39
3.5.2 Leveling Measurement 41
3.6 Data Processing 41
3.6.1 Processing of UAV Data 42
3.6.2 Processing of GPS data 45
3.6.3 Place Markers 46
3.6.4 Orthophoto and DEM Generation 47
3.7 Data Analysis and Accuracy Assessment 48
3.7.1 Quantitative Analysis 49
3.7.2 Analysis with Global Mapper Software 50
x
3.8 Chapter Summary 51
4 RESULTS AND ANALYSIS 52
4.1 Introduction 52
4.2 Results 53
4.2.1 The Conversion of Ellipsoidal GPS Heights 53
to Orthometric Heights
4.2.2 Digital Orthophoto 56
4.2.3 Digital Elevation Model (DEM) 58
4.3 Analysis 60
4.3.1 Accuracy Reference 62
4.3.2 Point Analysis 66
4.3.2.1 Accuracy Assessment of Height Coordinates 67
for Digital Photogrammetric Products Based
On Different Number of Ground Control Point
4.3.2.2 Accuracy Assessment of Height Coordinates 76
for Digital Photogrammetric Products Based on
Different Orthometric Height Observation Data
4.3.3 Visualization Analysis 80
4.4 Chapter Summary 85
xi
5 CONCLUSIONS AND RECOMMENDATIONS 86
5.1 Conclusions and Recommendations 86
REFERENCES 90
Appendices 94-120
xii
LIST OF TABLES
TABLE NO. TITLE PAGE
2.1 UAV systems classification with respect to 20
payload (Eisenbeiss, 2009).
2.2 Agisoft Photoscan System Requirements 28
(Agisoft, 2013).
2.3 Global Mapper System Requirements 30
(Global Mapper, 2014)
2.4 MyGEIOD data charges payment (JUPEM, 2005) 33
3.1 The result of camera calibration 38
3.2 The photos information taken by UAV 39
4.1 The results of geoid separation values using Malaysia 54
Geoid Model (WMGEOID04)
4.2 The height different between RTK-GPS and leveling 55
method
4.3 The survey points used as ground control points and 61
check points
4.4 Land cover classes by ASPRS (Heidemann, 2014) 63
4.5 Vertical accuracy for digital elevation models 64
(Heidemann, 2014)
4.6 The vertical accuracy classes for digital elevation data 64
xiii
(ASPRS, 2013)
4.7 The vertical map accuracy standard by ASPRS 1990 65
4.8 The comparison between the ground control point 69
coordinates (RTK-GPS method) and the coordinates
obtained from Agisoft PhotoScan using UAV images
processing based on RTK-GPS heights and 10 GCPs
4.9 The comparison between the check point coordinates 69
(RTK-GPS method) and the coordinates obtained from
Agisoft PhotoScan using UAV images processing based
on RTK-GPS heights and 10 GCPs
4.10 The comparison between the ground control point 70
coordinates (RTK-GPS method) and the coordinates
obtained from Agisoft PhotoScan using UAV images
processing based on RTK-GPS heights and 5 GCPs
4.11 The comparison between the check point coordinates 70
(RTK-GPS method) and the coordinates obtained from
Agisoft PhotoScan using UAV images processing based
on RTK-GPS heights and 5 GCPs
4.12 The comparison between the ground control point 71
coordinates (leveling method) and the coordinates obtained
from Agisoft PhotoScan using UAV images processing
based on leveling heights and 10 GCPs
4.13 The comparison between the check point coordinates 71
(leveling method) and the coordinates obtained from
Agisoft PhotoScan using UAV images processing based
xiv
on leveling heights and 10 GCPs
4.14 The comparison between the ground control point 72
coordinates (leveling method) and the coordinates
obtained from Agisoft PhotoScan using UAV images
processing based on leveling heights and 5 GCPs
4.15 The comparison between the check point coordinates 72
(leveling method) and the coordinates obtained from
Agisoft PhotoScan using UAV images processing based
on leveling heights and 5 GCPs
4.16 The RMSE for ground control points where UAV images 73
were processed based on height from RTK-GPS method
4.17 The RMSE for check points where UAV images were 74
processed based on height from RTK-GPS method
4.18 The RMSE for ground control points where UAV images 74
were processed based on height from leveling method
4.19 The RMSE for check points where UAV images were 75
