I
nte
rna
t
io
na
l J
o
urna
l o
f
E
lect
rica
l a
nd
Co
m
pu
t
er
E
ng
ineering
(
I
J
E
CE
)
Vo
l.
15
,
No
.
4
,
A
u
g
u
s
t
20
25
,
p
p
.
3
7
4
8
~
3
7
5
8
I
SS
N:
2088
-
8
7
0
8
,
DOI
: 1
0
.
1
1
5
9
1
/ijece.
v
15
i
4
.
pp
3
7
4
8
-
3
7
5
8
3748
J
o
ur
na
l ho
m
ep
a
g
e
:
h
ttp
:
//ij
ec
e.
ia
esco
r
e.
co
m
Them
a
tic
revi
e
w
o
f
lig
ht
de
tec
tion
a
nd rang
ing
a
nd
pho
tog
ra
mm
etric
t
echno
lo
g
ies in
u
nma
nned aeria
l v
ehicles:
co
mpa
riso
n,
a
dv
a
ntag
es, and dis
a
d
v
a
ntag
es
Dieg
o
Alex
a
nd
er
G
ó
m
ez
-
M
o
y
a
,
Yeiso
n Alber
t
o
G
a
rc
és
-
G
ó
m
ez
F
a
c
u
l
t
y
o
f
E
n
g
i
n
e
e
r
i
n
g
a
n
d
A
r
c
h
i
t
e
c
t
u
r
e
,
U
n
i
v
e
r
si
d
a
d
C
a
t
ó
l
i
c
a
d
e
M
a
n
i
z
a
l
e
s,
M
a
n
i
z
a
l
e
s,
C
o
l
o
m
b
i
a
Art
icle
I
nfo
AB
S
T
RAC
T
A
r
ticle
his
to
r
y:
R
ec
eiv
ed
Au
g
1
6
,
2
0
2
4
R
ev
is
ed
Ma
r
2
0
,
2
0
2
5
Acc
ep
ted
Ma
y
2
3
,
2
0
2
5
Th
e
d
e
v
e
lo
p
m
e
n
t
o
f
u
n
m
a
n
n
e
d
a
e
rial
v
e
h
icle
s
(UA
Vs
)
h
a
s
p
o
siti
v
e
l
y
in
flu
e
n
c
e
d
v
a
ri
o
u
s
re
m
o
te
se
n
sin
g
tec
h
n
iq
u
e
s,
m
a
k
in
g
th
e
m
m
o
re
a
c
c
e
s
sib
le
to
d
iffere
n
t
t
y
p
e
s
o
f
u
se
rs.
A
m
o
n
g
t
h
e
se
,
p
h
o
t
o
g
ra
m
m
e
try
a
n
d
li
g
h
t
d
e
tec
ti
o
n
a
n
d
ra
n
g
i
n
g
(
Li
DA
R)
sta
n
d
o
u
t
fo
r
t
h
e
ir
v
e
rsa
ti
li
ty
a
n
d
p
o
ss
ib
i
li
ti
e
s
in
terra
in
m
o
d
e
li
n
g
.
Th
is
stu
d
y
e
v
a
lu
a
tes
th
e
a
d
v
a
n
tag
e
s
o
f
e
a
c
h
o
n
e
in
v
a
ri
o
u
s
field
s
o
f
k
n
o
wle
d
g
e
a
n
d
i
n
d
u
stry
,
c
o
m
p
a
rin
g
t
h
e
i
r
p
o
ss
ib
i
li
ti
e
s
in
term
s
o
f
p
o
si
ti
o
n
a
l
a
c
c
u
ra
c
y
,
c
o
m
p
lete
n
e
ss
,
a
n
d
e
fficie
n
c
y
i
n
terra
in
m
o
d
e
li
n
g
.
It
is
e
v
i
d
e
n
t
th
a
t
th
e
u
se
o
f
th
e
se
tec
h
n
i
q
u
e
s
i
n
d
iffere
n
t
a
re
a
s
g
e
n
e
ra
tes
a
n
o
p
p
o
rtu
n
it
y
to
imp
lem
e
n
t
a
l
g
o
rit
h
m
s
o
r
p
ro
c
e
ss
e
s
in
m
a
p
p
in
g
a
n
d
c
a
rto
g
ra
p
h
y
.
Re
g
a
r
d
in
g
t
h
e
ir
u
se
,
t
h
e
a
d
v
a
n
tag
e
o
f
t
h
e
Li
DA
R
se
n
so
r
is
id
e
n
ti
fie
d
in
i
n
h
o
sp
it
a
b
le
a
n
d
in
a
c
c
e
ss
ib
le
a
re
a
s
c
o
v
e
re
d
b
y
v
e
g
e
tatio
n
a
n
d
with
p
r
o
b
lem
s
in
th
e
g
e
o
d
e
ti
c
n
e
two
rk
.
O
n
th
e
o
t
h
e
r
h
a
n
d
,
th
e
v
e
rsa
ti
li
ty
o
f
p
h
o
to
g
ra
m
m
e
try
is
s
h
o
wn
i
n
sm
a
ll
a
re
a
s
with
e
x
p
o
se
d
so
il
.
Th
e
a
d
v
a
n
tag
e
o
f
p
o
in
t
c
l
o
u
d
fu
s
io
n
o
r
t
h
e
c
o
m
b
i
n
a
ti
o
n
o
f
tec
h
n
i
q
u
e
s
in
t
h
e
c
o
n
stru
c
ti
o
n
in
d
u
str
y
a
n
d
in
a
rc
h
a
e
o
lo
g
ica
l
a
n
d
a
rc
h
i
tec
tu
ra
l
su
r
v
e
y
s
is
a
ls
o
n
o
ted
.
F
i
n
a
ll
y
,
e
m
p
h
a
sis
is
p
l
a
c
e
d
o
n
v
a
riab
les
to
c
o
n
si
d
e
r,
su
c
h
a
s
g
e
o
re
fe
re
n
c
in
g
tec
h
n
iq
u
e
s,
t
h
e
g
r
o
u
n
d
c
o
n
tr
o
l
p
o
in
t
(G
CP
)
n
e
two
r
k
,
a
lg
o
rit
h
m
s
a
n
d
s
o
ftwa
re
,
a
n
d
fl
i
g
h
t
p
lan
re
v
iew
s,
in
o
rd
e
r
t
o
im
p
ro
v
e
th
e
ir
a
c
c
u
ra
c
y
.
K
ey
w
o
r
d
s
:
L
ig
h
t d
etec
tio
n
a
n
d
r
a
n
g
in
g
Ph
o
to
g
r
am
m
et
r
y
Po
s
itio
n
al
ac
cu
r
ac
y
R
em
o
te
s
en
s
in
g
Un
m
an
n
ed
ae
r
ial
v
eh
icles
T
h
is i
s
a
n
o
p
e
n
a
c
c
e
ss
a
rticle
u
n
d
e
r th
e
CC B
Y
-
SA
li
c
e
n
se
.
C
o
r
r
e
s
p
o
nd
ing
A
uth
o
r
:
Yeiso
n
Alb
er
to
Gar
cé
s
-
Gó
m
e
z
Facu
lty
o
f
E
n
g
in
ee
r
in
g
an
d
Ar
ch
itectu
r
e,
Un
iv
er
s
id
ad
C
ató
lica
d
e
Ma
n
izale
s
C
r
a
2
3
No
6
0
-
6
3
,
Ma
n
izale
s
,
C
o
lo
m
b
ia
E
m
ail: y
g
ar
ce
s
@
u
cm
.
ed
u
.
c
o
1.
I
NT
RO
D
UCT
I
O
N
Po
s
itio
n
al
ac
cu
r
ac
y
is
d
ef
in
e
d
as
th
e
d
if
f
er
e
n
ce
b
etwe
en
t
h
e
m
ea
s
u
r
ed
v
al
u
e
an
d
th
e
ex
p
e
cted
v
alu
e.
I
t
is
also
co
n
s
id
er
ed
a
f
u
n
d
am
en
tal
ch
ar
ac
ter
is
tic
in
th
e
d
if
f
er
e
n
t
s
o
lu
tio
n
s
aim
ed
at
u
n
d
e
r
s
tan
d
in
g
t
h
e
en
v
ir
o
n
m
en
t,
d
u
e
to
th
e
co
n
ti
n
u
o
u
s
n
ee
d
t
o
m
o
d
el
th
e
g
e
o
g
r
ap
h
ic
s
p
ac
e,
wh
eth
e
r
to
ca
r
r
y
o
u
t
d
esig
n
s
t
h
at
allo
w
h
u
m
a
n
d
e
v
elo
p
m
e
n
t
o
r
to
m
itig
ate
p
r
o
b
lem
s
g
e
n
er
a
ted
b
y
th
r
ea
ts
.
Po
s
itio
n
al
a
cc
u
r
ac
y
ca
n
in
cl
u
d
e
m
ea
s
u
r
em
en
t
u
n
ce
r
tain
ties
r
an
g
in
g
f
r
o
m
m
eter
s
to
h
ig
h
p
r
ec
is
io
n
s
in
v
o
lv
in
g
m
illi
m
eter
m
ea
s
u
r
em
en
ts
[
1
]
.
His
to
r
i
ca
lly
,
wo
r
k
r
eq
u
ir
in
g
h
ig
h
p
r
ec
is
io
n
h
as
b
ee
n
ca
r
r
i
ed
o
u
t
with
co
n
v
en
tio
n
al
s
u
r
v
ey
in
g
a
n
d
g
e
o
d
etic
m
eth
o
d
s
th
at
in
clu
d
e
g
lo
b
al
n
av
ig
atio
n
s
atellite
s
y
s
tem
s
(
G
NSS).
Ho
wev
er
,
with
th
e
ev
o
lu
tio
n
o
f
u
n
m
a
n
n
ed
ae
r
ial
v
eh
icles
(
UAVs)
,
m
ea
s
u
r
em
en
t
th
r
o
u
g
h
in
d
ir
ec
t
m
eth
o
d
s
s
u
ch
as
p
h
o
to
g
r
am
m
etr
y
an
d
d
ir
ec
t
m
eth
o
d
s
s
u
ch
as
lig
h
t
d
etec
tio
n
a
n
d
r
a
n
g
in
g
(
L
iDAR
)
h
as
in
cr
ea
s
ed
its
p
o
s
itio
n
al
ac
cu
r
ac
y
.
T
h
e
g
r
ea
t
ad
v
a
n
tag
e
o
f
th
ese
v
eh
icles
is
r
elate
d
to
co
s
t,
s
in
ce
it
co
n
s
id
er
ab
l
y
r
ed
u
ce
s
th
e
v
alu
e
in
s
u
r
v
ey
s
o
f
lar
g
e
ar
ea
s
;
in
ad
d
itio
n
,
th
ey
allo
w
ca
p
tu
r
i
n
g
in
f
o
r
m
ati
o
n
in
h
ar
d
-
to
-
r
ea
ch
ar
ea
s
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
t J E
lec
&
C
o
m
p
E
n
g
I
SS
N:
2088
-
8
7
0
8
Th
ema
tic
r
ev
iew
o
f LiDA
R
a
n
d
p
h
o
t
o
g
r
a
mme
tr
ic
tech
n
o
lo
g
i
es in
…
(
Dieg
o
A
lexa
n
d
er Gó
mez Mo
ya
)
3749
C
u
r
r
en
tly
,
th
e
m
o
s
t
p
o
p
u
l
ar
UAVs
ar
e
th
o
s
e
eq
u
ip
p
ed
with
g
lo
b
al
n
av
ig
atio
n
s
atellite
s
y
s
tem
s
/
in
er
tial
n
av
ig
atio
n
s
y
s
tem
(
GNSS/
I
N
S
)
r
ec
eiv
er
s
an
d
s
en
s
o
r
s
with
h
ig
h
s
p
atial
an
d
/o
r
r
a
d
io
m
etr
ic
r
eso
lu
tio
n
s
,
as
th
ey
h
av
e
ap
p
l
icatio
n
s
in
e
ar
th
,
n
atu
r
al,
an
d
en
v
ir
o
n
m
en
tal
s
cien
ce
s
,
e
n
g
i
n
ee
r
in
g
,
as
well
as
u
s
es
in
v
ar
io
u
s
f
ield
s
o
f
th
e
ec
o
n
o
m
y
an
d
in
d
u
s
tr
y
,
in
clu
d
in
g
ag
r
ic
u
ltu
r
e,
c
o
n
s
tr
u
ctio
n
,
an
d
in
f
r
astru
ct
u
r
e
[
2
]
.
UAVs
h
av
e
ap
p
r
o
x
im
ately
1
5
0
y
ea
r
s
o
f
h
is
to
r
y
;
t
h
eir
d
e
v
el
o
p
m
en
t
in
clu
d
es
e
v
er
y
th
i
n
g
f
r
o
m
k
ites
to
m
o
d
er
n
eq
u
ip
m
en
t,
i
n
clu
d
in
g
b
allo
o
n
s
an
d
p
ar
ag
lid
er
s
,
am
o
n
g
o
th
er
s
.
T
o
d
ay
,
with
th
e
in
d
u
s
tr
y
h
ig
h
ly
d
e
v
elo
p
e
d
,
th
er
e
is
n
o
s
tan
d
ar
d
ized
class
if
icatio
n
o
f
th
ese
air
cr
af
t.
Ho
wev
er
,
ca
teg
o
r
izatio
n
s
ca
n
b
e
u
s
ed
th
at
tak
e
in
to
ac
co
u
n
t
t
h
e
lev
el
o
f
r
is
k
b
y
u
s
e,
th
o
s
e
b
ased
o
n
th
eir
s
ize
o
r
weig
h
t,
as
well
as
th
o
s
e
in
v
o
lv
in
g
th
eir
f
lig
h
t
au
to
n
o
m
y
o
r
th
o
s
e
th
at
in
d
ica
te
wh
eth
er
th
ey
h
a
v
e
win
g
s
o
r
r
o
t
o
r
s
.
A
m
o
r
e
d
etailed
class
if
icatio
n
p
r
o
p
o
s
es
ca
teg
o
r
izin
g
ac
c
o
r
d
i
n
g
to
th
e
u
s
e
o
f
th
e
UAV,
f
o
r
ex
am
p
le,
f
o
r
ca
r
to
g
r
a
p
h
y
an
d
to
p
o
g
r
a
p
h
y
,
en
v
ir
o
n
m
en
tal
an
d
a
g
r
icu
ltu
r
al
ac
tiv
ities
,
h
er
itag
e
an
d
ar
ch
ae
o
lo
g
y
,
n
atu
r
al
h
az
ar
d
s
,
an
d
o
t
h
er
a
p
p
licatio
n
s
[
3
]
.
T
h
is
a
r
ticle
in
clu
d
es
th
o
s
e
ex
p
er
im
en
ts
wi
th
UAVs
th
at
g
en
er
ate
ca
r
t
o
g
r
ap
h
ic
an
d
to
p
o
g
r
a
p
h
ic
in
f
o
r
m
atio
n
.
T
o
g
en
e
r
ate
s
u
ch
in
f
o
r
m
atio
n
,
it is
n
ec
ess
a
r
y
to
m
o
d
el
th
e
ca
p
tu
r
ed
d
ata,
tak
in
g
in
to
ac
co
u
n
t th
e
g
eo
m
e
tr
ic
ch
ar
ac
ter
is
tics
,
in
clu
d
in
g
h
eig
h
t
v
ar
iatio
n
s
,
g
en
er
atin
g
d
ig
ital
elev
atio
n
m
o
d
els
(
DE
Ms)
,
wh
ich
ca
n
b
e
cl
ass
if
ied
in
to
d
ig
ital
ter
r
ain
m
o
d
els
(
DT
Ms)
an
d
d
ig
ital
s
u
r
f
ac
e
m
o
d
e
ls
(
DSMs),
wh
ich
in
clu
d
e,
in
ad
d
itio
n
to
th
e
ter
r
ain
,
v
eg
etatio
n
an
d
m
an
-
m
a
d
e
s
tr
u
ctu
r
es
[
4
]
.
Mo
d
el
g
en
er
atio
n
ca
n
b
e
d
o
n
e
f
r
o
m
d
if
f
er
e
n
t
s
o
u
r
ce
s
,
s
u
ch
as
L
iDAR
an
d
d
ig
ital p
h
o
to
g
r
am
m
etr
y
.
Nex
t,
th
e
o
p
e
r
atio
n
o
f
t
h
ese
is
b
r
ief
ly
ex
p
lain
e
d
:
L
iDAR
i
s
co
m
p
o
s
ed
o
f
a
lig
h
t
tr
an
s
m
itter
s
y
s
tem
,
wh
ich
em
its
s
to
r
ed
en
er
g
y
;
it
also
c
o
n
tain
s
a
r
ec
eiv
er
s
y
s
tem
a
n
d
a
p
r
o
ce
s
s
in
g
s
y
s
tem
.
Du
e
to
th
is
co
n
f
i
g
u
r
atio
n
,
it
is
a
n
ac
tiv
e
s
en
s
o
r
th
at
is
r
esp
o
n
s
ib
le
f
o
r
m
ea
s
u
r
em
en
t
an
d
d
etec
tio
n
u
s
in
g
laser
.
L
iDAR
is
th
e
ac
r
o
n
y
m
f
o
r
“lig
h
t
d
etec
tio
n
an
d
r
an
g
in
g
”.
