An Object An Object- -Oriented Software Oriented Software - - PowerPoint PPT Presentation

Rakesh Kumar Rakesh Kumar Mishra Mishra

An Object An Object-

• Oriented Software

Oriented Software Development Approach to Design Development Approach to Design Development Approach to Design Development Approach to Design Simulator for Airborne Altimetric LiDAR Simulator for Airborne Altimetric LiDAR

Rakesh Kumar Mishra, Bharat Lohani Geoinformatics division I di I tit t f T h l K

Indian Institute of Technology Kanpur Indian Institute of Technology Kanpur

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Indian Institute of Technology Kanpur Kanpur, INDIA

Rakesh Kumar Rakesh Kumar Mishra Mishra

P i i l f LiDAR P i i l f LiDAR Principle of LiDAR Principle of LiDAR

Laser transmitter

INS, GPS, Scanner

d (x,y,z, direction cosines) d

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X,Y,Z

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LiDAR T h l LiDAR T h l LiDAR Technology LiDAR Technology

Provides accurate topographic data at high speed Data collection with higher density accuracy & less time Data collection with higher density, accuracy & less time Weather and light independent

Applications:

• DEM generation
• Flood hazard zonation

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• Cellular networks etc.

Rakesh Kumar Rakesh Kumar Mishra Mishra

Object Object-

• Oriented Software

Oriented Software j Development Development

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Initial Investigation (Why simulator ?) Initial Investigation (Why simulator ?)

LiDAR Instrument is very costly LiDAR data is not available in most of the countries LiDAR data is not available in most of the countries LiDAR data is not available for teaching as required g q LiDAR data is not available for research as required Software for flight planning

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Requirements Requirements Requirements Requirements

User friendly GUI Simulation of generic as well as commercial sensors Simulation of earth like surfaces Flight trajectory as in case of actual flight Flight trajectory as in case of actual flight Possibilities of error introduction Output data in common format

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Help and tutorial

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Feasibility study Feasibility study

Sufficient background is available for the system Sufficient background is available for the system development The system can be engineered using current technology Development can be done within the budget & time Developed system will be useful for the user group

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Object Object-

• Oriented analysis

Oriented analysis

Surface Trajectory

User

Integration

Output

Sensor

Use case diagram

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Objects in the problem domain is identified Object relationships are made Object state table is developed Object state table is developed Inheritance diagram for objects is made

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Obj t Obj t ri nt d d i n ri nt d d i n Object Object-oriented design

• riented design

INPUT Terrain Sensor Trajectory Integration Terrain component Sensor component Trajectory component OUTPUT

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Terrain components Terrain components Terrain components Terrain components

Terrain t component Raster surface Polynomial surface Fractal surface

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Sensor components Sensor components Sensor components Sensor components

Sensor t component ALTM Generic sensor ALS 50

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Trajectory components Trajectory components Trajectory components Trajectory components

Trajectory component Location Attitude

Acceleration Velocity

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Cl d i n Cl d i n Class design Class design

Identify classes from the components Identify classes from the components Identify subclass within each class Identify abstraction in each class Identify the common behaviour of classes

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S t m impl m nt ti n S t m impl m nt ti n System implementation System implementation

Java is used to realize the design Java is used to realize the design Each classes are implemented with its relationship Standard way of coding is used Methods are designed for each basic task

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C mpl iti h ndl d C mpl iti h ndl d Complexities handled Complexities handled

Efficient algorithms are designed Efficient algorithms are designed Threads are used to optimize software execution Special data structures are designed to handle memory problems New file formats are designed to improve I/O

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Software Software Screenshots Screenshots

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Polynomial surface Polynomial surface Indian Institute of Technology Kanpur Indian Institute of Technology Kanpur

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Raster surface(City model) Raster surface(City model) Indian Institute of Technology Kanpur Indian Institute of Technology Kanpur

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Fractal surface Fractal surface Indian Institute of Technology Kanpur Indian Institute of Technology Kanpur

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Acceleration Acceleration Indian Institute of Technology Kanpur Indian Institute of Technology Kanpur

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Sensor component Sensor component Indian Institute of Technology Kanpur Indian Institute of Technology Kanpur

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System defined optimal flight lines System defined optimal flight lines System defined optimal flight lines System defined optimal flight lines

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User defined optimal flight lines User defined optimal flight lines User defined optimal flight lines User defined optimal flight lines

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Attitude Attitude Indian Institute of Technology Kanpur Indian Institute of Technology Kanpur

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Error simulation Error simulation Indian Institute of Technology Kanpur Indian Institute of Technology Kanpur

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Output generation Output generation Indian Institute of Technology Kanpur Indian Institute of Technology Kanpur

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Software Software Results Results Software Software Results Results

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Altitude=210m

Overlap=4% Velocity=60m/s

3D Raster terrain (Displayed in Surfer) 3D Raster terrain (Displayed in Surfer)

Velocity=60m/s Sensor-ALS-50 Firing frequency=20KHz Scan frequency=48Hz Scan angle=40° Flight area=430m×430m Flight area 430m 430m

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Lidar data plot in plan Lidar data plot in plan

A A A-A B-B

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Profile A Profile A-

• A with and without error

A with and without error

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Profile B Profile B-

• B with respect to flight lines

B with respect to flight lines

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LiDAR data without error LiDAR data without error

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LiDAR data with error LiDAR data with error

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Data without attitude variation Data without attitude variation

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Data with attitude variation Data with attitude variation

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Fractal surface displayed in Surfer Fractal surface displayed in Surfer

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LiDAR data of fractal surface LiDAR data of fractal surface

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Bharat Lohani, IIT Kanpur India

Rakesh Kumar Rakesh Kumar Mishra Mishra

Terrain with objects Terrain with objects

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Altitude=490m

Overlap=2% l / Velocity=60m/s Sensor-ALS-50 Firing frequency=20KHz Scan frequency=48Hz Scan angle=50° Flight area=640m×460m

LiDAR data of terrain with objects LiDAR data of terrain with objects

Flight area=640m×460m

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Profile view of buildings Profile view of buildings

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Eff t f diff t fli ht di ti Eff t f diff t fli ht di ti Effect of different flight direction Effect of different flight direction

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Use of Simulator Use of Simulator Use of Simulator Use of Simulator

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Ed ti Ed ti Education Education

Process of LiDAR data generation Process of LiDAR data generation Effect of change in various parameters Effect of error in data Effect of different sensors on LiDAR data Generating data for known ground truth Conducting various lab exercises

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Conducting various lab exercises

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R h R h Research Research

Evaluation of information extraction algorithms Evaluation of information extraction algorithms Assessing effect of error on performance of algorithms Study the effect of parameters on data Generate data of different specifications with no cost Finding optimal data specification for an application

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Fli ht l i Fli ht l i Flight planning Flight planning

Determine the optimal flight line Effect of sensor parameters on data Effect of data density Effect of data density Determine the optimal sensor parameters

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C l i C l i Conclusion Conclusion

Offers a user friendly GUI based interface Simulate the process of LiDAR data collection Freedom to set the sensor parameters M d t t b t d f th t i Many data sets can be generated for the same terrain Ideal software tool for LiDAR research and education Ideal software tool for LiDAR research and education OOSD makes it easily maintainable and scalable software

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Rakesh Kumar Rakesh Kumar Mishra Mishra

Rakesh Kumar Mishra

• Sr. Project Associate

Geoinformatics division Geoinformatics division Indian Institute of Technology Kanpur Kanpur, INDIA-208016 E M il k i h @iitk i

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E-Mail: rkmishra@iitk.ac.in