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Uncrewed aerial system (UAS) structure from motion (SfM) monitoring strategies for individual trees has rapidly expanded in the early 21st century. It has become common for studies to report accuracies for individual tree heights and DBH, along with stand density metrics. This study evaluates individual tree detection and stand basal area accuracy and precision in five ponderosa pine sites against the range of SfM parameters in the Agisoft Metashape, Pix4DMapper, and OpenDroneMap algorithms. The study is designed to frame UAS-SfM individual tree monitoring accuracy in the context of data processing and storage demands as a function of SfM algorithm parameter levels. Results show that when SfM algorithms are properly tuned, differences between software types are negligible, with Metashape providing a median F-score improvement over OpenDroneMap of 0.02 and PIX4DMapper of 0.06. However, tree extraction performance varied greatly across algorithm parameters, with the greatest extraction rates typically coming from parameters causing increased density in dense point clouds and minimal point cloud filtering. Transferring UAS-SfM forest monitoring into management will require tradeoffs between accuracy and efficiency. Our analysis shows that a one-step reduction in dense point cloud quality saves 77–86% in point cloud processing time without decreasing tree extraction (F-score) or basal area precision using Metashape and PIX4DMapper but the same parameter change for OpenDroneMap caused a ~5% loss in precision. Providing reproducible processing strategies is a vital step in successfully transferring these technologies into usage as management tools. [ABSTRACT FROM AUTHOR]

This paper analyzes the performance of the open-source OpenDroneMap image processing software (ODM) across multiple platforms. We tested desktop and laptop computers as well as high-performance cloud computing and supercomputers. Multiple machine configurations (CPU cores and memory) were used. We used eBee S.O.D.A. drone image datasets from Namibia and northern Finland. For testing, we used the OpenDroneMap command line tool with default settings and the fast orthophoto option, which produced a good quality orthomosaic. We also used the “rerun-all option” to ensure that all jobs started from the same point. Our results show that ODM processing time is dependent upon the number of images, a high number of which can lead to high memory demands, with low memory leading to an excessively long processing time. Adding additional CPU cores is beneficial to ODM up to a certain limit. A 20-core machine seems optimal for a dataset of about 1000 images, although 10 cores will result only in slightly longer processing times. We did not find any indication of improvement when processing larger datasets using 40-core machines. For 1000 images, 64 GB memory seems to be sufficient, but for larger datasets of about 8000 images, higher memory of up to 256 GB is required for efficient processing. ODM can use GPU acceleration, at least in some processing stages, reducing processing time. In comparison to commercial software, ODM seems to be slower, but the created orthomosaics are of equal quality.

This paper analyzes the performance of the open-source OpenDroneMap image processing software (ODM) across multiple platforms. We tested desktop and laptop computers as well as high-performance cloud computing and supercomputers. Multiple machine configurations (CPU cores and memory) were used. We used eBee S.O.D.A. drone image datasets from Namibia and northern Finland. For testing, we used the OpenDroneMap command line tool with default settings and the fast orthophoto option, which produced a good quality orthomosaic. We also used the "rerun-all option" to ensure that all jobs started from the same point. Our results show that ODM processing time is dependent upon the number of images, a high number of which can lead to high memory demands, with low memory leading to an excessively long processing time. Adding additional CPU cores is beneficial to ODM up to a certain limit. A 20-core machine seems optimal for a dataset of about 1000 images, although 10 cores will result only in slightly longer processing times. We did not find any indication of improvement when processing larger datasets using 40-core machines. For 1000 images, 64 GB memory seems to be sufficient, but for larger datasets of about 8000 images, higher memory of up to 256 GB is required for efficient processing. ODM can use GPU acceleration, at least in some processing stages, reducing processing time. In comparison to commercial software, ODM seems to be slower, but the created orthomosaics are of equal quality. [ABSTRACT FROM AUTHOR]