I
t
wo
r
k
s
b
y
tr
an
s
m
itti
n
g
p
u
ls
es
o
f
lig
h
t
th
at
ar
e
r
ef
lecte
d
o
f
f
a
n
y
o
b
ject,
in
o
r
d
er
to
o
b
tain
t
h
e
p
o
s
itio
n
s
o
f
th
ese
elem
en
ts
an
d
th
eir
g
eo
m
etr
ic
ch
ar
ac
ter
is
tics
,
th
r
o
u
g
h
t
h
e
tr
av
el
tim
e
o
f
th
e
p
u
ls
es
[
5
]
.
I
n
o
r
d
er
to
g
u
ar
a
n
tee
th
e
r
eq
u
ir
ed
p
o
s
itio
n
al
ac
cu
r
a
cy
,
its
p
r
o
p
er
ca
lib
r
atio
n
,
th
e
t
em
p
o
r
al
s
y
n
ch
r
o
n
izatio
n
b
etwe
en
its
co
m
p
o
n
en
ts
,
th
e
s
ca
n
n
in
g
an
g
le,
th
e
r
a
n
g
e
o
f
th
e
lig
h
t
b
ea
m
,
a
n
d
,
wh
e
n
o
n
UAVs,
ch
ar
ac
ter
is
tics
s
u
ch
as
th
e
X,
Y,
Z
p
o
s
itio
n
an
d
th
e
an
g
les
o
f
t
h
e
d
if
f
er
en
t
r
o
tatio
n
s
o
f
th
e
air
cr
af
t
m
u
s
t
b
e
co
n
s
id
er
ed
[
6
]
.
T
h
e
liter
atu
r
e
in
d
icate
s
th
at,
to
p
r
o
ce
s
s
th
e
p
o
in
t
clo
u
d
,
it
is
ess
en
tial
to
class
if
y
th
ese
p
o
in
ts
an
d
p
er
f
o
r
m
th
e
n
ec
ess
ar
y
f
ilter
in
g
ac
co
r
d
in
g
to
th
e
r
e
q
u
i
r
em
en
t.
Dig
ital
p
h
o
to
g
r
am
m
etr
y
in
UAVs
co
llects
im
ag
es
in
th
e
v
is
ib
le
p
ar
t
o
f
th
e
elec
tr
o
m
ag
n
etic
s
p
ec
tr
u
m
.
I
t
r
eq
u
ir
es
g
r
o
u
n
d
co
n
tr
o
l
p
o
i
n
ts
(
GC
P),
wh
ich
m
u
s
t
b
e
p
r
ev
io
u
s
ly
g
eo
r
ef
er
en
c
ed
with
a
tech
n
iq
u
e
ca
p
ab
le
o
f
ac
h
iev
in
g
p
o
s
itio
n
a
l
ac
cu
r
ac
y
in
th
e
o
r
d
er
o
f
m
illi
m
eter
s
o
r
c
en
tim
eter
s
.
I
n
a
d
d
it
io
n
,
it r
eq
u
ir
es
th
e
d
ef
in
itio
n
o
f
lo
n
g
itu
d
in
al
an
d
later
al
o
v
er
lap
,
g
r
o
u
n
d
s
am
p
le
d
is
tan
ce
(
GSD)
,
an
d
f
lig
h
t
p
ar
am
eter
s
,
am
o
n
g
o
th
er
s
[
7
]
.
W
ith
th
e
u
s
e
o
f
d
r
o
n
es,
th
e
s
tr
u
ctu
r
e
f
r
o
m
m
o
t
io
n
(
SfM
)
tech
n
iq
u
e
h
as
b
ee
n
d
ev
elo
p
ed
,
wh
e
r
e
p
h
o
to
g
r
ap
h
s
o
f
th
e
s
am
e
o
b
je
ct
ar
e
o
f
te
n
u
s
ed
with
d
if
f
er
en
t
an
g
les
an
d
d
is
tan
ce
s
,
in
o
r
d
e
r
to
g
en
er
ate
t
h
r
ee
-
di
m
en
s
io
n
al
im
ag
es.
Desp
ite
th
is
,
th
e
b
asis
f
o
r
r
eso
lv
i
n
g
t
h
e
3
D
s
tr
u
ctu
r
e
h
as
th
e
s
am
e
s
tar
tin
g
p
o
in
t
as
s
ter
eo
s
co
p
ic
p
h
o
t
o
g
r
am
m
et
r
y
:
f
r
o
m
t
h
e
s
u
p
er
p
o
s
itio
n
o
f
i
m
ag
es
with
d
if
f
er
e
n
t
v
iewp
o
i
n
ts
,
b
y
id
e
n
tify
in
g
h
o
m
o
lo
g
o
u
s
p
ix
els,
th
e
p
o
s
itio
n
o
f
th
e
p
o
in
t
an
d
th
e
o
r
ie
n
tatio
n
an
d
p
o
s
itio
n
o
f
th
e
ca
m
er
a
ca
n
b
e
o
b
tain
ed
.
T
h
e
SfM
tech
n
iq
u
e
is
co
m
p
le
m
en
ted
with
alg
o
r
ith
m
s
s
u
ch
as
r
an
d
o
m
s
am
p
le
co
n
s
en
s
u
s
(
R
ANSA
C
)
,
wh
ich
allo
ws
clea
n
in
g
th
e
m
o
d
els
o
r
m
ak
in
g
th
e
m
g
eo
m
etr
ically
m
o
r
e
p
r
ec
is
e;
th
e
s
ca
le
-
in
v
a
r
i
an
t
f
ea
tu
r
e
tr
a
n
s
f
o
r
m
(
SIFT
)
,
wh
ich
allo
ws
o
b
ject
r
ec
o
g
n
itio
n
;
an
d
th
e
m
u
lti
-
v
iew
s
ter
eo
(
MV
S)
tech
n
iq
u
e,
wh
ich
s
er
v
es
to
im
p
r
o
v
e
t
h
e
ac
cu
r
ac
y
o
f
3
D
m
o
d
els an
d
p
r
o
v
id
e
m
o
r
e
d
etail
to
th
e
s
ce
n
e
[
8
]
.
T
h
e
a
r
t
i
c
l
e
i
s
d
i
v
i
d
e
d
i
n
t
o
t
h
e
m
e
t
h
o
d
o
l
o
g
y
c
h
a
p
t
e
r
,
f
o
l
l
o
w
e
d
b
y
t
h
e
r
e
s
u
l
t
s
a
n
d
a
n
a
l
y
s
is
c
h
a
p
t
e
r
,
w
h
i
c
h
i
s
d
i
v
i
d
e
d
i
n
t
o
t
h
r
e
e
s
ec
t
i
o
n
s
t
h
a
t
i
n
cl
u
d
e
:
t
h
e
e
v
a
l
u
a
t
io
n
o
f
t
r
e
n
d
s
i
n
t
h
e
d
i
g
i
t
a
l
p
h
o
t
o
g
r
a
m
m
e
t
r
i
c
s
e
c
t
o
r
;
L
i
D
AR
i
n
U
AV
s
a
n
d
t
h
e
e
x
p
ec
t
a
t
i
o
n
s
i
n
t
h
e
i
r
c
o
m
b
i
n
a
t
i
o
n
;
a
n
d
f
i
n
a
l
l
y
,
L
i
D
AR
v
s
p
h
o
t
o
g
r
a
m
m
e
t
r
y
.
T
o
g
e
t
h
e
r
,
s
e
p
a
r
a
t
e
,
w
h
i
c
h
is
b
e
t
t
e
r
?
I
n
t
h
e
s
e
s
e
ct
i
o
n
s
,
t
h
e
e
v
a
l
u
a
ti
o
n
o
f
t
h
e
p
o
s
i
t
i
o
n
a
l
a
c
c
u
r
a
c
y
o
f
d
i
f
f
e
r
e
n
t
p
r
o
d
u
c
t
s
i
s
r
e
v
i
e
w
e
d
,
t
o
h
a
v
e
a
g
e
n
e
r
a
l
o
v
e
r
v
i
e
w
a
n
d
r
e
c
o
m
m
e
n
d
t
h
e
s
e
n
s
o
r
a
c
c
o
r
d
i
n
g
t
o
t
h
e
p
u
r
p
o
s
e
o
f
t
h
e
s
u
r
v
e
y
.
2.
M
E
T
H
O
DO
L
O
G
Y
I
n
th
e
ar
ticle,
s
y
s
tem
atic
p
r
o
c
ed
u
r
es
wer
e
d
ev
elo
p
ed
th
at
al
lo
wed
th
e
co
m
p
a
r
is
o
n
o
f
th
e
t
ec
h
n
iq
u
es,
g
u
ar
an
teein
g
th
e
q
u
ality
o
f
t
h
e
r
esu
lts
.
T
h
e
s
ea
r
ch
f
o
r
in
f
o
r
m
atio
n
,
its
class
if
icatio
n
,
o
r
g
an
izatio
n
,
an
d
an
aly
s
is
wer
e
in
clu
d
ed
,
co
n
cl
u
d
in
g
with
th
e
wr
itin
g
.
Fig
u
r
e
1
illu
s
tr
ates
th
e
m
eth
o
d
o
lo
g
y
u
s
ed
.
T
h
e
f
ir
s
t
ac
tiv
ity
co
n
s
is
ted
o
f
an
ex
h
au
s
tiv
e
b
ib
lio
g
r
ap
h
ic
r
e
v
iew
o
n
d
ig
ital
elev
atio
n
m
o
d
els,
L
iDAR
tech
n
iq
u
es,
p
h
o
to
g
r
am
m
etr
y
in
UAVs,
a
n
d
GNSS
s
atel
lite
r
ec
eiv
in
g
eq
u
ip
m
en
t.
W
ith
th
is
,
th
e
m
o
s
t
u
s
ed
tech
n
iq
u
es,
th
eir
ad
v
a
n
tag
es
an
d
lim
itatio
n
s
,
as
well
as
th
e
m
o
s
t
c
o
m
m
o
n
ap
p
li
ca
tio
n
s
wer
e
id
e
n
tifie
d
.
I
t
s
h
o
u
ld
b
e
n
o
ted
th
at
th
is
r
ev
iew
also
i
n
clu
d
e
d
cu
r
r
e
n
t
s
cien
tific
tr
en
d
s
an
d
p
r
o
ce
d
u
r
es
r
elate
d
to
th
e
to
p
i
cs
m
en
tio
n
ed
.
T
h
e
s
ea
r
ch
,
in
ad
d
itio
n
to
in
cl
u
d
in
g
th
e
alg
o
r
ith
m
with
th
e
k
ey
w
o
r
d
s
,
was
n
o
t
lim
ited
to
a
s
p
ec
if
ic
tim
e,
s
in
ce
it
is
u
n
d
er
s
to
o
d
th
at
th
e
s
en
s
in
g
te
ch
n
o
lo
g
y
an
d
th
e
tr
an
s
p
o
r
t
p
l
atf
o
r
m
ad
d
r
ess
ed
ar
e
r
ec
en
t,
h
av
in
g
ap
p
ea
r
ed
at
th
e
en
d
o
f
th
e
f
ir
s
t
d
ec
ad
e
o
f
2
0
0
0
.
I
n
Fig
u
r
e
2
,
th
e
in
te
r
est
p
er
y
ea
r
is
o
b
s
er
v
ed
,
wh
er
e
in
f
o
r
m
atio
n
is
r
ec
o
r
d
e
d
f
r
o
m
2
0
0
7
;
th
e
h
ig
h
n
u
m
b
er
o
f
ar
ticles
s
in
ce
2
0
1
7
is
h
ig
h
lig
h
ted
,
with
a
m
ax
im
u
m
p
ea
k
in
2
0
2
1
th
at
h
ad
7
5
ar
ticles.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
0
8
8
-
8
7
0
8
I
n
t J E
lec
&
C
o
m
p
E
n
g
,
Vo
l.
15
,
No
.
4
,
Au
g
u
s
t
20
25
:
3
7
4
8
-
3758
3750
T
h
e
s
p
atial
d
is
tr
ib
u
tio
n
o
f
in
t
er
est
in
th
ese
to
p
ics
is
g
lo
b
al.
Ho
wev
er
,
th
e
c
o
u
n
tr
ies
th
at
co
n
tr
ib
u
te
th
e
m
o
s
t
to
t
h
eir
r
esear
ch
ar
e
th
e
Un
ited
States
,
C
h
in
a,
an
d
I
taly
,
ea
ch
with
m
o
r
e
th
an
4
5
ar
ticles
wr
itten
.
I
f
an
aly
ze
d
b
y
co
n
tin
e
n
t,
E
u
r
o
p
e
tak
es
th
e
lead
with
m
o
r
e
t
h
an
2
6
5
,
f
o
llo
wed
b
y
t
h
e
Am
e
r
ican
co
n
tin
en
t
with
m
o
r
e
th
an
1
3
0
,
a
n
d
Asi
a
with
m
o
r
e
th
a
n
1
2
0
.
I
t
is
wo
r
th
n
o
tin
g
th
at,
wh
e
n
an
aly
zin
g
t
h
e
r
esear
ch
ce
n
ter
s
wh
er
e
th
e
m
o
s
t
is
wr
itten
o
n
th
e
s
u
b
ject,
C
h
in
a
h
as
5
in
s
titu
tes
am
o
n
g
th
e
to
p
ten
,
I
taly
h
as
2
(
in
clu
d
in
g
th
e
Po
litecn
ico
d
i
T
o
r
in
o
with
th
e
h
ig
h
est
n
u
m
b
er
o
f
p
u
b
licatio
n
s
,
1
7
)
,
an
d
th
e
Un
ited
States
h
as
1
.
I
f
an
aly
ze
d
b
y
th
e
m
atic
ar
ea
s
,
E
ar
th
s
cien
ce
s
,
with
2
5
%
o
f
th
e
to
ta
l
ar
ticles
an
aly
ze
d
,
tak
e
th
e
lead
,
f
o
llo
wed
b
y
co
m
p
u
ter
s
cien
ce
s
,
s
o
cial
s
cien
ce
s
,
en
g
in
ee
r
in
g
,
an
d
en
v
ir
o
n
m
en
tal
s
cien
ce
s
,
with
1
8
%,
1
3
%,
1
1
%,
an
d
8
%,
r
esp
ec
tiv
ely
.
Fig
u
r
e
3
s
h
o
ws
th
e
g
eo
g
r
ap
h
ical
a
n
d
th
em
ati
c
d
is
tr
ib
u
tio
n
o
f
th
e
ar
ticles.
Af
ter
r
ev
iewin
g
th
e
ar
ticles
d
escr
ib
ed
,
m
o
r
e
th
an
5
0
h
a
v
e
b
ee
n
s
elec
ted
th
at
alig
n
with
th
e
in
ter
ests
o
f
th
is
r
e
v
ie
w,
as
th
ey
in
clu
d
e
r
elev
an
t
to
p
ics
s
u
ch
as
n
ew
p
r
o
ce
d
u
r
es,
co
m
p
ar
is
o
n
s
,
alg
o
r
ith
m
d
ev
elo
p
m
en
t,
ca
s
e
s
tu
d
ies,
an
d
tech
n
iq
u
e
in
teg
r
a
tio
n
,
all
f
r
am
ed
with
in
p
o
s
itio
n
al
ac
cu
r
ac
y
o
r
th
e
d
ev
elo
p
m
en
t o
f
ter
r
ain
m
o
d
elin
g
.
Fig
u
r
e
1
.
Me
th
o
d
o
lo
g
y
u
s
ed
f
o
r
th
e
co
m
p
ar
is
o
n
o
f
tech
n
iq
u
es
Fig
u
r
e
2
.
An
n
u
al
p
u
b
licatio
n
s
r
elate
d
to
k
ey
w
o
r
d
s
.
o
w
n
s
o
u
r
ce
Fig
u
r
e
3
.
Pu
b
licatio
n
s
g
eo
s
p
at
ial
d
is
tr
ib
u
tio
n
0
10
20
30
40
50
60
70
80
200
7
200
9
201
1
201
3
2
0
1
5
201
7
201
9
202
1
202
3
N
u
mb
e
r
o
f
Pub
l
i
c
ati
o
n
s
Y
e
ar
0
100
200
300
E
a
r
t
h
an
d
P
l
an
e
t
ar
y
Sc
i
e
nc
e
s
S
oc
i
al
S
ci
enc
es
E
nv
i
r
o
nm
e
nt
al
S
c
i
e
nc
e
A
g
r
i
c
ul
t
ur
al
a
nd
B
i
o
l
o
g
i
c
al
Sc
i
e
nc
e
s
M
at
e
r
i
al
s
S
c
i
e
nc
e
A
r
t
s
an
d
H
um
an
i
t
i
e
s
C
he
m
i
st
r
y
C
he
m
i
c
a
l
E
ng
i
ne
e
r
i
ng
D
e
c
i
si
o
n
S
c
i
e
nc
e
s
Q
u
an
ti
ty
o
f
A
rt
i
c
l
e
s
A
c
ad
e
mic
F
i
e
l
d
Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
t J E
lec
&
C
o
m
p
E
n
g
I
SS
N:
2088
-
8
7
0
8
Th
ema
tic
r
ev
iew
o
f LiDA
R
a
n
d
p
h
o
t
o
g
r
a
mme
tr
ic
tech
n
o
lo
g
i
es in
…
(
Dieg
o
A
lexa
n
d
er Gó
mez Mo
ya
)
3751
3.
RE
SU
L
T
S AN
D
D
I
SCU
SS
I
O
N
Acc
o
r
d
in
g
to
p
r
elim
in
ar
y
r
es
ea
r
ch
,
it
h
as
b
ee
n
d
ec
id
ed
to
d
iv
id
e
th
is
p
ap
er
in
to
th
r
ee
m
ain
to
p
ics.