processed based on height from leveling method
4.20 The overall RMSE results for height coordinates 75
4.21 The comparison between the check point height 78
coordinates (leveling method) and the height
coordinates obtained from Agisoft PhotoScan using
UAV images processing based on RTK-GPS heights
and 10 GCPs
4.22 The comparison between the check point height 78
coordinates (leveling method) and the height coordinates
xv
obtained from Agisoft PhotoScan using UAV images
processing based on RTK-GPS heights and 5 GCPs
4.23 The overall RMSE results of check point based on height 79
coordinates from Agisoft PhotoScan (RTK-GPS and
leveling method) comparing with heights obtained from
leveling measurement
xvi
LIST OF FIGURES
FIGURE NO. TITLE PAGE
1.1 The study area 4
1.2 Research Methodology 6
2.1 The accuracy of measurement methods in relation to 10
the object size (Eisenbeiss, 2009)
2.2 Photographic scale (Moffit et al., 1997) 13
2.3 End lap, the overlapping of successive photos along a 13
flight strip (Wolf et al., 2004)
2.4 Overlap of two successive photos (Burns, 2006) 14
2.5 Side lap, the overlapping of adjacent flight strips 15
(Wolf et al., 2004)
2.6 Side lap of two flight line (Burns, 2006) 15
2.7 Control recommended for orienting 17
stereomodels (Wolf et al., 2004)
2.8 Rotary wing UAV called MikroKopter 21
(Haubeck et al., 2013)
2.9 Fixed wing UAV called Cropcam UAV 21
(Sofia et al., 2012)
2.10 Example of a back-and-forth flight path to cover an 23
area (Bailey, 2012)
xvii
2.11 UAV application in forestry for forest fires detection 24
(Huetger et al., 2014)
2.12 Acquisition data from UAV platform for modeling of 25
the complex Neptune temple in Paestum, Italy
(Remondino et al., 2011)
2.13 Use of UAVs for protecting endangered animals 26
(Huetger et al., 2014)
2.14 3D reconstruction on building (Mayer et al., 2008) 26
2.15 Graphic display of 3D model in Agisoft PhotoScan 28
2.16 The graphic display of Orthophoto in Global Mapper. 29
2.17 Relationship between ellipsoidal, geoid and orthometric 31
heights (JUPEM, 2005)
3.1 Flowchart of research methodology 35
3.2 Canon PowerShot SX230 HS digital camera 36
3.3 The position of camera and calibration grid paper 37
3.4 The mosaic of four strips of digital UAV images 39
3.5 The GPS Topcon GR5 Receiver 40
3.6 The geoid separation values in red box generated 41
from Topcon Tools software
3.7 The align photos window in Aggisoft PhotoScan 42
3.8 The sparse point cloud and a set camera positions 43
3.9 The build geometry window in Agisoft PhotoScan 43
3.10 The image result of build geometry 44
3.11 The build texture window in Agisoft PhotoScan 44
xviii
3.12 The 3D image after building texture processed 45
3.13 The display of Topcon Tools software 46
3.14 The place markers in Agisoft PhotoScan 46
3.15 The orthophoto export window in Agisoft PhotoScan 47
3.16 The image of orthophoto generation in .TIFF 47
format file
3.17 Quantitative analysis flowchart 49
3.18 Photogrammetric product (DEM) displayed on 50
Global Mapper
3.19 Photogrammetric product (orthophoto) displayed 50
on Global Mapper
4.1 The Coordinate System item display the setup and 55
conversion tabs on Topcon Tools v.8.2.3
4.2 The digital orthophoto using UAV images processing 57
based on ground control points (10 GCPs)
4.3 The digital orthophoto using UAV images processing 57
based on five ground control points (5 GCPs)
4.4 The DEM reconstruction produced by Agisoft PhotoScan 58
using UAV images processing based on RTK-GPS
heights and ten ground control points (10 GCPs)
4.5 The DEM reconstruction produced by Agisoft PhotoScan 59
using UAV images processing based on height from
leveling method and ten ground control points (10 GCPs)
4.6 The DEM reconstruction produced by Agisoft PhotoScan 59
using UAV images processing based on RTK-GPS
xix
