Sensors and System for Vehicle Navigation.

In recent years, vehicle navigation, in particular autonomous navigation, has been at the center of several major developments, both in civilian and defense applications [...].

Sensors and Sensor's Fusion in Autonomous Vehicles.

Autonomous vehicle navigation has been at the center of several major developments, both in civilian and defense applications [...].

Tracking Fluorescent Dye Dispersion from an Unmanned Aerial Vehicle.

Commercial unmanned aerial vehicles continue to gain popularity and their use for collecting image data and recording new phenomena is becoming more frequent. This study presents an effective method for measuring the concentration of fluorescent dyes (fluorescein and Rhodamine WT) for the purpose of providing a mathematical dispersion model. Image data obtained using a typical visible-light camera was used to measure the concentration of the dye floating on water. The reference measurement was taken using a laboratory fluorometer. The article presents the details of three extensive measurement sessions and presents elements of a newly developed method for measuring fluorescent tracer concentrations. The said method provides tracer concentration maps presented on the example of an orthophoto within a 2 × 2 m discrete grid.

UAV Photogrammetry under Poor Lighting Conditions-Accuracy Considerations.

The use of low-level photogrammetry is very broad, and studies in this field are conducted in many aspects. Most research and applications are based on image data acquired during the day, which seems natural and obvious. However, the authors of this paper draw attention to the potential and possible use of UAV photogrammetry during the darker time of the day. The potential of night-time images has not been yet widely recognized, since correct scenery lighting or lack of scenery light sources is an obvious issue. The authors have developed typical day- and night-time photogrammetric models. They have also presented an extensive analysis of the geometry, indicated which process element had the greatest impact on degrading night-time photogrammetric product, as well as which measurable factor directly correlated with image accuracy. The reduction in geometry during night-time tests was greatly impacted by the non-uniform distribution of GCPs within the study area. The calibration of non-metric cameras is sensitive to poor lighting conditions, which leads to the generation of a higher determination error for each intrinsic orientation and distortion parameter. As evidenced, uniformly illuminated photos can be used to construct a model with lower reprojection error, and each tie point exhibits greater precision. Furthermore, they have evaluated whether commercial photogrammetric software enabled reaching acceptable image quality and whether the digital camera type impacted interpretative quality. The research paper is concluded with an extended discussion, conclusions, and recommendation on night-time studies.

A New Adaptive Method for the Extraction of Steel Design Structures from an Integrated Point Cloud.

The continuous and intensive development of measurement technologies for reality modelling with appropriate data processing algorithms is currently being observed. The most popular methods include remote sensing techniques based on reflected-light digital cameras, and on active methods in which the device emits a beam. This research paper presents the process of data integration from terrestrial laser scanning (TLS) and image data from an unmanned aerial vehicle (UAV) that was aimed at the spatial mapping of a complicated steel structure, and a new automatic structure extraction method. We proposed an innovative method to minimize the data size and automatically extract a set of points (in the form of structural elements) that is vital from the perspective of engineering and comparative analyses. The outcome of the research was a complete technology for the acquisition of precise information with regard to complex and high steel structures. The developed technology includes such elements as a data integration method, a redundant data elimination method, integrated photogrammetric data filtration and a new adaptive method of structure edge extraction. In order to extract significant geometric structures, a new automatic and adaptive algorithm for edge extraction from a random point cloud was developed and presented herein. The proposed algorithm was tested using real measurement data. The developed algorithm is able to realistically reduce the amount of redundant data and correctly extract stable edges representing the geometric structures of a studied object without losing important data and information. The new algorithm automatically self-adapts to the received data. It does not require any pre-setting or initial parameters. The detection threshold is also adaptively selected based on the acquired data.

Seabed Topography Changes in the Sopot Pier Zone in 2010-2018 Influenced by Tombolo Phenomenon.

Bathymetric surveys of the same body of water, performed at regular intervals, apart from updating the geospatial information used to create paper and electronic maps, allow for several additional analyses, including an evaluation of geomorphological changes occurring in the coastal zone. This research is particularly important in places where the shape of the coastal zone has been violently disturbed, including by human activity. Tombolo is such a phenomenon and it dynamically shapes the new hydrological conditions of the coastal zone. Apart from natural factors, it may be caused by the construction of hydrotechnical facilities in the littoral zone. It causes a significant disturbance in the balance of the marine environment, resulting in the bottom accretion and dynamic changes in the coastline. This has been the case since 2010 in Sopot, where the rapidly advancing tombolo is not only changing environmental relations but also threatening the health-spa character of the town by stopping the transport of sand along the coast. This paper analyses changes in seabed shape in the pier area in Sopot between 2010 and 2018. In the analysis, both archival maps and bathymetric surveys over a period of 8 years were used; based on these, numerical bottom models were developed and their geospatial changes were analyzed. The results showed that changes in the seabed in this area are progressing very quickly, despite periodic dredging actions organized by administrative bodies.

Using UAV Photogrammetry to Analyse Changes in the Coastal Zone Based on the Sopot Tombolo (Salient) Measurement Project.

The main factors influencing the shape of the beach, shoreline and seabed include undulation, wind and coastal currents. These phenomena cause continuous and multidimensional changes in the shape of the seabed and the Earth's surface, and when they occur in an area of intense human activity, they should be constantly monitored. In 2018 and 2019, several measurement campaigns took place in the littoral zone in Sopot, related to the intensive uplift of the seabed and beach caused by the tombolo phenomenon. In this research, a unique combination of bathymetric data obtained from an unmanned surface vessel, photogrammetric data obtained from unmanned aerial vehicles and ground laser scanning were used, along with geodetic data from precision measurements with receivers of global satellite navigation systems. This paper comprehensively presents photogrammetric measurements made from unmanned aerial vehicles during these campaigns. It describes in detail the problems in reconstruction within the water areas, analyses the accuracy of various photogrammetric measurement techniques, proposes a statistical method of data filtration and presents the changes that occurred within the studies area. The work ends with an interpretation of the causes of changes in the land part of the littoral zone and a summary of the obtained results.

Accuracy of Trajectory Tracking Based on Nonlinear Guidance Logic for Hydrographic Unmanned Surface Vessels.

A new trend in recent years for hydrographic measurement in water bodies is the use of unmanned surface vehicles (USVs). In the process of navigation by USVs, it is particularly important to control position precisely on the measuring profile. Precise navigation with respect to the measuring profile avoids registration of redundant data and thus saves time and survey costs. This article addresses the issue of precise navigation of the hydrographic unit on the measuring profile with the use of a nonlinear adaptive autopilot. The results of experiments concerning hydrographic measurements performed in real conditions using an USV are discussed.