T
h
e
f
ir
s
t
s
ec
tio
n
will
d
elv
e
in
to
th
e
p
h
o
to
g
r
am
m
etr
ic
s
ec
to
r
,
ex
p
l
o
r
in
g
its
s
ig
n
if
ican
t
ad
v
an
ce
s
an
d
cu
r
r
e
n
t
tr
en
d
s
in
d
etail.
Su
b
s
eq
u
en
tly
,
th
e
s
ec
o
n
d
t
o
p
ic
will
p
r
o
v
id
e
a
co
m
p
r
e
h
en
s
iv
e
r
e
v
iew
o
f
L
iDAR
tech
n
o
lo
g
y
s
p
ec
if
ically
in
teg
r
ated
in
to
UAVs,
h
ig
h
lig
h
tin
g
its
ca
p
ab
ilit
ies
an
d
ap
p
licatio
n
s
.
Fin
ally
,
t
h
e
th
ir
d
s
ec
tio
n
will
f
o
cu
s
o
n
th
e
p
r
ac
tical
u
s
es
o
f
b
o
th
tech
n
o
lo
g
ies,
co
m
b
in
in
g
an
d
co
m
p
ar
in
g
th
em
to
id
en
tify
th
e
m
o
s
t
ef
f
ec
ti
v
e
an
d
o
p
tim
al
o
p
tio
n
s
f
o
r
v
ar
i
o
u
s
ap
p
licatio
n
s
.
3
.
1
.
Dig
it
a
l pho
t
o
g
r
a
mm
et
r
y
s
ec
t
o
r
ev
a
lua
t
io
ns
a
nd
t
re
nd
s
Dig
ital
p
h
o
to
g
r
am
m
etr
y
tech
n
iq
u
es
ar
e
b
ased
o
n
alg
o
r
ith
m
s
th
at
h
a
v
e
allo
wed
f
ield
wo
r
k
to
r
ed
u
ce
its
co
s
t
an
d
b
e
ca
r
r
ie
d
o
u
t
in
UAVs
[
9
]
.
T
h
e
r
e
ar
e
s
ev
er
al
way
s
to
ev
alu
ate
th
e
ac
c
u
r
ac
y
o
f
t
h
e
p
r
o
d
u
cts;
o
n
e
o
f
th
em
is
d
o
n
e
th
r
o
u
g
h
th
e
r
ev
iew
o
f
th
e
DE
Ms
cr
ea
ted
with
t
h
ese
tech
n
iq
u
es.
W
h
en
a
n
aly
zin
g
th
em
,
it
is
ev
id
en
t
th
at
th
e
tech
n
o
lo
g
y
e
q
u
ip
p
in
g
th
e
UAVs,
th
e
g
eo
r
ef
er
en
cin
g
tec
h
n
iq
u
es,
an
d
th
e
f
lig
h
t
p
ar
am
eter
s
im
p
ly
v
a
r
iatio
n
s
in
ter
m
s
o
f
q
u
ality
.
E
r
r
o
r
s
in
DE
Ms
in
cr
ea
s
e
with
th
e
d
is
tan
ce
to
th
e
G
C
Ps
,
th
e
in
cr
ea
s
e
i
n
f
lig
h
t a
ltit
u
d
e,
th
e
d
ec
r
ea
s
e
in
s
en
s
o
r
r
eso
lu
tio
n
,
a
n
d
th
e
l
o
wer
d
en
s
ity
d
is
tr
ib
u
tio
n
o
f
t
h
e
GC
P
s
[
1
0
]
.
I
n
Me
x
ico
,
t
h
e
u
s
e
o
f
DT
Ms
g
en
er
ated
f
r
o
m
UAVs
h
as
b
ee
n
co
m
p
a
r
ed
with
th
e
tech
n
i
q
u
e
ca
lled
'
er
o
s
io
n
b
r
id
g
es'
to
id
e
n
tify
t
h
e
to
p
o
g
r
ap
h
ic
ch
a
n
g
e
p
r
o
d
u
ce
d
b
y
er
o
s
io
n
in
cr
o
s
s
-
s
ec
tio
n
s
,
with
s
atis
f
ac
to
r
y
r
esu
lts
th
at
in
clu
d
e
a
r
o
o
t
m
ea
n
s
q
u
ar
e
er
r
o
r
(
R
MS
E
)
b
e
twee
n
2
.
9
an
d
3
.
2
cm
an
d
g
r
ea
t
s
im
ilar
itie
s
with
d
ir
ec
t
tech
n
iq
u
es.
I
t
is
wo
r
th
n
o
tin
g
th
at
1
5
h
a
wer
e
v
e
r
if
ie
d
,
d
iv
id
e
d
in
to
6
p
l
o
ts
o
f
5
0
×
5
0
m
ea
c
h
,
with
7
2
GC
P
s
,
o
f
wh
ic
h
9
wer
e
u
s
ed
f
o
r
co
n
tr
o
l
an
d
th
e
r
est
f
o
r
c
h
e
ck
in
g
.
T
h
e
au
th
o
r
h
ig
h
lig
h
ts
t
h
at,
f
o
r
lar
g
e
a
r
ea
s
,
th
er
e
ar
e
lim
itatio
n
s
in
ter
m
s
o
f
th
e
d
en
s
if
icatio
n
o
f
th
e
t
er
r
estrial
g
eo
d
etic
n
etwo
r
k
o
r
th
e
p
lace
m
e
n
t
o
f
GC
P
s
;
th
ese
p
r
o
b
lem
s
co
u
ld
b
e
s
o
lv
ed
with
th
e
im
p
lem
en
tatio
n
o
f
air
c
r
af
t
with
p
o
s
t
-
p
r
o
ce
s
s
ed
k
in
em
atic
(
PP
K)
o
r
r
ea
l
-
tim
e
k
in
em
atic
(R
T
K)
tech
n
o
lo
g
ies
[
1
1
]
.
L
ó
p
ez
an
d
Mu
n
jy
[
1
2
]
p
r
esen
t
a
s
tu
d
y
in
C
alif
o
r
n
ia
in
clu
d
in
g
th
ese
p
o
s
itio
n
in
g
t
ec
h
n
iq
u
es,
with
d
u
al
-
f
r
eq
u
en
cy
s
atellite
r
ec
eiv
er
s
,
a
s
en
s
o
r
in
th
e
v
is
ib
le
s
p
ec
tr
u
m
(
R
GB
)
with
GSD
b
etwe
en
1
.
9
1
a
n
d
2
.
4
5
cm
,
an
d
f
lig
h
ts
at
altitu
d
es
b
etwe
en
8
4
an
d
1
1
5
m
ab
o
v
e
th
e
g
r
o
u
n
d
.
I
n
th
eir
wo
r
k
,
th
e
y
in
clu
d
ed
8
0
c
o
n
tr
o
l
p
o
in
ts
d
is
tr
ib
u
ted
in
5
GC
Ps
an
d
7
5
co
n
tr
o
l
p
o
in
ts
.
T
h
e
s
tu
d
y
ar
ea
was
3
2
0
×
3
2
0
m
.
T
h
e
in
f
o
r
m
atio
n
was
p
r
o
ce
s
s
ed
with
two
co
m
m
er
cial
s
o
f
twar
e
p
r
o
g
r
am
s
,
o
b
tain
in
g
er
r
o
r
s
with
PIX
4
D
o
f
4
cm
,
wh
ile
in
Me
tash
ap
e
th
ey
wer
e
6
.
5
cm
f
o
r
th
e
h
o
r
izo
n
tal
co
m
p
o
n
e
n
t,
wh
ile
f
o
r
th
e
v
er
tical
th
ey
w
er
e
8
.
5
a
n
d
5
.
3
cm
,
r
esp
ec
ti
v
ely
.
Ho
we
v
e
r
,
wh
en
co
m
p
a
r
in
g
t
h
e
GC
Ps
,
th
e
R
MS
E
in
h
eig
h
ts
was
b
etter
in
PIX
4
D
(
2
.
0
cm
)
,
w
h
ile
in
Me
tash
ap
e
it
was
2
.
6
cm
,
v
er
y
clo
s
e
to
th
at
g
en
er
ated
b
y
h
elico
p
ter
-
b
o
r
n
e
L
iDAR
,
wh
ich
s
er
v
ed
as a
r
ef
er
en
ce
an
d
was 1
.
5
cm
[
1
2
]
.
I
n
o
r
d
er
t
o
ca
r
r
y
o
u
t
th
e
s
u
r
v
e
y
an
d
m
o
d
elin
g
o
f
a
p
lo
t
o
f
a
p
p
r
o
x
im
ately
8
1
h
a
in
th
e
ce
n
tr
al
p
ar
t
o
f
Nig
er
ia,
2
0
GC
Ps
,
R
T
K
tech
n
iq
u
es,
an
d
f
lig
h
t
h
eig
h
ts
o
f
1
2
0
m
wer
e
u
s
ed
.
T
h
er
e
,
p
o
s
itio
n
al
ac
cu
r
ac
ies
o
f
1
2
an
d
9
2
cm
wer
e
o
b
tain
e
d
in
h
o
r
izo
n
tal
an
d
v
er
tical,
r
es
p
ec
tiv
ely
[
1
3
]
.
I
t
is
ev
id
en
t
th
at
th
e
f
lig
h
t
h
ei
g
h
t
an
d
th
e
n
u
m
b
er
o
f
GC
Ps
in
t
h
e
s
tu
d
y
ar
ea
ar
e
d
ir
ec
tly
r
el
ated
to
th
e
r
ep
o
r
ted
p
o
s
itio
n
al
ac
cu
r
ac
y
.
I
n
o
th
er
s
tu
d
ies,
it
i
s
o
b
s
er
v
ed
th
at
th
e
s
en
s
o
r
,
th
e
UAV,
th
e
s
o
f
twar
e,
an
d
ev
en
th
e
alg
o
r
ith
m
s
o
r
m
eth
o
d
s
u
s
ed
ar
e
r
elate
d
to
th
e
p
o
s
itio
n
al
q
u
ality
p
ar
am
eter
s
.
T
h
e
q
u
ality
o
f
DE
Ms
is
al
s
o
test
ed
in
d
if
f
er
en
t
g
r
o
u
n
d
c
o
v
er
s
,
co
n
d
u
ctin
g
e
x
p
er
im
e
n
ts
in
f
o
r
ested
ter
r
ain
,
wastelan
d
,
a
n
d
p
lo
ts
with
o
u
t
v
e
g
etatio
n
co
v
er
in
n
o
r
th
ea
s
ter
n
C
h
in
a.
T
h
e
r
esu
lts
s
h
o
w
th
at
th
e
m
o
d
el
in
th
e
f
o
r
ested
ar
e
a
p
r
esen
ts
lar
g
e
d
if
f
er
en
ce
s
w
h
en
co
m
p
ar
ed
to
a
DE
M
g
en
er
ated
f
r
o
m
air
b
o
r
n
e
L
iDAR
:
9
5
%
o
f
th
e
er
r
o
r
s
ar
e
b
elo
w
3
.
6
5
m
,
wh
ile
i
n
th
e
o
th
er
co
v
er
s
it
was
0
.
6
7
a
n
d
0
.
6
4
m
,
r
esp
ec
tiv
ely
[
1
4
]
.
An
o
th
er
way
to
ev
alu
ate
p
h
o
t
o
g
r
am
m
etr
ic
p
r
o
d
u
cts
is
b
y
co
m
p
ar
in
g
s
en
s
o
r
s
av
ailab
le
o
n
t
h
e
m
ar
k
et
th
r
o
u
g
h
p
r
ac
tical
ex
p
er
im
en
ts
,
s
u
ch
as
th
e
d
etec
tio
n
o
f
p
o
wer
lin
es,
m
ap
p
in
g
o
f
f
o
r
ests
an
d
u
r
b
a
n
ar
ea
s
,
wh
er
e
d
if
f
er
en
t
p
h
o
to
g
r
am
m
e
tr
ic
s
o
lu
tio
n
s
ar
e
in
v
esti
g
ated
to
ca
r
r
y
o
u
t
ca
r
to
g
r
ap
h
y
u
s
i
n
g
UAVs.
A
s
tu
d
y
aim
ed
at
d
eter
m
in
in
g
th
e
b
est
s
en
s
o
r
f
o
r
a
g
iv
en
ac
c
u
r
ac
y
u
s
ed
two
d
if
f
er
e
n
t
ty
p
es
o
f
c
am
er
as
(
So
n
y
R
X1
an
d
So
n
y
QX1
)
;
th
e
f
ir
s
t
is
ch
ar
ac
ter
ized
b
y
u
s
in
g
a
f
u
ll
-
f
r
am
e
s
en
s
o
r
,
g
e
n
er
atin
g
b
etter
r
a
d
io
m
etr
ic
p
er
f
o
r
m
an
ce
,
m
o
r
e
ac
c
u
r
ate
tie
p
o
in
t
m
atch
i
n
g
,
an
d
a
s
h
ar
p
er
3
D
r
ec
o
n
s
tr
u
ctio
n
.
Fo
r
in
f
o
r
m
atio
n
p
r
o
ce
s
s
in
g
,
3
d
if
f
e
r
en
t
s
o
f
twar
e
p
r
o
g
r
am
s
wer
e
u
s
ed
:
Mic
Ma
c,
Ag
is
o
f
t
Me
tash
ap
e,
a
n
d
Pix
4
D
Ma
p
p
er
,
i
n
o
r
d
er
to
estab
lis
h
th
e
b
est
p
er
f
o
r
m
a
n
c
e
in
ter
m
s
o
f
p
o
in
t
clo
u
d
g
e
n
er
atio
n
,
p
o
s
itio
n
al
ac
cu
r
ac
y
,
a
n
d
r
ep
r
ese
n
tatio
n
in
d
if
f
er
en
t
ty
p
es
o
f
a
r
ea
s
,
s
u
c
h
as
f
o
r
ests
,
asp
h
alt,
an
d
g
r
av
el.
T
h
e
r
esu
lts
s
h
o
wed
Mic
Ma
c's
in
ab
ilit
y
to
ef
f
ec
tiv
ely
h
an
d
le
f
o
r
est
ar
ea
s
an
d
th
e
in
ef
f
icien
cy
o
f
Pix
4
D
Ma
p
p
er
'
s
3
D
m
o
d
el,
wh
ich
g
en
er
ates
n
o
is
e
in
h
o
m
o
g
en
eo
u
s
ar
ea
s
.
L
iDAR
d
ata
was
u
s
ed
as
a
b
aselin
e
f
o
r
m
o
d
elin
g
,
o
b
s
er
v
in
g
th
at
f
o
r
s
o
m
e
p
u
r
p
o
s
es,
s
u
cc
ess
ca
n
b
e
ac
h
ie
v
ed
with
p
h
o
to
g
r
am
m
etr
ic
d
ata
alo
n
e.
Ho
wev
er
,
L
iDAR
allo
ws
f
o
r
a
cc
u
r
ate
m
ap
p
in
g
o
f
th
e
g
r
o
u
n
d
,
ev
en
u
n
d
er
d
e
n
s
e
v
eg
etatio
n
c
o
v
er
,
d
em
o
n
s
tr
atin
g
its
u
s
ef
u
ln
ess
f
o
r
o
b
tain
in
g
ac
c
u
r
at
e
in
f
o
r
m
atio
n
ab
o
u
t
th
e
tr
ee
ca
n
o
p
y
an
d
im
p
r
o
v
in
g
th
e
ac
cu
r
ac
y
o
f
ca
n
o
p
y
esti
m
atio
n
[
1
5
]
.
I
t
is
wo
r
th
n
o
tin
g
th
at
th
e
f
lig
h
t
p
a
r
am
eter
s
o
f
t
h
e
p
h
o
to
g
r
am
m
etr
ic
s
en
s
o
r
s
u
s
ed
wer
e
s
im
ilar
,
w
h
ile
th
e
L
iDAR
f
lig
h
t
h
ad
a
h
ig
h
er
altitu
d
e
a
n
d
a
l
o
wer
GSD.
On
th
e
o
t
h
er
h
a
n
d
,
s
tu
d
ies
ca
n
b
e
c
o
n
d
u
cted
to
id
en
tify
t
h
e
ad
v
a
n
tag
es
o
f
f
er
ed
b
y
v
ar
io
u
s
UAV
s
y
s
tem
s
f
o
r
p
h
o
t
o
g
r
am
m
etr
ic
p
r
o
d
u
ctio
n
,
ev
alu
atin
g
DE
M
s
,
DT
Ms,
an
d
o
r
t
h
o
p
h
o
to
s
.
I
n
Ma
lay
s
ia,
a
s
tu
d
y
was
d
ev
elo
p
ed
with
th
ese
to
p
ics,
in
wh
ich
it
was
d
em
o
n
s
tr
ated
th
at
a
d
r
o
n
e
e
q
u
ip
p
ed
with
an
R
T
K
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
0
8
8
-
8
7
0
8
I
n
t J E
lec
&
C
o
m
p
E
n
g
,
Vo
l.
15
,
No
.
4
,
Au
g
u
s
t
20
25
:
3
7
4
8
-
3758
3752
p
o
s
itio
n
in
g
s
y
s
tem
ac
h
iev
es
a
p
o
s
itio
n
al
ac
cu
r
ac
y
b
etwe
e
n
9
an
d
3
0
c
m
wh
e
n
e
v
alu
atin
g
its
p
r
o
d
u
ce
d
o
r
th
o
p
h
o
to
s
.
No
w,
wh
e
n
ev
al
u
atin
g
th
e
DT
Ms,
th
e
s
y
s
tem
th
at
in
clu
d
ed
L
iDAR
with
1
5
GC
Ps
in
6
0
h
a
o
f
th
e
s
tu
d
y
h
as
th
e
b
est
r
esu
lts
.