heights and five ground control points (5 GCPs)
4.7 The DEM reconstruction produced by Agisoft PhotoScan 60
using UAV images processing based on height from
leveling method and ten ground control points (5 GCPs)
4.8 The location of ground control points and check 62
points at the study area
4.9 The flowchart for analysis based on different number 66
of GCP
4.10 The flowchart for analysis based on orthometric height 67
observation data
4.11 Graph of RMSE value for all height coordinates 76
4.12 The graph of overall RMSE results for CP height 79
Coordinates
4.13 The contour line overlaid with DEM which is UAV 80
images were processed based on RTK-GPS height and
10 GCPs
4.14 The contour line overlaid with DEM which is UAV 81
images were processed based on height from leveling and
10 GCPs
4.15 The contour line overlaid with DEM which is UAV 81
images were processed based on RTK-GPS height and
5 GCPs
4.16 The contour line overlaid with DEM which is UAV 82
images were processed based on height from leveling and
5 GCPs
xx
4.17 The line feature (yellow line) to create path profile at 82
the study area
4.18 The path profile of photogrammetric product (DEM) 83
using UAV images processing based on RTK-GPS heights
and 10 GCPs
4.19 The path profile of photogrammetric product (DEM) 83
using UAV images processing based on heights from
leveling method and 10 GCPs
4.20 The path profile of photogrammetric product (DEM) 84
using UAV images processing based on RTK-GPS heights
and 5 GCPs
4.21 The path profile of photogrammetric product (DEM) 84
using UAV images processing based on heights from
leveling method and 5 GCPs
xxi
LIST OF ABBREVIATIONS
BM - Benchmark
CP - Check point
CIR - Color-infrared
DEM - Digital Elevation Model
DSM - Digital Surface Model
DTM - Digital Terrain Model
DGPS - Differential Global Positioning System
FVA - Fundamental vertical accuracy
GCP - Ground Control Point
GIS - Geographic Information System
GNSS - Global Navigation Satellite System
GPS - Global Positioning System
GSD - Ground Sampled Distance
LPS - Leica Photogrammetry Suite
NVA - Nonvegetated vertical accuracy
OTF - On-the-fly
RMSE - Root Mean Square Error
RTK - Real Time Kinematic
RTK-GPS - Real Time Kinematic Global Positioning System
SVA - Supplemental vertical accuracy
xxii
UAV - Unmanned Aerial Vehicle
UVS - Unmanned Vehicle System
VTOL - Vertical Takeoff and Landing Vehicles
VVA - Vegetated vertical accuracy
xxiii
LIST OF APPENDICES
APPENDIX TITLE PAGE
A Location of survey points for ground control points and 94
check points at the study area
B Location and coordinate of individual survey points for 95
ground control points and check points of study area
C The data of leveling measurement 104
D UAV images processing procedure in Agisoft 106
PhotoScan version 0.9.0
E The data of RTK-GPS measurement 116
F The installation procedure of the Peninsular Malaysia 118
Geoid Model (WMGEOID04) on Topcon Tools Ver.
8.2.3 software
G The procedure to apply elevation from terrain layers 120
to ground control point on Global Mapper v.15.2.3.
CHAPTER 1
INTRODUCTION
1.1 Background of Research
Photogrammetric technique becomes faster, simpler and lower cost due to
rapid development of technologies in mapping. The development in digital
technologies has increased the reliability in data captured. Research paper related to
mapping using non-matrix camera become more popular due to their lower cost and
time consuming. Although the Unmanned Aerial Vehicle (UAV) was found that
capable in producing digital orthophoto and digital map, but most of the studies are
focusing on the horizontal plane with minimal covered on its height values. There are
many factors that can affect the height coordinates such as camera lens (Tahar,
2013), flying height (Tahar, 2013), image resolution (Zarco-Tejadaa et al., 2014),
digital camera format (Ahmad, 2011) and many more.