Weed management is a crucial issue in agriculture, resulting in environmental in-field and off-field impacts. Within Agriculture 4.0, adoption of UASs combined with spatially explicit approaches may drastically reduce doses of herbicides, increasing sustainability in weed management. However, Agriculture 4.0 technologies are barely adopted in small-medium size farms. Recently, small and low-cost UASs, together with open-source software packages, may represent a low-cost spatially explicit system to map weed distribution in crop fields. The general aim is to map weed distribution by a low-cost UASs and a replicable workflow, completely based on open GIS software and algorithms: OpenDroneMap, QGIS, SAGA and OpenCV classification algorithms. Specific objectives are: (i) testing a low-cost UAS for weed mapping; (ii) assessing open-source packages for semi-automatic weed classification; (iii) performing a sustainable management scenario by prescription maps. Results showed high performances along the whole process: in orthomosaic generation at very high spatial resolution (0.01 m/pixel), in testing weed detection (Matthews Correlation Coefficient: 0.67–0.74), and in the production of prescription maps, reducing herbicide treatment to only 3.47% of the entire field. This study reveals the feasibility of low-cost UASs combined with open-source software, enabling a spatially explicit approach for weed management in small-medium size farmlands.

Salt marsh ecology classification is difficult using traditional coarse resolution remote sensing techniques. Salt marshes exhibit a spatial pattern of vegetation zonation that are visually identifiable using imagery that has an improved 0.04 meter per pixel resolution. This project applies high resolution unmanned aerial system (UAS) imagery to aid in multi-temporal classification of our study area (Horseneck Beach) in Westport, Massachusetts, USA. We flew a DJI Phantom Pro 3 at low- and high-tide to capture effects the changing tide has on vegetation in an effort to predict effects of the rising sea level on saline plant species. We implement an open source software workflow using OpenDroneMap and the Semi-Automatic Classification Plugin for QGIS to create the necessary orthomosaics and to conduct vegetation classification required of this project. We compare land cover classifications using one-time-point RGB imagery to a multi-time-point (low tide, high tide) RGB image stack to investigate whether the multi-time point stack improves land cover classification accuracy. We find it does. More generally, this paper provides a model for others wishing to use low-cost UAS equipment carrying a simple low-cost RGB camera, and free and open source for geospatial (FOSS4G) tools, to develop multi-band image stacks to improve land cover classification accuracy. Further, we provide some reflections and technical notes on our experience. The approach we present here could be extended to include other image layers that UAS can provide when equipped with other sensors, such as multi-spectral (e.g., NIR, thermal), or by adding another band with photogrammetry-produced digital elevation data. [ABSTRACT FROM AUTHOR]

The acquisition, storage, and processing of huge amounts of data and their fast analysis to generate information is not a new approach, but it becomes challenging through smart decision-making on the choice of hardware and software improvements. In the specific cases of environment protection, nature conservation, and precision farming, where fast and accurate reactions are required, drone technologies with imaging sensors are of interest in many research groups. However, post-processing of the images acquired by drone-based sensors such as the generation of orthomosaics from aerial images and superimposing the orthomosaics on a global map to identify the exact locations of the interested area is computationally intensive and sometimes takes hours or even days to achieve desired results. Initial tests have shown that photogrammetry software takes less time to generate an orthomosaic by running them on a workstation with higher CPU, RAM and GPU configurations. Tasks like setting up the application environment with dependencies, making this setup portable and manage installed services can be challenging, especially for small-and-medium-sized enterprises that have limited resources in exploring different architectures. To enhance the competitiveness of the small and medium-sized enterprises and research institutions, the accessibility of the proposed solution includes the integration of open-source tools and frameworks such as Kubernetes (version v1.13.4, available online: https://kubernetes.io/) and OpenDroneMap (version 0.3, available online: https://github.com/OpenDroneMap/ODM) enabling a reference architecture that is as vendor-neutral as possible. Current work is based on an on-premise cluster computing approach for fast and efficient photogrammetry process using open source software such as OpenDroneMap combined with light-weight containerization techniques such as Docker (version 17.12.1, available online: https://www.docker.io/), orchestrated by Kubernetes. The services provided by OpenDroneMap enable microservice-based architecture. These container-based services can be administered easily by a container orchestrator like Kubernetes. After setting up the servers with core OpenDroneMap services on our container-based cluster with Kubernetes as the orchestrator engine, the plan is to use the advantages of Kubernetes' powerful management capabilities to help maximize resource efficiency as the basis for creating Service Level Agreements to provide a cloud service.