I
t
s
h
o
u
ld
b
e
n
o
te
d
th
at
th
ese
p
o
in
ts
wer
e
p
o
s
itio
n
ed
with
r
ap
id
s
tatic
m
eth
o
d
s
wh
ich
,
ac
co
r
d
i
n
g
to
t
h
e
liter
a
tu
r
e,
h
av
e
a
m
ax
im
u
m
r
an
g
e
o
f
h
o
r
iz
o
n
tal
p
o
s
itio
n
al
ac
cu
r
ac
ies
o
f
2
cm
[
1
6
]
.
Ho
wev
er
,
o
th
er
s
tu
d
ies
p
r
o
p
o
s
e
a
n
ew
way
to
ev
alu
ate
in
f
o
r
m
atio
n
th
r
o
u
g
h
th
e
in
ter
p
r
e
tatio
n
o
f
th
e
p
o
i
n
t
clo
u
d
,
ex
tr
ac
tin
g
g
e
o
m
etr
ic
ch
ar
ac
ter
is
tics
o
f
th
e
d
etec
te
d
o
b
jects
th
r
o
u
g
h
p
r
in
ci
p
al
co
m
p
o
n
en
t
a
n
aly
s
is
(
PC
A)
,
co
v
ar
ian
ce
m
atr
ix
v
a
lu
es,
an
d
s
tatis
tical
in
f
o
r
m
ati
o
n
,
g
en
er
atin
g
d
if
f
er
en
tiatio
n
b
etwe
en
v
e
r
tical
p
lan
es,
h
o
r
izo
n
tal
p
lan
es,
r
o
u
g
h
n
ess
,
an
d
o
th
er
s
.
T
h
u
s
,
estab
lis
h
in
g
a
n
ew
m
eth
o
d
o
lo
g
y
t
h
at
aim
s
to
u
n
d
er
s
tan
d
th
e
s
tr
u
ctu
r
e
o
f
a
3
D
s
ce
n
e
b
y
d
ef
in
in
g
th
e
cl
ass
if
icatio
n
an
d
s
eg
m
en
tatio
n
o
f
th
e
ass
o
ciate
d
p
o
in
ts
.
I
n
ad
d
itio
n
,
it
u
s
es
th
e
R
ANSA
C
alg
o
r
ith
m
to
ex
tr
a
ct
g
eo
m
etr
ic
s
h
ap
es;
with
th
e
m
,
it
s
eg
r
eg
ates
to
d
ef
in
e
an
th
r
o
p
ic
a
n
d
n
atu
r
al
c
o
m
p
o
n
en
ts
[
7
]
.
Dig
ital
p
h
o
to
g
r
am
m
etr
ic
tech
n
o
lo
g
y
in
UAVs
h
as
b
ee
n
s
o
u
s
ef
u
l
th
at
ef
f
o
r
ts
h
av
e
b
ee
n
m
ad
e
to
tak
e
it
to
o
t
h
er
t
y
p
es
o
f
u
ltr
alig
h
t
a
ir
cr
af
t,
th
u
s
ac
h
iev
i
n
g
lo
w
-
co
s
t
ca
r
to
g
r
ap
h
y
o
f
lar
g
e
ar
ea
s
.
A
clea
r
e
x
am
p
le
is
th
e
o
n
e
ac
h
iev
ed
in
a
wo
o
d
e
d
ar
ea
in
s
o
u
th
ea
s
ter
n
B
elg
iu
m
,
with
an
ar
ea
o
f
ap
p
r
o
x
im
ate
ly
1
2
0
0
h
a,
wh
e
r
e
d
r
o
n
e
s
en
s
o
r
s
a
n
d
co
n
tr
o
ller
s
wer
e
tak
en
o
n
an
u
ltra
lig
h
t
air
cr
a
f
t
p
latf
o
r
m
to
ac
q
u
ir
e
m
u
ltis
p
ec
tr
al
im
ag
es
with
s
p
atial
r
eso
lu
tio
n
s
f
r
o
m
5
.
2
t
o
4
8
.
1
c
m
[
1
7
]
.
I
n
t
h
e
co
n
s
tr
u
ctio
n
an
d
in
f
r
astru
c
tu
r
e
in
d
u
s
tr
y
,
th
is
tech
n
o
lo
g
y
also
s
tan
d
s
o
u
t.
I
n
th
is
s
e
ctio
n
,
th
e
ap
p
licatio
n
o
f
SfM
in
h
is
to
r
ical
p
h
o
to
g
r
ap
h
s
was
u
s
ed
f
o
r
th
e
r
esto
r
atio
n
an
d
co
n
tr
o
l o
f
wo
r
k
s
,
also
to
m
o
n
ito
r
co
astal d
u
n
es,
an
d
m
an
ag
ed
to
o
b
tain
DSMs with
an
er
r
o
r
o
f
ap
p
r
o
x
im
ately
1
m
f
r
o
m
h
is
to
r
ical
p
h
o
to
g
r
ap
h
s
[
1
8
]
.
R
e
g
a
r
d
i
n
g
S
f
M
t
e
c
h
n
i
q
u
es
,
s
o
m
e
a
u
t
h
o
r
s
h
a
v
e
w
o
r
k
e
d
o
n
p
o
s
s
i
b
l
e
s
o
l
u
ti
o
n
s
f
o
r
t
h
e
i
m
p
r
o
v
e
m
e
n
t
o
f
t
o
p
o
g
r
a
p
h
i
c
s
u
r
v
e
y
s
t
h
r
o
u
g
h
p
h
o
t
o
g
r
a
m
m
e
t
r
y
i
n
U
A
S
.
W
h
i
le
i
t
i
s
t
r
u
e
t
h
at
t
h
i
s
t
e
c
h
n
i
q
u
e
i
s
n
o
t
e
x
c
l
u
s
i
v
e
t
o
t
h
e
s
e
ai
r
c
r
a
f
t
,
it
s
d
e
v
el
o
p
m
e
n
t
h
a
s
i
n
d
e
e
d
g
o
n
e
h
a
n
d
i
n
h
a
n
d
,
d
u
e
t
o
i
t
s
ea
s
y
a
p
p
l
ic
a
ti
o
n
.
O
n
e
p
o
s
s
i
b
l
e
i
m
p
r
o
v
e
m
e
n
t
l
i
e
s
i
n
t
h
e
m
e
th
o
d
f
o
r
p
e
r
f
o
r
m
i
n
g
t
h
e
g
e
o
m
e
t
r
i
c
p
r
e
-
c
a
l
i
b
r
at
i
o
n
o
f
i
t
s
s
en
s
o
r
s
i
n
t
h
e
v
i
s
i
b
l
e
s
p
e
c
t
r
u
m
,
u
s
i
n
g
a
3
D
s
t
r
u
c
t
u
r
e
i
n
s
i
t
u
;
f
i
n
d
i
n
g
i
t
s
b
e
s
t
r
es
u
lt
s
a
t
a
c
o
n
s
t
a
n
t
f
l
i
g
h
t
h
e
i
g
h
t
o
f
3
0
m
,
a
l
t
h
o
u
g
h
i
t
s
i
m
p
o
r
t
a
n
c
e
i
n
g
e
o
m
o
r
p
h
o
l
o
g
i
c
a
l
s
t
u
d
i
e
s
i
s
i
n
d
i
c
a
t
e
d
[
1
9
]
.
I
n
t
h
e
c
i
t
y
o
f
M
a
n
i
za
l
es
(
C
o
l
o
m
b
i
a
)
,
a
p
o
s
i
ti
o
n
a
l
a
c
c
u
r
a
c
y
i
s
r
e
p
o
r
t
e
d
t
h
a
t
s
a
tis
f
i
es
c
a
r
t
o
g
r
a
p
h
y
a
t
a
s
c
al
e
o
f
1
:
5
0
0
t
h
r
o
u
g
h
t
h
e
u
s
e
o
f
d
r
o
n
e
s
a
n
d
d
i
g
i
t
a
l
p
h
o
t
o
g
r
a
m
m
e
t
r
i
c
p
r
o
c
e
d
u
r
e
s
.
H
o
w
e
v
e
r
,
i
t
is
n
o
t
e
d
t
h
at
t
h
e
i
r
s
t
u
d
y
is
n
o
t
c
o
n
c
l
u
s
i
v
e
,
s
i
n
c
e
i
t
wa
s
c
a
r
r
i
e
d
o
u
t
w
i
t
h
a
s
p
e
c
i
f
i
c
d
r
o
n
e
a
n
d
i
n
a
s
m
a
l
l
a
r
e
a
[
2
0
]
.
F
i
g
u
r
e
4
s
h
o
ws
t
h
e
c
h
a
r
a
c
t
e
r
i
s
ti
cs
f
o
r
e
v
a
l
u
a
ti
n
g
p
h
o
t
o
g
r
a
m
m
e
t
r
i
c
p
r
o
d
u
c
t
s
a
n
d
t
h
e
p
a
r
a
m
e
t
e
r
s
t
o
b
e
t
a
k
e
n
i
n
t
o
a
c
c
o
u
n
t f
o
r
t
h
is
p
u
r
p
o
s
e
.
I
n
c
o
n
c
l
u
s
i
o
n
,
a
n
d
a
s
s
h
o
w
n
i
n
t
h
e
f
i
g
u
r
e
,
t
h
e
p
o
s
i
ti
o
n
a
l
a
c
c
u
r
ac
y
d
e
p
e
n
d
s
o
n
t
h
e
q
u
a
n
t
i
t
y
a
n
d
d
is
tr
i
b
u
t
i
o
n
o
f
t
h
e
GC
Ps
,
t
h
e
t
ec
h
n
i
q
u
e
s
f
o
r
t
h
e
ir
g
e
o
r
e
f
e
r
e
n
c
i
n
g
,
t
h
e
c
a
p
t
u
r
e
s
en
s
o
r
s
,
t
h
e
i
n
e
r
t
i
a
l
s
e
n
s
o
r
s
,
t
h
e
U
A
V
t
o
b
e
u
s
e
d
a
n
d
it
s
f
li
g
h
t
h
e
i
g
h
t
,
w
i
t
h
o
u
t
f
o
r
g
e
t
t
i
n
g
t
h
e
a
l
g
o
r
it
h
m
s
f
o
r
p
r
o
c
e
s
s
i
n
g
t
h
e
p
h
o
t
o
g
r
a
p
h
s
a
n
d
p
r
o
d
u
c
i
n
g
t
h
e
r
e
s
u
l
ts
,
a
n
d
,
o
f
c
o
u
r
s
e
,
t
h
e
n
at
u
r
a
l
c
o
n
d
i
t
i
o
n
s
o
f
t
h
e
a
r
e
a
t
o
b
e
m
o
d
e
l
e
d
(
r
e
l
i
e
f
,
v
e
g
e
t
at
i
o
n
c
o
v
e
r
,
w
i
n
d
s
,
a
n
d
a
t
m
o
s
p
h
e
r
i
c
w
ea
t
h
er
)
.
Fig
u
r
e
4
.
Dig
ital p
h
o
to
g
r
am
m
etr
y
asp
ec
ts
3
.
2
.
L
iDAR
a
nd
UAV:
co
mb
ina
t
io
n e
x
pect
a
t
io
ns
L
i
D
AR
s
e
n
s
o
r
s
h
a
v
e
b
e
e
n
u
s
ed
i
n
t
h
e
c
a
r
t
o
g
r
a
p
h
i
c
i
n
d
u
s
t
r
y
a
n
d
i
n
e
a
r
t
h
s
c
i
e
n
c
e
s
f
o
r
v
a
r
i
o
u
s
p
u
r
p
o
s
e
s
.
H
o
w
e
v
e
r
,
t
h
e
i
r
a
p
p
e
a
r
a
n
c
e
i
n
U
A
V
s
d
a
t
es
b
a
c
k
o
n
l
y
t
o
t
h
e
p
a
s
t
t
h
r
e
e
d
e
c
a
d
e
s
,
s
o
i
t
is
w
o
r
t
h
r
e
v
i
e
w
i
n
g
t
h
e
p
o
s
i
t
i
o
n
a
l
ac
c
u
r
a
c
y
r
e
p
o
r
t
s
o
f
t
h
e
s
e
s
e
n
s
o
r
s
.
I
n
a
d
d
i
t
i
o
n
,
b
o
t
h
t
h
e
f
l
i
g
h
t
h
e
i
g
h
t
a
n
d
s
p
e
e
d
m
u
s
t
b
e
c
o
n
t
r
o
l
l
e
d
i
n
Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
t J E
lec
&
C
o
m
p
E
n
g
I
SS
N:
2088
-
8
7
0
8
Th
ema
tic
r
ev
iew
o
f LiDA
R
a
n
d
p
h
o
t
o
g
r
a
mme
tr
ic
tech
n
o
lo
g
i
es in
…
(
Dieg
o
A
lexa
n
d
er Gó
mez Mo
ya
)
3753
o
r
d
e
r
t
o
a
c
h
i
e
v
e
h
i
g
h
-
r
e
s
o
l
u
t
io
n
p
o
s
i
t
i
o
n
a
l
a
c
c
u
r
a
c
y
.
T
h
e
i
r
s
t
u
d
y
p
r
e
s
e
n
ts
a
U
A
V
-
L
i
D
AR
s
y
s
t
e
m
f
o
r
h
i
g
h
-
r
e
s
o
l
u
t
i
o
n
g
e
o
m
o
r
p
h
o
l
o
g
i
c
a
l
m
a
p
p
i
n
g
i
n
f
o
r
e
s
t
a
r
e
as
,
w
h
i
c
h
h
e
l
p
s
i
n
t
h
e
p
r
e
d
i
c
t
i
o
n
a
n
d
m
iti
g
a
t
i
o
n
o
f
l
a
n
d
s
l
i
d
es
.
T
h
e
m
e
t
h
o
d
o
l
o
g
y
i
n
v
o
l
v
e
d
a
cq
u
i
r
i
n
g
R
GB
i
m
a
g
e
s
f
o
r
l
a
n
d
s
l
i
d
e
d
e
t
e
ct
i
o
n
t
h
r
o
u
g
h
t
h
e
g
e
n
e
r
a
t
i
o
n
o
f
3
D
p
o
i
n
t
c
l
o
u
d
s
;
wi
t
h
t
h
i
s
,
t
o
p
o
g
r
a
p
h
i
c
c
h
a
n
g
e
s
a
n
d
s
e
d
i
m
e
n
t
t
r
a
n
s
p
o
r
t
c
a
n
b
e
c
al
c
u
l
a
te
d
[
2
1
]
.
I
t
s
h
o
u
l
d
b
e
n
o
t
e
d
t
h
a
t
,
p
r
i
o
r
t
o
t
h
e
e
x
e
r
c
i
s
es
o
f
t
h
e
i
r
ca
s
e
s
t
u
d
y
,
t
e
s
ts
w
e
r
e
ca
r
r
i
e
d
o
u
t
w
i
t
h
a
r
e
c
t
a
n
g
u
l
a
r
o
b
j
ec
t
w
it
h
k
n
o
w
n
d
i
m
e
n
s
i
o
n
s
a
n
d
c
o
n
t
r
o
l
l
e
d
p
o
s
it
i
o
n
i
n
g
,
f
i
n
d
i
n
g
t
h
a
t
t
h
e
i
r
t
e
c
h
n
i
q
u
e
a
c
h
ie
v
e
d
p
o
s
i
t
i
o
n
al
a
c
c
u
r
a
c
y
r
el
a
t
iv
e
t
o
t
h
e
o
b
j
e
c
t
o
f
b
e
t
w
e
e
n
5
a
n
d
1
0
m
m
i
n
t
h
e
t
h
r
e
e
a
x
e
s
.
T
h
e
a
u
t
h
o
r
r
e
c
o
m
m
e
n
d
s
f
l
y
i
n
g
l
e
s
s
t
h
a
n
7
0
m
a
b
o
v
e
t
h
e
g
r
o
u
n
d
a
n
d
a
t
s
p
e
e
d
s
l
e
s
s
t
h
a
n
1
1
m
/s
,
t
a
k
i
n
g
i
n
t
o
a
c
c
o
u
n
t
t
h
e
p
e
r
f
o
r
m
a
n
c
e
o
f
t
h
e
U
A
V
b
at
t
e
r
i
es
.
I
n
o
th
e
r
s
tu
d
ies,
th
e
v
e
r
tical
p
o
s
itio
n
al
ac
cu
r
ac
y
f
o
r
to
p
o
g
r
a
p
h
ic
d
ata
o
b
tain
ed
with
L
iDAR
tech
n
iq
u
es
an
d
e
q
u
ip
m
e
n
t
s
h
o
ws
v
ar
iatio
n
s
d
ep
en
d
i
n
g
o
n
th
e
ty
p
e
o
f
ter
r
ain
an
d
t
h
e
d
en
s
ity
o
f
th
e
p
o
in
t
clo
u
d
.
I
n
u
n
d
u
latin
g
to
m
o
u
n
tain
o
u
s
s
lo
p
es,
it is
s
et
ar
o
u
n
d
0
.
2
0
0
m
,
an
d
f
o
r
f
lat
ter
r
ain
,
it c
an
r
ea
ch
0
.
1
5
0
m
,
as
lo
n
g
as
th
er
e
is
a
p
o
in
t
cl
o
u
d
with
a
d
en
s
ity
o
f
1
p
o
in
t
p
er
s
q
u
ar
e
m
eter
[
2
2
]
.