This thesis will study about the accuracy assessment in height measurement
by using digital elevation model (DEM) generated from processed UAV images
comparing with known height values of ground control points (GCP). The data of
ground control points will establish using the GPS technique (RTK-GPS) along with
leveling method. The study is expected to provide contribution for an easy and fast
way in getting height points value other than using conventional method such as
leveling. In this study, UAV is used as a platform to capture digital image using high
resolution digital camera. The study area is surrounding the Universiti Teknologi
Malaysia (UTM).
2
1.2 Problem Statement
There are many research related to the UAV techniques. UAV have used to
produced slope map (Tahar, 2012), quantification of tree height (Zarco-Tejadaa et
al., 2014) and many more. Most of the researches give a good result in planimetry
coordinates but little studies at the height coordinates. Tahar et al. (2012), in his
study using UAV on production of slope map, he found that each coordinates of
easting; northing and height recorded the RMSE value of +1.342, +1.660 and +4.666
meters. The result shows a big error on height value. He deduces that a big error on
height value might be caused by the auto tie points that were not well established,
which were being effected due to the image resolution, color balancing and image
quality itself such as blurring effects.
Tahar (2013), in his PhD research using micro UAV for large scale mapping,
he found that the best flying height for UAV is 80 meters above the ground surface
with scale 1:3000, but the result shows accuracies for height coordinates was +3
meter and +40 centimeter for easting and northing. He concluded that the error may
be caused by limitation of camera lens.
Moreover, Ahmad (2011), in his research using low altitude UAV for digital
mapping, the differences in height coordinates between ground height from GPS and
ground height from Erdas Imagine software product reached 1.595 meters. In his
research, he used a small format digital camera and high accuracy could be achieved
by the large format metric camera.
In Tahar and Ahmad (2011) point of views, using UAV for photogrammetric
survey in aerial terrain mapping also found that RMSE for fixed platform are +0.002
m, +0.001 m, +0.214 m for coordinate x, y and z respectively and for mobile
platform are +0.002 m, +0.002 m, +0.223 m for coordinate x, y and z respectively.
Although the result shows, the differences between the mobile and fixed platform are
not significant but they decided that the different on ground control height might be
an effect from the automated tie point that used image-matching technique.
3
Apart from that, Grenzdoerffer et al. (2008) in his study using UAVs in
forestry and agriculture also get the accuracy in z is lower than in x and y. He
concludes that this result might be the consequences of the systematic errors in the
focal length. On the other hand, Zhang (2008) verifies that additional parameters are
essential in aerial triangulation to increase the precision of height coordinate.
From the previous research, there are many factors that influence the height
coordinate. The research question for this study is to determine the procedure of
UAV to get the accurate value in the height coordinate.
1.3 Aim of Study
The aim of this study is to assess the accuracy of height coordinates using
Unmanned Aerial Vehicle images processing based on different number of ground
control point and different orthometric height data.
1.4 Objective of Study
The study objectives are:
a) To evaluate the capabilities of high resolution digital camera and UAV in
generate values of height by produced digital photogrammetric product.
b) To determine the accuracy of height coordinate from digital
photogrammetric product base on different number of ground control
point.
c) To determine the accuracy of height coordinate from digital
photogrammetric product base on height from leveling measurement and
height from RTK-GPS technique.
4
1.5 Significant of Study
The findings of the study is expected to give contribution for determine the
height value of the ground surface in easy and fast way. It is hope can become other
alternative in obtaining the height value in surveying field.
1.6 Scope of Study
The study will be conducted at the main campus of Universiti Teknologi
Malaysia (UTM) with several points of known height values around the campus area.
The digital camera images using UAV platform are used to produce digital
orthophoto and digital elevation model (DEM). Figure 1.1 illustrates the image
which shows the study area that covered an area of 350 m x 290 m.
Figure 1.1: The study area
The digital images are captured by high resolution digital camera attached at
the UAV. The ground control points (GCPs) will be established by GPS observation
290 m
350 m
5
(RTK-GPS method) and leveling. Although the GCPs will give three dimensional
coordinates (East, North and Height), this study will emphasis accuracy assessment
on height coordinates.
1.7 General Methodology
There are four phases covered in this study which are literature review related
to the study and study preparation, the collection of the data, the processing of the
data and data analysis.