Unmanned Aerial Vehicles (UAV) are a rapidly evolving tool in geosciences and are increasingly deployed for studying the dynamic processes of the earth’s surface. To assess the potential of autonomous low-cost UAVs for the mapping and monitoring of alpine glaciers, we conducted multiple aerial surveys on the Kanderfirn in the Swiss Alps in 2017 and 2018 using open hardware and software of the Paparazzi UAV project. The open-source photogrammetry software OpenDroneMap was tested for the generation of high-resolution orthophotos and digital surface models (DSMs) from aerial imagery and cross-checked with the well-established proprietary software Pix4D. Accurately measured ground control points served for the determination of the geometric accuracy of the orthophotos and DSMs. A horizontal (xy) accuracy of 0.7−1.2 m and a vertical (z) accuracy of 0.7−2.1 m was achieved for OpenDroneMap, compared to a xy-accuracy of 0.3−0.5 m and a z-accuracy of 0.4−0.5 m obtained for Pix4D. Based on the analysis and comparison of different orthophotos and DSMs, surface elevation, roughness and brightness changes from 3 June to 29 September 2018 were quantified. While the brightness of the glacier surface decreased linearly over the ablation season, the surface roughness increased. The mean DSM-based elevation change across the glacier tongue was 8 m, overestimating the measured melting and surface lowering at the installed ablation stakes by about 1.5 m. The presented results highlight that self-built fixed-wing UAVs in tandem with open-source photogrammetry software are an affordable alternative to commercial remote-sensing platforms and proprietary software. The applied low-cost approach also provides great potential for other regions and geoscientific disciplines.

Weed management is a crucial issue in agriculture, resulting in environmental in-field and off-field impacts. Within Agriculture 4.0, adoption of UASs combined with spatially explicit approaches may drastically reduce doses of herbicides, increasing sustainability in weed management. However, Agriculture 4.0 technologies are barely adopted in small-medium size farms. Recently, small and low-cost UASs, together with open-source software packages, may represent a low-cost spatially explicit system to map weed distribution in crop fields. The general aim is to map weed distribution by a low-cost UASs and a replicable workflow, completely based on open GIS software and algorithms: OpenDroneMap, QGIS, SAGA and OpenCV classification algorithms. Specific objectives are: (i) testing a low-cost UAS for weed mapping; (ii) assessing open-source packages for semi-automatic weed classification; (iii) performing a sustainable management scenario by prescription maps. Results showed high performances along the whole process: in orthomosaic generation at very high spatial resolution (0.01 m/pixel), in testing weed detection (Matthews Correlation Coefficient: 0.67–0.74), and in the production of prescription maps, reducing herbicide treatment to only 3.47% of the entire field. This study reveals the feasibility of low-cost UASs combined with open-source software, enabling a spatially explicit approach for weed management in small-medium size farmlands. [ABSTRACT FROM AUTHOR]

Unmanned Aerial Vehicles (UAV) are a rapidly evolving tool in geosciences and are increasingly deployed for studying the dynamic processes of the earth's surface. To assess the potential of autonomous low-cost UAVs for the mapping and monitoring of alpine glaciers, we conducted multiple aerial surveys on the Kanderfirn in the Swiss Alps in 2017 and 2018 using open hardware and software of the Paparazzi UAV project. The open-source photogrammetry software OpenDroneMap was tested for the generation of high-resolution orthophotos and digital surface models (DSMs) from aerial imagery and cross-checked with the well-established proprietary software Pix4D. Accurately measured ground control points served for the determination of the geometric accuracy of the orthophotos and DSMs. A horizontal (xy) accuracy of 0.7–1.2 m and a vertical (z) accuracy of 0.7–2.1 m was achieved for OpenDroneMap, compared to a xy-accuracy of 0.3–0.5 m and a z-accuracy of 0.4–0.5 m obtained for Pix4D. Based on the analysis and comparison of different orthophotos and DSMs, surface elevation, roughness and brightness changes from 3 June to 29 September 2018 were quantified. While the brightness of the glacier surface decreased linearly over the ablation season, the surface roughness increased. The mean DSM-based elevation change across the glacier tongue was 8 m, overestimating the measured melting and surface lowering at the installed ablation stakes by about 1.5 m. The presented results highlight that self-built fixed-wing UAVs in tandem with open-source photogrammetry software are an affordable alternative to commercial remote-sensing platforms and proprietary software. The applied low-cost approach also provides great potential for other regions and geoscientific disciplines. [ABSTRACT FROM AUTHOR]