I
t
s
h
o
u
l
d
b
e
n
o
ted
th
at
in
th
e
ex
p
er
im
en
t,
th
e
co
n
v
en
tio
n
al
to
p
o
g
r
ap
h
i
c
m
eth
o
d
with
a
m
illi
m
eter
-
p
r
ec
is
io
n
to
tal
s
tatio
n
was
u
s
ed
as
a
r
ef
er
en
ce
f
o
r
p
o
s
itio
n
al
ac
cu
r
ac
y
,
an
d
it
is
co
n
clu
d
ed
th
at
,
f
o
r
lar
g
e
a
r
ea
s
,
L
iDAR
tech
n
iq
u
es
s
h
o
u
ld
b
e
p
r
ef
er
r
e
d
o
v
er
co
n
v
en
tio
n
al
to
p
o
g
r
a
p
h
y
,
s
in
ce
th
e
p
o
s
itio
n
al
ac
cu
r
ac
y
is
p
r
ac
tically
t
h
e
s
am
e,
co
s
ts
ar
e
r
ed
u
ce
d
,
an
d
p
er
f
o
r
m
an
ce
is
im
p
r
o
v
e
d
.
On
th
e
o
th
er
h
an
d
,
p
o
s
itio
n
al
ac
cu
r
ac
y
ca
n
b
e
ass
ess
ed
b
y
r
ev
iewin
g
th
eo
r
etica
l
co
n
ce
p
ts
an
d
m
ath
em
atica
l
m
o
d
els
a
n
d
c
o
n
tr
asti
n
g
th
em
with
s
p
ec
if
ic
ca
s
es.
I
n
th
is
s
en
s
e,
Pil
ar
s
k
a
et
a
l
.
[
6
]
s
h
o
w
h
o
w
q
u
ality
ca
n
b
e
e
v
alu
ated
th
r
o
u
g
h
a
f
u
n
ctio
n
th
at
co
n
s
id
er
s
v
ar
iab
les
s
u
ch
as
p
o
s
itio
n
er
r
o
r
,
o
r
ien
tatio
n
e
r
r
o
r
,
s
ca
n
n
er
er
r
o
r
,
an
d
th
e
o
f
f
s
et
b
etwe
en
th
e
laser
s
en
s
o
r
,
th
e
GNSS
an
ten
n
a,
an
d
th
e
in
e
r
tial
m
ea
s
u
r
em
en
t
u
n
i
t
(
I
MU
)
,
am
o
n
g
o
th
e
r
s
.
T
h
e
ar
t
icle
co
n
clu
d
es
t
h
at
th
e
m
o
s
t
i
m
p
o
r
tan
t
co
m
p
o
n
en
t
in
t
h
e
er
r
o
r
s
is
p
r
o
d
u
ce
d
b
y
th
e
I
MU
u
n
its
.
I
t
also
in
d
icate
s
th
at
GNS
S
u
n
its
s
h
o
u
ld
b
e
in
teg
r
a
ted
an
d
R
T
K
an
d
p
r
ec
is
e
p
o
in
t
p
o
s
itio
n
in
g
(
PP
P)
m
eth
o
d
s
s
h
o
u
l
d
b
e
u
s
ed
,
an
d
th
at,
wh
e
n
u
s
in
g
th
em
an
d
co
m
p
ar
in
g
th
em
with
th
e
m
ath
em
atica
l
m
o
d
el,
th
eir
p
o
s
itio
n
al
ac
cu
r
ac
y
ca
n
r
ea
ch
3
.
5
:2
cm
in
th
e
h
o
r
iz
o
n
tal
co
m
p
o
n
en
t
an
d
2
.
5
cm
in
th
e
v
er
tical
[
6
]
.
E
v
alu
atio
n
s
o
f
s
o
lid
-
s
tate
L
iDAR
s
en
s
o
r
s
h
av
e
also
b
ee
n
ca
r
r
ied
o
u
t;
f
o
r
ex
am
p
le,
th
e
DJ
I
Z
en
m
u
s
e
L
1
o
n
a
Ma
tr
ice
3
0
0
R
T
K
UAV,
i
n
o
r
d
er
to
p
r
o
d
u
ce
DE
Ms
in
r
i
v
er
en
v
ir
o
n
m
e
n
ts
with
v
e
g
etatio
n
.
T
h
er
e,
th
e
m
u
lti
-
s
ca
le
cu
r
v
atu
r
e
class
if
icatio
n
alg
o
r
ith
m
was
ap
p
lied
f
o
r
s
o
il
to
p
o
g
r
ap
h
y
,
an
d
f
o
r
th
e
co
m
p
ar
is
o
n
o
f
UAV
L
iDAR
an
d
ter
r
estrial
laser
s
ca
n
n
er
p
o
in
t
clo
u
d
s
,
th
e
m
u
ltis
ca
le
m
o
d
el
to
m
o
d
el
clo
u
d
co
m
p
ar
is
o
n
(
M3
C
2
)
m
eth
o
d
was
u
s
ed
[
2
3
]
.
T
h
e
r
esu
lts
o
f
th
e
s
tu
d
y
s
h
o
wed
p
r
o
b
lem
s
with
d
en
s
e
v
e
g
etatio
n
an
d
th
ic
k
g
r
ass
.
Alth
o
u
g
h
it
was
d
em
o
n
s
tr
ated
th
at
th
e
al
g
o
r
ith
m
u
s
ed
is
ef
f
ec
tiv
e
f
o
r
r
iv
er
ar
ea
s
with
v
eg
etatio
n
,
g
en
er
atin
g
DE
Ms
with
ac
cu
r
ac
ies
o
f
0
.
0
1
5
m
in
b
ar
e
s
o
il
an
d
er
r
o
r
s
in
ar
ea
s
with
v
eg
etatio
n
o
f
v
ar
ia
b
le
d
en
s
ity
,
r
an
g
in
g
f
r
o
m
0
.
0
0
7
to
0
.
8
8
3
m
,
e
m
p
h
asizin
g
th
e
im
p
o
r
tan
ce
o
f
ter
r
ain
class
if
icatio
n
f
o
r
ac
cu
r
ate
m
o
d
elin
g
.
I
t
s
h
o
u
l
d
b
e
n
o
ted
th
at
f
lig
h
t
h
eig
h
ts
wer
e
b
etwe
en
6
0
an
d
8
0
m
an
d
s
p
ee
d
s
less
th
an
1
0
m
/s
we
r
e
u
s
ed
.
T
h
ey
also
co
n
clu
d
e
t
h
at
win
d
s
p
ee
d
ca
n
ca
u
s
e
p
r
o
b
lem
s
in
p
o
s
itio
n
in
g
.
L
iDAR
tech
n
o
lo
g
y
o
f
f
er
s
ad
v
an
tag
es
in
ter
m
s
o
f
ac
ce
s
s
ib
ilit
y
to
in
h
o
s
p
itab
le
ar
ea
s
,
an
d
it
s
ab
ilit
y
to
m
o
d
el
lar
g
e
s
u
r
f
ac
es
in
less
tim
e
co
m
p
ar
e
d
to
c
o
n
v
e
n
tio
n
al
tech
n
o
lo
g
ies
is
ev
id
en
t.
Fu
r
th
er
m
o
r
e
,
wh
en
co
m
p
ar
in
g
air
b
o
r
n
e
L
iDAR
with
UAV
-
b
o
r
n
e
L
iDAR
,
th
e
la
tter
ac
h
iev
es
a
h
ig
h
e
r
p
o
i
n
t
d
en
s
ity
,
r
esu
ltin
g
in
m
o
r
e
a
cc
u
r
ate
f
o
r
est
m
ea
s
u
r
em
en
ts
[
2
4
]
.
R
eg
ar
d
i
n
g
c
o
v
e
r
ag
e,
th
e
ca
n
o
p
y
,
b
r
an
c
h
es,
an
d
ter
r
ai
n
ar
e
all
r
ep
r
esen
ted
i
n
th
eir
en
tire
ty
.
Her
e,
it
is
v
itally
im
p
o
r
tan
t
t
o
h
a
v
e
m
u
ltip
le
r
etu
r
n
s
,
esp
e
cially
th
e
last
o
n
e,
s
in
ce
,
in
d
en
s
e
v
eg
etatio
n
,
o
n
ly
1
1
%
o
f
th
e
f
ir
s
t
r
etu
r
n
p
r
o
v
id
es
g
r
o
u
n
d
in
f
o
r
m
a
tio
n
[
2
5
]
.
T
h
e
ef
f
icien
c
y
o
f
L
iDAR
-
UAV
s
u
r
v
ey
s
h
as
also
b
ee
n
d
em
o
n
s
tr
ated
i
n
o
th
er
co
v
er
s
;
f
o
r
e
x
am
p
le,
i
n
s
alt
m
ar
s
h
es,
wh
er
e
its
u
s
ef
u
ln
ess
in
d
escr
ib
in
g
v
eg
etatio
n
an
d
to
p
o
g
r
ap
h
ic
ch
ar
ac
ter
is
tics
was
p
r
o
v
en
,
u
s
in
g
an
alg
o
r
ith
m
th
at
m
an
ag
es
to
r
ed
u
ce
er
r
o
r
s
in
u
n
d
u
latin
g
ter
r
ain
[
2
6
]
.
Ac
co
r
d
in
g
to
t
h
e
co
llected
in
f
o
r
m
atio
n
,
it
ca
n
b
e
co
n
clu
d
e
d
th
at
th
e
q
u
ality
o
f
th
e
co
llected
in
f
o
r
m
atio
n
,
i
n
ter
m
s
o
f
its
p
o
s
itio
n
al
ac
c
u
r
ac
y
,
d
ep
en
d
s
,
as
ex
p
ec
ted
,
o
n
b
o
th
th
e
tr
an
s
p
o
r
t
p
latf
o
r
m
an
d
th
e
s
en
s
o
r
its
elf
,
tak
in
g
in
to
ac
co
u
n
t
v
ar
ia
b
les
s
u
ch
as
f
lig
h
t
h
eig
h
t,
its
s
p
ee
d
,
in
e
r
tial
an
d
g
eo
r
ef
e
r
en
cin
g
s
y
s
tem
s
,
as
well
as
atm
o
s
p
h
er
ic
p
h
en
o
m
e
n
a,
th
e
f
ilter
in
g
an
d
class
if
icatio
n
o
f
th
e
p
o
in
t c
l
o
u
d
,
its
d
en
s
ity
,
an
d
th
e
n
u
m
b
er
o
f
s
en
s
o
r
r
etu
r
n
s
, s
ee
Fig
u
r
e
5
.
Fig
u
r
e
5
.
L
i
d
ar
s
en
s
o
r
s
q
u
ality
asp
ec
ts
o
n
UAVs
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
0
8
8
-
8
7
0
8
I
n
t J E
lec
&
C
o
m
p
E
n
g
,
Vo
l.
15
,
No
.
4
,
Au
g
u
s
t
20
25
:
3
7
4
8
-
3758
3754
3
.
3
.
L
iDAR
v
s
p
ho
t
o
g
ra
m
met
ry
:
co
m
bin
ed
o
r
s
epa
ra
t
ed,
which o
ne
is
bet
t
er
?
T
h
e
p
r
ev
io
u
s
s
ec
tio
n
s
s
h
o
w
t
h
e
ev
o
lu
tio
n
p
r
o
d
u
ce
d
with
th
e
ar
r
iv
al
o
f
UAVs
in
th
e
f
ield
o
f
r
em
o
te
s
en
s
in
g
,
as
well
a
s
th
e
co
n
s
ta
n
t
im
p
r
o
v
em
e
n
t
in
s
en
s
o
r
s
in
ter
m
s
o
f
th
eir
ca
p
ac
ity
an
d
th
e
r
ed
u
ctio
n
in
th
ei
r
p
h
y
s
ical
d
im
en
s
io
n
s
.
A
co
n
s
tan
t
in
ter
est
in
v
ar
io
u
s
r
esear
ch
h
as
also
b
ee
n
d
em
o
n
s
tr
ated
,
to
im
p
r
o
v
e
ter
r
ain
m
o
d
elin
g
b
ased
o
n
th
ese
tech
n
iq
u
es.
Ho
wev
er
,
it
is
s
till
n
o
t
clea
r
wh
ich
tech
n
o
lo
g
y
c
o
u
ld
b
e
ap
p
lied
in
ea
c
h
ca
s
e.
T
h
e
f
o
llo
win
g
p
ar
a
g
r
ap
h
s
aim
to
g
u
id
e
th
e
r
ea
d
er
in
th
eir
d
ec
is
io
n
-
m
ak
in
g
.
T
h
e
ca
p
tu
r
e
o
f
f
o
r
ested
ar
e
as
h
as
b
ee
n
ad
d
r
ess
e
d
with
d
ig
ital
p
h
o
to
g
r
am
m
etr
ic
a
n
d
L
iDAR
tech
n
iq
u
es,
s
u
p
p
o
r
ted
b
y
th
e
u
s
e
o
f
UAVs.
T
h
e
r
esu
lts
in
d
et
er
m
in
in
g
ca
n
o
p
y
ar
ea
s
h
av
e
b
ee
n
p
r
ac
tically
t
h
e
s
am
e
wh
en
ad
d
r
ess
ed
s
ep
ar
at
ely
.
Ho
wev
er
,
wh
e
n
tr
y
i
n
g
to
p
en
etr
ate
it,
d
ig
ital
p
h
o
to
g
r
a
m
m
etr
y
p
r
esen
ts
a
lo
s
s
o
f
in
f
o
r
m
atio
n
an
d
,
th
e
r
ef
o
r
e,
lo
wer
ef
f
icie
n
cy
.
R
eg
ar
d
in
g
th
e
u
s
e
o
f
L
iDAR
in
UAVs,
i
t
ca
n
b
e
id
en
tifie
d
th
at,
with
th
e
c
o
r
r
ec
t
p
ar
am
eter
s
,
th
e
p
o
in
t
d
e
n
s
ity
in
cr
ea
s
es,
wh
ich
h
as
a
p
o
s
itiv
e
im
p
ac
t
o
n
f
o
r
est
m
ea
s
u
r
em
en
t.
W
ith
p
h
o
to
g
r
a
m
m
etr
ic
tech
n
iq
u
es,
th
e
p
o
o
r
r
esu
lts
in
ar
ea
s
o
th
er
th
an
th
e
ca
n
o
p
y
,
an
d
esp
ec
ially
in
th
e
p
r
o
d
u
ctio
n
o
f
DE
Ms,
s
ee
m
to
b
e
ass
o
ciate
d
with
v
ar
iab
les
s
u
ch
as
im
ag
e
o
v
er
lap
less
th
an
8
0
%,
d
if
f
er
e
n
t
f
o
r
est
co
n
d
itio
n
s
,
d
if
f
er
en
t
av
e
r
ag
e
tr
ee
h
eig
h
ts
in
th
e
f
o
r
est,
s
tem
s
with
h
ig
h
e
r
d
en
s
ity
,
an
d
ev
en
ca
u
s
es
s
u
ch
as
th
e
s
h
ad
o
w
p
r
o
d
u
ce
d
b
y
th
e
d
r
o
n
e
[
2
4
]
.
I
t
s
h
o
u
ld
b
e
n
o
ted
th
at
t
h
ese
r
esu
lts
f
o
cu
s
on
b
r
o
ad
leaf
s
p
ec
ies
with
ellip
s
o
id
al
cr
o
wn
s
an
d
co
n
if
er
s
with
co
n
ical
cr
o
wn
s
.
I
n
Au
s
tr
alia,
an
ex
p
er
im
en
t
was
co
n
d
u
cte
d
to
m
o
d
el
ca
n
o
p
y
c
o
v
er
a
n
d
o
b
tain
tr
ee
h
eig
h
ts
i
n
a
e
u
ca
ly
p
tu
s
f
o
r
est
u
s
in
g
a
L
iDAR
p
o
in
t
c
lo
u
d
.
A
co
m
p
ar
is
o
n
o
f
th
e
p
r
o
d
u
ct
with
th
e
p
h
o
to
g
r
am
m
etr
ic
tec
h
n
iq
u
e
was
also
m
ad
e,
u
s
in
g
o
n
ly
a
s
en
s
o
r
with
th
e
n
ea
r
-
i
n
f
r
ar
e
d
(
NI
R
)
b
an
d
.
T
h
e
m
o
d
els,
in
b
o
th
ca
s
es,
f
ai
led
to
f
u
lly
ca
p
tu
r
e
th
e
ca
n
o
p
y
co
v
e
r
.
Ho
wev
e
r
,
th
e
L
iDAR
p
r
o
d
u
ct
was
m
o
r
e
r
ep
r
esen
tati
v
e;
th
ey
also
f
ailed
to
p
r
ed
ict
tr
ee
h
eig
h
ts
with
g
r
ea
ter
ac
cu
r
ac
y
.
T
h
e
m
o
s
t
lik
el
y
e
x
p
lan
atio
n
f
o
r
th
e
less
ac
cu
r
ate
r
esu
lts
with
NI
R
m
ay
b
e
d
u
e
to
ar
ea
s
wi
th
o
u
t
d
ata,
s
in
ce
,
as
d
escr
ib
ed
in
p
r
ev
i
o
u
s
p
ar
a
g
r
a
p
h
s
,
th
e
ca
n
o
p
y
p
r
e
v
en
ts
th
e
p
en
etr
atio
n
o
f
p
h
o
t
o
g
r
am
m
et
r
ic
s
en
s
o
r
s
.
I
t
m
ay
also
b
e
d
u
e
to
th
e
ty
p
e
o
f
f
o
r
est,
as
th
e
s
tu
d
ied
s
p
ec
ies
is
u
s
u
ally
v
er
y
clu
s
ter
ed
.