The literature review will explain briefly about the photogrammetry and the
development of UAV in many applications and mapping purposes. The study
preparation give an explanation about the preparation should be done in collecting
the data such as instrument used, flight planning and camera calibration of digital
camera.
For the data collection phase, there are three main data should be collected
that are ground control points (GCPs) established from RTK-GPS, camera
calibration parameter from camera calibration and digital images captured by UAV
at the study area. The determination of GCPs and Check Points (CPs) location must
be well organized referred to UAV images for the study area.
In the processing stage, all the data will be processed using photogrammetric
software to produce digital elevation model (DEM). The DEM then will be analyzed
with GCPs and leveling to determine their accuracy by checking the value of root
mean square error (RMSE).
6
Figure 1.2: Research Methodology
Phase 1
Phase 2
Phase 3
Phase 4
Preliminary
Studies
Literature Review
Flight planning
Acquired digital
image from UAV
UAV Images processing
(Using different number of GCPs &
different orthometric height data)
DEM & Orthophoto
Analysis
Conclusion
Digital camera
calibration
Camera
calibration
parameter
RTK-GPS /
Leveling
Establish ground
control point
(GCP)
7
1.8 Thesis Outline
The thesis is divided into five main chapters and the explanation of each
chapter is described as follows:
Chapter 1 is the explanation about the introduction of the study. The chapter
includes briefly explanation about the background of the research in briefly, the
problem statement, objective of the study, significance of the study, scope of the
study and general methodology to achieve the study objectives. This chapter also
shows the flowchart of the research methodology in general that consists four main
phases.
Chapter 2 is the literature review that review the previous research related to
this study. The reviews are based on UAV system in aerial photogrammetry, UAV
application especially in mapping, digital camera image resolution, digital image and
ground resolution. This chapter describes the basic principle of aerial
photogrammetry in determining photo scale, photograph overlap and
photogrammetric control. Apart from that, this chapter also explains about the
software used in processing and analyzing the UAV images. This chapter also
describes the GPS ellipsoidal height, geoid height, orthometric height and
MyGEIOD.
Chapter 3 is the research methodology that explained the flow of the study in
more details. The methods used starting from data acquisition, data processing until
the result will discuss in this chapter. The research methodology flowchart is
included to show the method for this study. Besides that, this chapter also covers the
software which has been used for processing the UAV images and field survey data.
In this study, Agisoft Photoscan Version 0.9.0 and Global Mapper Version 15.2.3
were used to process UAV images. Topcon Tools Version 8.2.3 was used to convert
the GPS ellipsoidal height to GPS orthometric height based on Malaysian Geoid
Models (MyGEOID).
8
Chapter 4 explains the results and analysis of this study. This chapter
discusses on the accuracy assessment of each result on height coordinates. The
results are based on photogrammetric product such as digital elevation model (DEM)
comparing with field survey data from RTK-GPS and leveling method. The analysis
in this study will be shown in the form of graphic and graph presentation. The
analysis of this study is based on quantitative and qualitative analysis with focusing
on ground control points (GCPs) and check points (CPs).
Chapter 5 is the conclusion of the study. This chapter concludes the research
finding of this study. This chapter also discusses the recommendation or suggestion
for further improvement of the future study.
REFERENCES
Agisoft. (2013). Agisoft PhotoScan User Manual. Professional Edition, Version
1.0.0. Agisoft LLC.
Agisoft. (2012). Agisoft PhotoScan User Manual. Professional Edition, Version
0.9.0. Agisoft LLC.
Akkawi, E. (2013). Geomorphology Using Geographic Information System And
Globel Mapper. American Journal of Environmental Science 9 (5): 398-409,
2013
ASPRS. (2013). ASPRS Accuracy Standards for Digital Geospatial Data. Draft For
Review, American Society for Photogrammetry and Remote Sensing
(ASPRS).
Global Mapper. (2014). Global Mapper Help. Global Mapper v15.2.3. Blue Marble
Geographic.
Gatewing. (2012). Software Workflow AgiSoft PhotoScan Pro 0.9.0 For use with
Gatewing X100 UAS. Belgium: A Trimble Company.
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