Ph
o
to
g
r
am
m
etr
ic
r
ec
o
n
s
tr
u
ctio
n
s
im
p
r
o
v
e
wh
en
th
e
GSD
i
s
g
r
ea
ter
th
an
5
cm
,
an
d
th
e
o
v
e
r
lap
o
r
s
u
p
er
p
o
s
i
tio
n
is
g
r
ea
ter
th
an
8
4
%.
On
th
e
co
n
tr
a
r
y
,
wh
en
th
e
s
p
atial
r
eso
lu
tio
n
is
3
.
7
cm
,
m
atch
es
b
etwe
e
n
p
h
o
to
g
r
ap
h
s
a
r
e
ig
n
o
r
e
d
,
g
en
er
atin
g
a
wo
r
s
e
r
ec
o
n
s
tr
u
c
tio
n
;
th
is
o
cc
u
r
s
n
ea
r
th
e
ca
n
o
p
y
,
b
ec
a
u
s
e
th
e
d
is
tan
ce
to
th
e
s
en
s
o
r
d
ec
r
ea
s
es
[
2
7
]
.
Acc
o
r
d
in
g
to
th
e
af
o
r
e
m
en
tio
n
ed
r
esear
ch
,
it
ca
n
b
e
in
f
er
r
ed
t
h
at,
in
f
o
r
est
s
tu
d
ies,
th
e
r
esu
lts
ca
n
b
e
d
iv
id
ed
ac
c
o
r
d
i
n
g
to
in
ter
est
.
Fo
r
ca
n
o
p
y
c
o
v
er
ca
s
es,
b
o
th
tech
n
iq
u
es
s
ee
m
to
b
e
ef
f
icien
t
,
with
th
e
v
ar
iab
les
co
n
tr
o
lled
.
Ho
wev
e
r
,
f
o
r
c
o
n
d
u
ctin
g
s
tu
d
ies
o
f
tr
ee
h
ei
g
h
ts
an
d
DT
Ms,
th
e
L
iDA
R
s
en
s
o
r
h
as
b
etter
p
er
f
o
r
m
an
ce
.
I
n
th
e
f
ield
o
f
g
eo
m
o
r
p
h
o
lo
g
y
,
th
e
em
er
g
en
ce
o
f
UAVs
a
n
d
ter
r
estrial
laser
s
ca
n
n
in
g
(
T
L
S)
h
as
g
en
er
ated
a
ca
r
to
g
r
ap
h
ic
r
ev
o
lu
tio
n
in
d
ata
ac
q
u
is
itio
n
p
r
o
ce
s
s
es,
with
p
r
ec
is
io
n
s
r
ea
ch
in
g
ce
n
tim
eter
s
,
d
ep
en
d
i
n
g
o
n
th
e
f
lig
h
t
h
eig
h
t,
s
p
atial
r
eso
lu
tio
n
,
a
n
d
g
eo
r
ef
er
en
cin
g
m
eth
o
d
[
2
8
]
.
A
w
o
r
k
f
lo
w
with
UAVs
an
d
SfM
p
h
o
to
g
r
a
m
m
etr
y
e
q
u
als
air
b
o
r
n
e
L
iDAR
m
eth
o
d
s
an
d
r
ed
u
ce
s
co
s
ts
.
T
h
is
is
also
id
en
tifie
d
in
co
astal
s
tu
d
ies
in
wh
ich
,
tak
i
n
g
as
a
b
asis
th
r
ee
d
if
f
e
r
en
t
UASs
with
th
e
s
am
e
n
u
m
b
er
o
f
s
en
s
o
r
s
,
i
n
clu
d
in
g
o
n
e
L
iDAR
,
it
is
o
b
s
er
v
ed
th
a
t
th
e
d
if
f
er
e
n
ce
b
etwe
en
th
e
d
ata
o
b
tain
ed
with
t
h
ese
p
latf
o
r
m
s
an
d
tr
a
d
itio
n
al
air
b
o
r
n
e
L
iDAR
is
le
s
s
th
an
a
d
ec
im
eter
[
2
9
]
.
R
eg
ar
d
in
g
ter
r
estrial
L
iDA
R
an
d
SfM
,
it
is
s
aid
th
at
th
e
m
eth
o
d
s
ar
e
c
o
m
p
lem
en
ta
r
y
a
n
d
ca
n
b
e
ap
p
lied
to
d
if
f
er
e
n
t
s
ce
n
ar
io
s
,
wh
er
e
th
e
c
h
o
ice
o
f
o
n
e
o
r
th
e
o
th
er
o
r
th
e
co
m
b
in
atio
n
o
f
th
ese
will
d
ep
en
d
o
n
th
e
n
atu
r
e
o
f
th
e
g
eo
lo
g
ical
o
u
tcr
o
p
an
d
th
e
o
p
e
r
atin
g
co
n
d
itio
n
s
o
f
th
e
eq
u
ip
m
e
n
t
[
3
0
]
.
On
th
e
o
t
h
er
h
an
d
,
in
r
is
k
an
al
y
s
is
,
s
tu
d
ies h
av
e
b
ee
n
co
n
d
u
c
ted
aim
ed
at
id
en
tify
i
n
g
er
r
o
r
s
in
d
ig
ital
elev
atio
n
m
o
d
els
p
r
o
d
u
ce
d
w
ith
p
h
o
to
g
r
am
m
etr
y
a
n
d
L
iD
AR
tech
n
iq
u
es
in
UAVs,
f
o
r
ar
ea
s
with
d
if
f
icu
lt
ac
ce
s
s
,
m
o
u
n
tain
o
u
s
ar
ea
s
,
wi
th
h
ig
h
v
e
g
etatio
n
d
en
s
ity
,
a
n
d
th
at
also
h
av
e
g
r
o
u
n
d
m
o
v
e
m
en
t.
E
r
r
o
r
s
wer
e
f
o
u
n
d
th
at
d
o
n
o
t
ex
ce
ed
two
d
ec
im
eter
s
with
L
iDAR
tech
n
iq
u
es,
wh
ile
with
p
h
o
to
g
r
am
m
etr
y
,
th
e
y
wer
e
b
elo
w
4
0
cm
.
I
t
is
also
in
d
ica
ted
th
at,
f
o
r
s
m
all
ar
ea
s
,
d
u
e
t
o
its
lo
w
co
s
ts
,
th
e
m
o
s
t
ap
p
r
o
p
r
iate
tech
n
iq
u
e
i
s
p
h
o
to
g
r
am
m
etr
y
,
an
d
th
at,
to
o
b
tain
b
etter
r
esu
lts
an
d
r
ep
lace
p
r
o
b
lem
s
r
eg
ar
d
in
g
t
h
e
l
ac
k
o
f
GC
Ps
,
b
o
th
tech
n
iq
u
es
s
h
o
u
ld
b
e
c
o
m
b
i
n
ed
[
3
1
]
.
Ho
wev
er
,
in
s
tu
d
i
es
o
f
in
-
ch
an
n
el
d
e
b
r
is
f
lo
ws,
wh
ich
co
n
s
titu
te
m
ass
iv
e
s
ed
im
en
t
tr
an
s
p
o
r
t
p
h
en
o
m
en
a
in
m
o
u
n
tain
s
tr
ea
m
s
with
s
teep
s
lo
p
es
an
d
wh
er
e
t
o
p
o
g
r
ap
h
ic
s
u
r
f
ac
e
m
o
d
elin
g
is
th
e
m
o
s
t
im
p
o
r
ta
n
t
f
ac
to
r
f
o
r
p
r
ed
ictin
g
f
lo
w,
i
t
is
co
n
clu
d
ed
th
at
th
e
SfM
te
ch
n
o
lo
g
y
o
f
d
ig
ital
p
h
o
to
g
r
am
m
etr
y
is
n
o
t
s
u
itab
l
e,
s
in
ce
it
d
o
es
n
o
t
ac
h
ie
v
e
s
tatis
tical
p
er
f
o
r
m
an
ce
c
o
m
p
a
r
a
b
le
to
L
iDAR
an
d
GNSS.
T
h
is
r
esu
lt
is
p
r
esen
t
ed
af
ter
p
er
f
o
r
m
i
n
g
a
co
m
b
i
n
atio
n
o
f
s
u
r
f
ac
e
s
h
a
p
e
an
al
y
s
is
,
v
er
tical
q
u
ality
ass
es
s
m
en
t,
s
p
atia
lly
d
is
tr
ib
u
t
ed
v
er
tical
u
n
ce
r
tain
t
y
m
o
d
eli
n
g
,
a
n
d
p
r
o
b
ab
ilis
tic
d
if
f
er
e
n
tiatio
n
o
f
th
e
DE
M,
u
s
in
g
f
u
ll
-
wav
ef
o
r
m
L
iDAR
,
GNSS,
an
d
d
ig
ital
p
h
o
to
g
r
a
m
m
etr
y
(
SfM
)
m
eth
o
d
s
,
to
s
u
b
s
eq
u
en
tly
an
aly
ze
th
e
in
f
lu
en
ce
o
f
th
e
to
p
o
g
r
ap
h
ic
d
ata
s
o
u
r
ce
o
n
a
GI
S
m
o
d
el
to
s
im
u
late
d
eb
r
is
f
lo
ws
with
in
ter
m
ed
iate
to
h
ig
h
m
a
g
n
itu
d
es
[
3
2
]
.
I
n
th
e
co
n
s
tr
u
ctio
n
in
d
u
s
tr
y
,
a
ir
b
o
r
n
e
laser
s
ca
n
n
in
g
a
n
d
p
h
o
to
g
r
am
m
et
r
ic
tech
n
iq
u
es
a
r
e
also
u
s
ed
to
m
ea
s
u
r
e
co
n
s
tr
u
ctio
n
p
r
o
g
r
ess
,
as
well
as
f
o
r
th
eir
co
n
tr
o
l,
ter
r
ain
an
d
s
u
r
f
ac
e
m
o
d
elin
g
,
am
o
n
g
o
t
h
er
s
.
I
n
th
is
s
en
s
e,
s
o
m
e
wo
r
k
s
p
r
esen
t
a
g
u
id
e
to
ch
o
o
s
e
th
e
ap
p
r
o
p
r
iate
tech
n
iq
u
e
d
e
p
en
d
i
n
g
o
n
th
e
v
is
ib
ilit
y
o
n
th
e
s
ite,
co
n
clu
d
in
g
th
at,
if
u
s
ed
s
ep
ar
ately
,
d
ata
co
llectio
n
with
p
h
o
to
g
r
a
m
m
etr
ic
tec
h
n
iq
u
es
is
f
aster
,
b
u
t
its
Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
t J E
lec
&
C
o
m
p
E
n
g
I
SS
N:
2088
-
8
7
0
8
Th
ema
tic
r
ev
iew
o
f LiDA
R
a
n
d
p
h
o
t
o
g
r
a
mme
tr
ic
tech
n
o
lo
g
i
es in
…
(
Dieg
o
A
lexa
n
d
er Gó
mez Mo
ya
)
3755
p
o
s
t
-
p
r
o
ce
s
s
in
g
wo
u
ld
b
e
m
o
r
e
tim
e
-
co
n
s
u
m
in
g
.
I
n
ad
d
i
tio
n
,
in
th
e
ca
s
e
o
f
u
s
in
g
o
n
ly
ter
r
estrial
laser
s
ca
n
n
in
g
,
t
h
e
r
o
o
f
o
f
th
e
b
u
ild
in
g
in
th
e
ca
s
e
s
tu
d
y
wo
u
ld
la
ck
1
0
0
%
o
f
th
e
d
ata
[
3
3
]
.
On
th
e
o
th
er
h
a
n
d
,
th
e
u
s
ef
u
ln
ess
o
f
d
ata
co
m
in
g
f
r
o
m
p
o
in
t
clo
u
d
s
g
en
e
r
ated
with
p
h
o
to
g
r
a
m
m
etr
y
is
lim
ited
,
s
in
ce
it
g
en
er
ally
in
tr
o
d
u
ce
s
er
r
o
r
s
r
elate
d
to
th
e
en
v
ir
o
n
m
en
t
o
f
th
e
c
o
n
s
tr
u
c
tio
n
s
,
an
d
th
is
is
ac
ce
n
tu
ated
b
y
th
e
n
ee
d
f
o
r
h
i
g
h
p
o
s
itio
n
al
ac
cu
r
ac
ies in
s
o
m
e
wo
r
k
s
[
3
4
]
.
T
o
s
o
lv
e
th
ese
p
r
o
b
lem
s
,
p
r
o
p
o
s
als
h
av
e
b
ee
n
g
en
er
a
ted
ar
o
u
n
d
th
e
co
m
b
i
n
atio
n
o
f
UAV
p
h
o
to
g
r
am
m
etr
y
an
d
ter
r
estri
al
L
iDAR
d
ata.
T
h
e
o
b
jectiv
e
h
as
also
b
ee
n
to
g
e
n
er
ate
3
D
m
o
d
els
in
ar
ea
s
o
f
ea
r
th
m
o
v
em
e
n
t
wh
er
e
th
e
s
h
ap
e
o
f
th
e
ter
r
ain
ch
a
n
g
es
co
n
tin
u
o
u
s
ly
an
d
in
s
h
o
r
t
p
er
io
d
s
o
f
tim
e
(
d
ay
s
o
r
wee
k
s
)
[
3
5
]
.
I
t
is
in
ter
esti
n
g
t
o
h
ig
h
lig
h
t
th
at,
with
th
e
c
o
m
b
in
atio
n
,
th
e
two
tech
n
o
lo
g
ies
co
m
p
lem
e
n
t
ea
c
h
o
th
er
p
e
r
f
ec
tly
,
elim
in
atin
g
t
h
e
s
h
o
r
tco
m
i
n
g
s
in
d
ata
ca
p
t
u
r
e.
I
t
s
h
o
u
ld
b
e
n
o
ted
th
at,
with
th
e
ap
p
r
o
p
r
iate
ch
ar
ac
ter
is
tics
,
th
e
er
r
o
r
b
etwe
en
d
ata
is
les
s
th
an
1
0
cm
in
8
6
%
o
f
th
e
d
ata,
wh
ile
f
o
r
th
e
r
est,
th
e
er
r
o
r
was
h
ig
h
er
d
u
e
to
a
b
lin
d
s
p
o
t
in
th
e
L
iDAR
ca
p
tu
r
e
[
3
3
]
.
R
ec
o
n
s
tr
u
ctio
n
s
an
d
h
er
itag
e
s
tu
d
i
es
ar
e
also
in
h
er
en
t
to
th
ese
f
ield
s
,
s
o
m
u
ch
s
o
th
at,
in
s
tu
d
ies
an
d
m
o
n
ito
r
in
g
o
f
p
ag
o
d
as,
th
e
co
m
b
in
atio
n
o
f
d
ata
h
as
b
ee
n
s
u
cc
ess
f
u
l,
g
en
er
atin
g
m
o
d
els
with
m
ax
im
u
m
er
r
o
r
s
o
f
0
.
0
0
6
m
,
in
a
d
d
itio
n
t
o
b
ein
g
m
o
r
e
co
m
p
lete
th
an
wh
en
u
s
in
g
a
s
in
g
le
tech
n
iq
u
e
[
3
4
]
.
I
n
th
e
s
am
e
s
en
s
e,
it
was
d
em
o
n
s
tr
ated
th
at
th
e
u
s
e
o
f
th
e
co
m
b
in
atio
n
o
f
p
o
in
t
clo
u
d
s
ca
n
r
ea
ch
a
r
e
p
r
o
d
u
cib
ilit
y
o
f
d
am
-
ty
p
e
s
tr
u
ctu
r
es
with
an
e
f
f
icien
cy
o
f
9
8
%.
I
t
was
also
s
h
o
wn
th
at
th
e
er
r
o
r
in
th
e
z
-
a
x
is
,
wh
en
co
m
b
i
n
in
g
th
e
p
o
in
t
clo
u
d
s
,
im
p
r
o
v
e
d
b
y
1
2
m
m
co
m
p
ar
ed
to
th
e
er
r
o
r
o
f
th
e
clo
u
d
g
en
er
ated
b
y
UAV
p
h
o
to
g
r
a
m
m
etr
y
[
3
5
]
.
A
n
o
th
er
u
s
e
o
f
th
e
p
o
s
s
ib
le
co
m
b
in
atio
n
o
f
tech
n
iq
u
es
in
clu
d
es
th
e
d
eter
m
in
atio
n
o
f
l
o
ca
l
g
eo
id
m
o
d
els,
wh
ich
ar
e
n
ec
ess
ar
y
in
d
if
f
er
e
n
t
en
g
in
ee
r
in
g
p
r
o
j
ec
ts
.
W
h
ile
it
i
s
tr
u
e
th
at
th
e
m
o
d
els
f
r
o
m
t
h
e
co
n
s
u
lted
ar
ticles
u
s
ed
air
b
o
r
n
e
L
iDAR
,
th
ey
wer
e
ac
h
ie
v
ed
th
r
o
u
g
h
d
if
f
er
en
t
c
o
m
p
a
r
is
o
n
s
b
etwe
en
th
e
DT
M
p
r
o
d
u
ce
d
with
th
is
tech
n
iq
u
e
a
n
d
th
e
o
n
e
p
r
o
d
u
ce
d
with
UAV
p
h
o
to
g
r
am
m
etr
y
,
f
in
d
in
g
a
n
ac
cu
r
ac
y
eq
u
iv
alen
t
to
th
at
o
f
h
ig
h
-
r
eso
lu
tio
n
r
eg
i
o
n
al
g
eo
i
d
m
o
d
el
s
.
Ho
wev
er
,
th
ey
d
o
n
o
t
ex
c
ee
d
1
0
cm
,
wh
ich
m
ea
n
s
th
at
,
f
o
r
d
etailed
e
n
g
in
ee
r
in
g
p
r
o
jects,
th
ey
ar
e
n
o
t
s
u
f
f
icien
t.
Alth
o
u
g
h
,
p
o
s
s
ib
ly
,
with
UAV
L
iDA
R
an
d
m
o
r
e
s
tu
d
ies,
th
e
n
ec
ess
ar
y
ac
cu
r
ac
ies f
o
r
th
ese
p
u
r
p
o
s
e
s
ca
n
b
e
ac
h
iev
e
d
[
3
6
]
.
On
th
e
o
th
er
h
an
d
,
with
in
teg
r
ated
p
h
o
to
g
r
am
m
etr
ic
an
d
L
i
DAR
tech
n
iq
u
es,
th
e
r
ec
o
n
s
tr
u
ctio
n
o
f
h
is
to
r
ical
h
er
itag
e
is
p
o
s
s
ib
le.
I
t
is
n
ec
es
s
ar
y
to
in
clu
d
e,
o
f
co
u
r
s
e,
GC
Ps
with
s
u
f
f
icien
t
p
r
ec
is
io
n
f
o
r
th
eir
g
eo
r
ef
er
e
n
cin
g
,
f
li
g
h
t
h
eig
h
t,
an
d
s
en
s
o
r
s
th
at
allo
w
a
GS
D
to
b
e
co
m
p
atib
le
with
th
is
p
r
ec
is
io
n
.
Her
e
it
is
r
elev
an
t
to
in
d
icate
th
at
th
eir
u
s
e
r
ed
u
ce
s
t
h
e
tim
e
a
n
d
co
s
t
o
f
to
p
o
g
r
a
p
h
ic
wo
r
k
,
c
o
m
p
ar
ed
to
tr
ad
itio
n
al
tech
n
iq
u
es p
er
f
o
r
m
ed
with
o
p
t
ical
eq
u
ip
m
en
t o
r
s
atellite
n
av
ig
atio
n
,
s
u
ch
as GN
SS
r
ec
eiv
er
s
.
W
h
en
ch
ec
k
in
g
th
e
o
b
tain
e
d
er
r
o
r
s
,
th
ese
ar
e
c
alcu
lated
with
f
ig
u
r
es
less
th
a
n
th
r
ee
tim
es
th
e
GSD
[
3
7
]
.
I
n
th
e
ar
c
h
ae
o
lo
g
ical
f
ield
,
in
teg
r
atio
n
s
o
f
t
h
is
ty
p
e
h
av
e
also
b
ee
n
u
s
ed
,
alth
o
u
g
h
with
air
b
o
r
n
e
L
iDAR
d
ata
an
d
o
p
e
n
ac
ce
s
s
,
s
o
th
at
th
e
n
o
n
-
s
p
ec
ialize
d
p
u
b
li
c
ca
n
c
ar
r
y
o
u
t
r
ec
o
n
s
tr
u
ctio
n
s
o
f
s
ites
o
f
in
ter
est.
Ho
wev
er
,
d
u
e
to
th
e
v
er
y
n
atu
r
e
o
f
th
eir
d
ata,
p
o
s
itio
n
al
ac
cu
r
ac
y
is
n
o
t
r
elev
an
t in
th
e
s
e
ca
s
es
[
3
8
]
.
T
h
er
e
ar
e
o
th
e
r
ap
p
licatio
n
s
ar
is
in
g
f
r
o
m
th
e
c
o
m
b
in
ati
o
n
o
f
th
ese
tech
n
i
q
u
es;
f
o
r
ex
am
p
le,
au
to
n
o
m
o
u
s
v
e
h
icles
an
d
th
ei
r
n
ee
d
f
o
r
r
o
b
u
s
t
lo
ca
lizatio
n
an
d
m
a
p
p
in
g
(
SLAM
)
,
wh
ic
h
is
n
o
w
b
ased
o
n
ca
m
er
as
an
d
L
iDAR
[
3
9
]
.
I
t
s
h
o
u
ld
b
e
clar
if
ied
th
at,
alth
o
u
g
h
b
o
th
ar
e
ter
r
estrial,
th
ey
ca
n
im
p
r
o
v
e
th
e
co
n
d
itio
n
s
f
o
r
o
th
er
u
s
es
an
d
en
h
an
ce
th
e
tec
h
n
o
lo
g
ies
o
f
th
o
s
e
tr
an
s
p
o
r
ted
in
UAVs.
Fin
ally
,
it
ca
n
b
e
in
d
icate
d
th
at
d
if
f
er
en
t
air
c
r
af
t
eq
u
ip
p
e
d
with
b
o
th
p
h
o
to
g
r
am
m
etr
ic
a
n
d
L
iDAR
s
en
s
o
r
s
h
av
e
b
ee
n
co
m
p
ar
ed
,
f
i
n
d
in
g
th
at,
as
d
escr
ib
ed
s
o
f
ar
,
th
e
GC
P
n
etwo
r
k
is
n
ec
ess
ar
y
,
as
well
as
th
e
clea
r
ad
v
a
n
tag
e
o
f
th
e
ac
tiv
e
s
en
s
o
r
wh
en
s
u
r
v
ey
in
g
ter
r
ain
with
d
en
s
e
v
e
g
etatio
n
co
v
er
[
4
0
]
.
R
eg
ar
d
in
g
s
m
al
l
ar
ea
s
with
co
v
er
s
s
u
ch
as
b
ar
e
s
o
il,
s
h
o
r
t
g
r
ass
,
o
r
r
o
ad
s
,
th
e
ad
v
an
tag
e
o
f
p
h
o
to
g
r
am
m
et
r
y
lies
s
o
lely
in
th
e
lo
wer
c
o
s
t
o
f
th
e
s
en
s
o
r
,
s
in
ce
its
p
o
s
itio
n
al
ac
c
u
r
ac
y
is
c
o
m
p
ar
a
b
le
to
L
iDAR
.
I
n
T
ab
le
1
,
th
e
t
y
p
es
o
f
s
tu
d
ies
wh
er
e
a
ce
r
tain
tech
n
iq
u
e
p
r
esen
ts
ad
v
an
tag
e
s
ca
n
b
e
o
b
s
er
v
e
d
,
eith
er
d
u
e
to
its
b
etter
p
o
s
itio
n
al
a
cc
u
r
ac
y
o
r
its
co
s
t
r
ed
u
ctio
n
.
I
t is also
o
b
s
er
v
e
d
wh
er
e
th
eir
co
m
b
in
atio
n
wo
u
l
d
b
e
th
e
b
est s
o
lu
tio
n
.
Fin
ally
,
it
ca
n
b
e
id
en
tifie
d
th
at
th
e
r
eg
u
latio
n
f
o
r
th
e
u
s
e
o
f
UAVs
co
n
s
titu
tes
th
e
g
r
ea
test
ch
allen
g
e
f
ac
ed
b
y
d
ig
ital
p
h
o
to
g
r
am
m
e
tr
y
an
d
L
iDAR
,
d
u
e
to
th
e
r
is
k
an
d
civ
il
liab
ilit
y
f
o
r
d
am
a
g
es
to
th
i
r
d
p
ar
ties
th
at
in
v
o
lv
e
b
o
th
t
h
e
m
an
ip
u
l
atio
n
o
f
air
c
r
af
t,
an
d
th
e
ca
p
t
u
r
e
o
f
s
en
s
itiv
e
in
f
o
r
m
atio
n
t
h
at
ca
n
b
e
ac
h
iev
ed
with
th
em
.
T
h
ese
ar
e
p
r
o
b
lem
s
in
h
er
en
t to
r
em
o
te
s
en
s
in
g
,
wh
ich
m
u
s
t b
e
ad
d
r
ess
ed
f
r
o
m
p
r
o
f
ess
io
n
al
eth
ics,
en
s
u
r
in
g
r
esp
o
n
s
ib
le
u
s
e
o
f
t
h
ese
tech
n
o
lo
g
ical
to
o
ls
.
O
n
th
e
o
t
h
er
h
an
d
,
th
e
tech
n
o
l
o
g
ies
o
f
th
e
en
e
r
g
y
s
o
u
r
ce
s
th
at
u
s
e
th
ese
to
o
ls
a
r
e
co
n
s
tan
tly
g
r
o
win
g
a
n
d
m
u
tatin
g
,
wh
ich
will
allo
w
a
m
ass
if
icatio
n
in
d
aily
an
d
p
r
o
f
ess
io
n
al
ac
tiv
ities
,
m
an
ag
in
g
to
r
ed
u
ce
th
eir
c
o
s
ts
an
d
th
e
ap
p
ea
r
a
n
ce
o
f
n
ew
ap
p
li
ca
tio
n
s
,
alo
n
g
with
th
is
,
p
o
s
itio
n
in
g
tech
n
o
lo
g
ies
th
at
will
in
cl
u
d
e
n
ew
s
o
l
u
tio
n
s
an
d
d
e
n
s
if
icatio
n
o
f
g
eo
d
e
tic
n
etwo
r
k
s
.
W
ill
im
p
r
o
v
e
th
e
p
o
s
itio
n
al
ac
cu
r
a
cy
o
f
th
e
in
f
o
r
m
atio
n
co
llecte
d
,
as
well
a
s
g
r
ea
ter
s
p
atial
r
e
s
o
lu
tio
n
d
u
e
to
th
e
b
etter
q
u
ality
o
f
s
en
s
o
r
s
an
d
th
eir
ac
ce
s
s
ib
ilit
y
.
B
y
co
m
b
in
in
g
th
ese
tech
n
o
lo
g
ies
with
so
-
ca
lled
ar
tific
ial
in
tellig
en
ce
,
it
will
b
e
p
o
s
s
ib
le
to
au
to
m
ate
p
r
o
ce
s
s
es
in
th
e
v
ar
io
u
s
f
ield
s
o
f
k
n
o
wled
g
e
.
I
t
is
also
p
lan
n
ed
to
ad
ap
t th
ese
to
o
ls
to
a
u
g
m
en
te
d
r
ea
lity
an
d
v
ice
v
er
s
a,
wh
ich
will a
llo
w
in
n
o
v
ativ
e
d
ev
el
o
p
m
en
ts
an
d
im
p
r
o
v
e
k
n
o
wled
g
e
i
n
v
ar
i
o
u
s
f
ield
s
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
0
8
8
-
8
7
0
8
I
n
t J E
lec
&
C
o
m
p
E
n
g
,
Vo
l.
15
,
No
.
4
,
Au
g
u
s
t
20
25
:
3
7
4
8
-
3758
3756
T
ab
le
1
.
R
ec
o
m
m
e
n
d
atio
n
s
f
o
r
th
e
s
elec
tio
n
o
f
t
h
e
tech
n
i
q
u
e
to
b
e
u
s
ed
R
e
c
o
mm
e
n
d
e
d
t
e
c
h
n
i
q
u
e
Li
D
A
R
P
h
o
t
o
g
r
a
m
met
r
y
C
o
m
b
i
n
e
d
D
TM
i
n
f
o
r
e
s
t
e
d
o
r
d
e
n
se
l
y
v
e
g
e
t
a
t
e
d
a
r
e
a
s
B
r
o
a
d
l
e
a
f
c
a
n
o
p
y
C
a
n
o
p
y
c
o
v
e
r
a
g
e
C
a
n
o
p
y
c
o
v
e
r
a
g
e
o
f
l
a
r
g
e
a
r
e
a
s
B
a
r
e
t
e
r
r
a
i
n
s
R
o
a
d
s
o
r
h
i
g
h
w
a
y
s
Tr
e
e
h
e
i
g
h
t
s
C
o
a
st
a
l
s
t
u
d
i
e
s
i
n
sm
a
l
l
a
r
e
a
s
R
i
s
k
a
n
a
l
y
si
s
G
e
o
m
o
r
p
h
o
l
o
g
i
c
a
l
s
t
u
d
i
e
s
R
i
s
k
a
n
a
l
y
si
s
i
n
sm
a
l
l
a
r
e
a
s
I
n
a
c
c
e
ss
i
b
l
e
a
r
e
a
s,
c
o
mp
l
e
m
e
n
t
s G
C
P
C
o
a
st
a
l
s
t
u
d
i
e
s
A
r
c
h
i
t
e
c
t
u
r
a
l
h
e
r
i
t
a
g
e
s
t
u
d
i
e
s
I
n
t
r
a
c
h
a
n
n
e
l
f
l
o
w
s
A
r
c
h
a
e
o
l
o
g
i
c
a
l
s
t
u
d
i
e
s
La
r
g
e
a
r
e
a
s
t
u
d
i
e
s
R
e
st
o
r
a
t
i
o
n
st
u
d
i
e
s
C
o
n
st
r
u
c
t
i
o
n
a
n
d
i
n
f
r
a
s
t
r
u
c
t
u
r
e
R
e
g
i
o
n
a
l
g
e
o
i
d
m
o
d
e
l
s
4.
CO
NCLU
SI
O
N
T
h
e
p
o
s
itio
n
al
ac
cu
r
ac
y
in
L
iDAR
an
d
d
ig
ital
p
h
o
to
g
r
am
m
etr
ic
tech
n
o
lo
g
ies
tr
an
s
p
o
r
ted
in
UAVs
d
ep
en
d
s
o
n
atm
o
s
p
h
er
ic
co
n
d
itio
n
s
,
th
e
f
lig
h
t
p
lan
an
d
its
p
ar
am
eter
s
,
th
e
q
u
ality
o
f
th
e
s
en
s
o
r
s
,
th
e
g
eo
r
ef
er
e
n
cin
g
tech
n
iq
u
e,
th
e
q
u
an
tity
an
d
d
is
tr
ib
u
tio
n
o
f
G
C
Ps
,
th
e
ty
p
e
o
f
UAV
an
d
its
in
er
tial
s
en
s
o
r
s
,
th
e
p
r
o
ce
s
s
in
g
s
o
f
twar
e,
its
alg
o
r
ith
m
s
an
d
tech
n
iq
u
es,
an
d
t
h
e
co
v
e
r
ag
e
co
n
d
itio
n
s
an
d
ty
p
e
o
f
ter
r
ain
to
b
e
s
u
r
v
ey
ed
.
T
h
is
is
with
o
u
t
c
o
n
s
id
er
in
g
t
h
e
s
p
ec
if
ic
co
n
d
itio
n
s
o
f
th
e
tech
n
o
lo
g
ies,
wh
i
ch
ar
e
ex
ten
s
iv
ely
s
tu
d
ied
in
o
th
er
d
o
cu
m
e
n
ts
.
Sp
ec
if
ically
,
f
o
r
L
iDAR
tech
n
o
lo
g
y
,
it
is
ess
en
tial
to
h
av
e
m
u
ltip
le
r
etu
r
n
s
,
as
well
as
th
e
class
if
icatio
n
o
f
th
e
p
o
in
t
clo
u
d
,
t
o
g
u
a
r
an
tee
o
p
tim
al
m
o
d
elin
g
.
W
h
ile,
f
o
r
p
h
o
to
g
r
am
m
et
r
y
,
it
is
ess
en
tial
to
h
av
e
o
v
er
lap
s
o
f
m
o
r
e
th
an
8
0
%
an
d
th
at
th
e
GSD
i
s
in
ac
co
r
d
an
ce
with
th
e
r
eq
u
ir
ed
s
ca
le.
T
h
e
u
s
e
o
f
tech
n
i
q
u
es a
n
d
al
g
o
r
ith
m
s
s
u
ch
as R
ANSA
C
,
SfM
,
S
I
FT,
an
d
MV
S is
also
ess
en
tia
l.
I
t c
an
b
e
s
tated
th
at,
f
o
r
ar
ea
s
with
d
en
s
e
v
eg
etatio
n
co
v
er
,
s
u
ch
as f
o
r
ests
an
d
tall g
r
as
s
es,
as we
ll a
s
in
ar
ea
s
with
s
teep
s
lo
p
es
o
r
h
ig
h
-
v
elo
city
f
lo
ws
an
d
e
v
en
ar
ea
s
with
d
if
f
icu
lty
in
d
en
s
if
y
in
g
g
eo
d
etic
n
etwo
r
k
s
,
th
e
p
o
s
itio
n
al
ac
cu
r
ac
y
o
f
p
r
o
d
u
cts
m
ad
e
with
U
AV
L
iDAR
is
h
ig
h
er
.
On
th
e
o
th
er
h
a
n
d
,
f
o
r
s
m
all
ar
ea
s
th
at
in
clu
d
e
b
ar
e
s
o
il
c
o
v
er
,
co
astal
s
tu
d
ies,
r
o
ad
s
with
o
u
t
v
is
u
al
o
b
s
tacle
s
,
d
ig
ital
p
h
o
to
g
r
am
m
etr
ic
s
o
lu
tio
n
s
ar
e
m
o
r
e
d
esira
b
le,
s
in
ce
th
eir
p
o
s
itio
n
al
ac
c
u
r
ac
y
is
eq
u
iv
alen
t
to
th
at
o
f
o
t
h
e
r
m
eth
o
d
s
,
b
u
t
t
h
eir
co
s
ts
ar
e
lo
wer
.
I
n
in
h
o
s
p
itab
le
an
d
v
er
y
d
if
f
icu
lt
to
ac
ce
s
s
ar
e
as,
th
e
co
m
b
in
atio
n
o
f
b
o
th
tech
n
iq
u
es
will
im
p
r
o
v
e
p
o
s
itio
n
al
ac
cu
r
ac
y
an
d
av
o
id
r
is
k
s
to
p
eo
p
l
e
an
d
eq
u
i
p
m
en
t.
I
n
h
er
ita
g
e,
ar
ch
ae
o
l
o
g
ical
r
ec
o
n
s
tr
u
ctio
n
,
an
d
in
f
r
astru
c
tu
r
e
o
r
c
o
n
s
tr
u
ctio
n
s
tu
d
ies,
th
e
f
u
s
io
n
o
f
p
o
i
n
t
clo
u
d
s
p
r
o
d
u
ce
d
b
y
b
o
t
h
tech
n
iq
u
es
co
n
s
id
er
a
b
ly
im
p
r
o
v
es m
o
d
elin
g
,
o
p
tim
izes r
eso
u
r
ce
s
,
an
d
r
e
d
u
ce
s
co
s
ts
.
ACK
NO
WL
E
DG
M
E
N
T
S
T
h
e
au
th
o
r
s
th
an
k
th
e
C
ath
o
lic
Un
iv
er
s
ity
o
f
Ma
n
izale
s
an
d
th
e
m
aster
’
s
p
r
o
g
r
am
in
R
em
o
te
Sen
s
in
g
f
o
r
th
eir
ad
m
in
is
tr
ativ
e
s
u
p
p
o
r
t in
th
e
d
e
v
elo
p
m
e
n
t
o
f
th
is
r
esear
ch
.
F
UNDING
I
NF
O
R
M
A
T
I
O
N
T
h
is
r
esear
ch
d
id
n
o
t r
ec
eiv
e
e
x
ter
n
al
f
u
n
d
in
g
.
AUTHO
R
CO
NT
RI
B
UT
I
O
NS ST
A
T
E
M
E
N
T
T
h
is
jo
u
r
n
al
u
s
es
th
e
C
o
n
tr
ib
u
to
r
R
o
les
T
ax
o
n
o
m
y
(
C
R
ed
iT
)
to
r
ec
o
g
n
ize
in
d
iv
id
u
al
au
th
o
r
co
n
tr
ib
u
tio
n
s
,
r
ed
u
ce
au
th
o
r
s
h
ip
d
is
p
u
tes,
an
d
f
ac
ilit
ate
co
llab
o
r
atio
n
.
Na
m
e
o
f
Aut
ho
r
C
M
So
Va
Fo
I
R
D
O
E
Vi
Su
P
Fu
Dieg
o
Alex
an
d
er
Gó
m
ez
Mo
y
a
✓
✓
✓
✓
✓
✓
✓
✓
✓
✓
Yeiso
n
Alb
er
to
Gar
ce
s
-
Gó
m
ez
✓
✓
✓
✓
✓
✓
✓
✓
✓
C
:
C
o
n
c
e
p
t
u
a
l
i
z
a
t
i
o
n
M
:
M
e
t
h
o
d
o
l
o
g
y
So
:
So
f
t
w
a
r
e
Va
:
Va
l
i
d
a
t
i
o
n
Fo
:
Fo
r
mal
a
n
a
l
y
s
i
s
I
:
I
n
v
e
s
t
i
g
a
t
i
o
n
R
:
R
e
so
u
r
c
e
s
D
:
D
a
t
a
C
u
r
a
t
i
o
n
O
:
W
r
i
t
i
n
g
-
O
r
i
g
i
n
a
l
D
r
a
f
t
E
:
W
r
i
t
i
n
g
-
R
e
v
i
e
w
&
E
d
i
t
i
n
g
Vi
:
Vi
su
a
l
i
z
a
t
i
o
n
Su
:
Su
p
e
r
v
i
s
i
o
n
P
:
P
r
o
j
e
c
t
a
d
mi
n
i
st
r
a
t
i
o
n
Fu
:
Fu
n
d
i
n
g
a
c
q
u
i
si
t
i
o
n
Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
t J E
lec
&
C
o
m
p
E
n
g
I
SS
N:
2088
-
8
7
0
8
Th
ema
tic
r
ev
iew
o
f LiDA
R
a
n
d
p
h
o
t
o
g
r
a
mme
tr
ic
tech
n
o
lo
g
i
es in
…
(
Dieg
o
A
lexa
n
d
er Gó
mez Mo
ya
)
3757
CO
NF
L
I
C
T
O
F
I
N
T
E
R
E
S
T
ST
A
T
E
M
E
NT
Au
th
o
r
s
s
tate
n
o
co
n
f
lict o
f
in
t
er
est.
DATA AV
AI
L
AB
I
L
I
T
Y
Data
a
v
aila
b
i
lit
y
is
n
o
t
a
p
p
li
ca
b
le
t
o
t
h
is
p
ap
er
as
n
o
n
e
w
d
a
t
a
w
er
e
cr
ea
te
d
o
r
an
al
y
z
e
d
i
n
t
h
is
s
t
u
d
y
.
RE
F
E
R
E
NC
E
S
[
1
]
O
.
L.
M
.
C
a
s
t
r
o
,
“
E
v
a
l
u
a
t
i
o
n
o
f
t
h
e
p
o
s
i
t
i
o
n
a
l
a
c
c
u
r
a
c
y
o
f
g
e
o
g
r
a
p
h
i
c
i
n
f
o
r
mat
i
o
n
a
c
c
o
r
d
i
n
g
t
o
t
h
e
st
a
n
d
a
r
d
s
i
n
u
se,
”
Re
v
i
st
a
C
a
r
t
o
g
r
á
f
i
c
a
9
0
,
p
p
.
8
1
–
9
6
,
2
0
1
4
.
[
2
]
T.
Zh
o
u
,
S
.
M
.
H
a
s
h
e
mi
n
a
s
a
b
,
Y
.
-
C
.
Li
n
,
a
n
d
A
.
H
a
b
i
b
,
“
C
o
m
p
a
r
a
t
i
v
e
e
v
a
l
u
a
t
i
o
n
o
f
d
e
r
i
v
e
d
i
ma
g
e
a
n
d
L
i
D
A
R
p
o
i
n
t
c
l
o
u
d
s
f
r
o
m
UAV
-
b
a
se
d
mo
b
i
l
e
ma
p
p
i
n
g
s
y
st
e
ms,”
T
h
e
I
n
t
e
r
n
a
t
i
o
n
a
l
Ar
c
h
i
v
e
s
o
f
t
h
e
Ph
o
t
o
g
r
a
m
m
e
t
r
y
,
R
e
m
o
t
e
S
e
n
si
n
g
a
n
d
S
p
a
t
i
a
l
I
n
f
o
rm
a
t
i
o
n
S
c
i
e
n
c
e
s
,
v
o
l
.
X
LI
I
I
-
B2
-
2
,
p
p
.
1
6
9
–
1
7
5
,
A
u
g
.
2
0
2
0
,
d
o
i
:
1
0
.
5
1
9
4
/
i
s
p
r
s
-
a
r
c
h
i
v
e
s
-
x
l
i
i
i
-
b2
-
2
0
2
0
-
1
6
9
-
2
0
2
0
.
[
3
]
Ľ.
K
o
v
a
n
i
č
,
B
.
T
o
p
i
t
z
e
r
,
P
.
P
e
ť
o
v
s
k
ý
,
P
.
B
l
i
š
ť
a
n
,
M
.
B
.
G
e
r
g
e
ľ
o
v
á
,
a
n
d
M
.
B
l
i
šť
a
n
o
v
á
,
“
R
e
v
i
e
w
o
f
p
h
o
t
o
g
r
a
m
m
e
t
r
i
c
a
n
d
L
i
D
A
R
a
p
p
l
i
c
a
t
i
o
n
s
o
f
U
A
V
,
”
A
p
p
l
i
e
d
S
c
i
e
n
c
e
s
,
v
o
l
.
1
3
,
n
o
.
1
1
,
p
.
6
7
3
2
,
M
a
y
2
0
2
3
,
d
o
i
:
1
0
.
3
3
9
0
/
a
p
p
1
3
1
1
6
7
3
2
.
[
4
]
P
.
L.
G
u
t
h
e
t
a
l
.
,
“
D
i
g
i
t
a
l
e
l
e
v
a
t
i
o
n
mo
d
e
l
s
:
t
e
r
mi
n
o
l
o
g
y
a
n
d
d
e
f
i
n
i
t
i
o
n
s,
”
Re
m
o
t
e
S
e
n
s
i
n
g
,
v
o
l
.
1
3
,
n
o
.
1
8
,
p
.
3
5
8
1
,
S
e
p
.
2
0
2
1
,
d
o
i
:
1
0
.
3
3
9
0
/
r
s
1
3
1
8
3
5
8
1
.
[
5
]
J.
Zh
a
n
g
,
F
.
L
i
u
,
a
n
d
J.
W
a
n
g
,
“
R
e
v
i
e
w
o
f
t
h
e
l
i
g
h
t
-
w
e
i
g
h
t
e
d
a
n
d
sma
l
l
U
A
V
sy
st
e
m
f
o
r
a
e
r
i
a
l
p
h
o
t
o
g
r
a
p
h
y
a
n
d
r
e
mo
t
e
s
e
n
s
i
n
g
,
”
N
a
t
i
o
n
a
l
R
e
m
o
t
e
S
e
n
s
i
n
g
Bu
l
l
e
t
i
n
,
v
o
l
.
2
5
,
n
o
.
3
,
p
p
.
7
0
8
–
7
2
4
,
2
0
2
1
,
d
o
i
:
1
0
.
1
1
8
3
4
/
j
r
s.2
0
2
1
0
0
5
2
.
[
6
]
M
.
P
i
l
a
r
s
k
a
,
W
.
O
s
t
r
o
w
s
k
i
,
K
.
B
a
k
u
ł
a
,
K
.
G
ó
r
s
k
i
,
a
n
d
Z.
K
u
r
c
z
y
ń
sk
i
,
“
Th
e
p
o
t
e
n
t
i
a
l
o
f
l
i
g
h
t
l
a
ser
sc
a
n
n
e
r
s
d
e
v
e
l
o
p
e
d
f
o
r
u
n
m
a
n
n
e
d
a
e
r
i
a
l
v
e
h
i
c
l
e
s
–
t
h
e
r
e
v
i
e
w
a
n
d
a
c
c
u
r
a
c
y
,
”
T
h
e
I
n
t
e
r
n
a
t
i
o
n
a
l
Arc
h
i
v
e
s
o
f
t
h
e
P
h
o
t
o
g
r
a
m
m
e
t
ry,
Re
m
o
t
e
S
e
n
s
i
n
g
a
n
d
S
p
a
t
i
a
l
I
n
f
o
rm
a
t
i
o
n
S
c
i
e
n
c
e
s
,
p
p
.
8
7
–
9
5
,
O
c
t
.
2
0
1
6
,
d
o
i
:
1
0
.
5
1
9
4
/
i
sp
r
s
-
a
r
c
h
i
v
e
s
-
x
l
i
i
-
2
-
w2
-
87
-
2
0
1
6
.
[
7
]
H
.
H
a
r
s
h
i
t
,
S
.
K
.
P
.
K
u
sh
w
a
h
a
,
a
n
d
K
.
Ja
i
n
,
“
G
e
o
me
t
r
i
c
f
e
a
t
u
r
e
s
i
n
t
e
r
p
r
e
t
a
t
i
o
n
o
f
p
h
o
t
o
g
r
a
mm
e
t
r
i
c
p
o
i
n
t
c
l
o
u
d
f
r
o
m
u
n
m
a
n
n
e
d
a
e
r
i
a
l
v
e
h
i
c
l
e
,
”
I
S
P
RS
An
n
a
l
s
o
f
t
h
e
Ph
o
t
o
g
r
a
m
m
e
t
ry
,
Re
m
o
t
e
S
e
n
si
n
g
a
n
d
S
p
a
t
i
a
l
I
n
f
o
rm
a
t
i
o
n
S
c
i
e
n
c
e
s
,
p
p
.
8
3
–
8
8
,
O
c
t
.
2
0
2
2
,
d
o
i
:
1
0
.
5
1
9
4
/
i
s
p
r
s
-
a
n
n
a
l
s
-
x
-
4
-
w2
-
2
0
2
2
-
83
-
2
0
2
2
.
[
8
]
B
.
B
e
n
m
h
a
h
e
,
J.
A
l
a
mi
C
h
e
n
t
o
u
f
i
,
a
n
d
M
.
A
.
B
a
s
mass
i
,
“
A
3
D
r
e
c
o
n
s
t
r
u
c
t
i
o
n
-
b
a
se
d
me
t
h
o
d
u
s
i
n
g
u
n
m
a
n
n
e
d
a
e
r
i
a
l
v
e
h
i
c
l
e
s
f
o
r
t
h
e
r
e
p
r
e
se
n
t
a
t
i
o
n
a
n
d
a
n
a
l
y
si
s
o
f
r
o
a
d
se
c
t
i
o
n
s,
”
I
n
t
e
r
n
a
t
i
o
n
a
l
J
o
u
r
n
a
l
o
f
El
e
c
t
r
i
c
a
l
a
n
d
C
o
m
p
u
t
e
r
E
n
g
i
n
e
e
ri
n
g
(
I
J
EC
E)
,
v
o
l
.
1
4
,
n
o
.
2
,
p
.
1
5
5
2
,
A
p
r
.
2
0
2
4
,
d
o
i
:
1
0
.
1
1
5
9
1
/
i
j
e
c
e
.
v
1
4
i
2
.
p
p
1
5
5
2
-
1
5
6
4
.
[
9
]
G
.
G
.
F
r
a
n
c
o
a
n
d
A
.
N
a
i
me,
“
S
t
r
u
c
t
u
r
e
f
r
o
m
mo
t
i
o
n
(
S
f
m)
-
a
b
r
i
e
f
h
i
s
t
o
r
i
c
a
l
r
e
v
i
e
w
,
a
p
p
l
i
c
a
t
i
o
n
s
i
n
g
e
o
sci
e
n
c
e
s
a
n
d
f
u
t
u
r
e
p
e
r
s
p
e
c
t
i
v
e
s
,
”
An
u
a
ri
o
d
o
I
n
st
i
t
u
t
o
d
e
G
e
o
c
i
e
n
c
i
a
s
,
v
o
l
.
4
4
,
2
0
2
1
,
d
o
i
:
1
0
.
1
1
1
3
7
/
1
9
8
2
-
3
9
0
8
_
2
0
2
1
_
4
4
_
4
0
8
5
3
.
[
1
0
]
L.
R
a
b
i
u
a
n
d
A
.
A
h
ma
d
,
“
U
n
ma
n
n
e
d
a
e
r
i
a
l
v
e
h
i
c
l
e
p
h
o
t
o
g
r
a
mm
e
t
r
i
c
p
r
o
d
u
c
t
s
a
c
c
u
r
a
c
y
a
ssessm
e
n
t
:
a
r
e
v
i
e
w
,
”
T
h
e
I
n
t
e
rn
a
t
i
o
n
a
l
Arc
h
i
v
e
s
o
f
t
h
e
P
h
o
t
o
g
r
a
m
m
e
t
r
y
,
R
e
m
o
t
e
S
e
n
s
i
n
g
a
n
d
S
p
a
t
i
a
l
I
n
f
o
rm
a
t
i
o
n
S
c
i
e
n
c
e
s
,
v
o
l
.
X
LV
I
I
I
-
4
/
W
,
p
p
.
2
7
9
–
2
8
8
,
F
e
b
.
2
0
2
3
,
d
o
i
:
1
0
.
5
1
9
4
/
i
s
p
r
s
-
a
r
c
h
i
v
e
s
-
x
l
v
i
i
i
-
4
-
w6
-
2
0
2
2
-
2
7
9
-
2
0
2
3
.
[
1
1
]
J.
G
i
l
l
a
n
,
J
.
K
a
r
l
,
A
.
El
a
k
s
h
e
r
,
a
n
d
M
.
D
u
n
i
w
a
y
,
“
F
i
n
e
-
r
e
s
o
l
u
t
i
o
n
r
e
p
e
a
t
t
o
p
o
g
r
a
p
h
i
c
s
u
r
v
e
y
i
n
g
o
f
d
r
y
l
a
n
d
l
a
n
d
s
c
a
p
e
s
u
s
i
n
g
U
A
S
-
b
a
s
e
d
st
r
u
c
t
u
r
e
-
f
r
o
m
-
mo
t
i
o
n
p
h
o
t
o
g
r
a
mm
e
t
r
y
:
a
ss
e
ssi
n
g
a
c
c
u
r
a
c
y
a
n
d
p
r
e
c
i
s
i
o
n
a
g
a
i
n
s
t
t
r
a
d
i
t
i
o
n
a
l
g
r
o
u
n
d
-
b
a
s
e
d
e
r
o
si
o
n
mea
s
u
r
e
me
n
t
s,”
Re
m
o
t
e
S
e
n
si
n
g
,
v
o
l
.
9
,
n
o
.
5
,
p
.
4
3
7
,
M
a
y
2
0
1
7
,
d
o
i
:
1
0
.
3
3
9
0
/
r
s9
0
5
0
4
3
7
.
[
1
2
]
J.
L
o
p
e
z
a
n
d
R
.
M
u
n
j
y
,
“
D
i
g
i
t
a
l
s
u
r
f
a
c
e
m
o
d
e
l
d
e
r
i
v
e
d
f
r
o
m
U
A
S
i
ma
g
e
r
y
a
ssessm
e
n
t
u
si
n
g
h
i
g
h
-
p
r
e
c
i
si
o
n
a
e
r
i
a
l
L
i
D
A
R
a
s
r
e
f
e
r
e
n
c
e
su
r
f
a
c
e
,
”
T
h
e
I
n
t
e
r
n
a
t
i
o
n
a
l
Arc
h
i
v
e
s
o
f
t
h
e
P
h
o
t
o
g
ra
m
m
e
t
ry
,
Re
m
o
t
e
S
e
n
si
n
g
a
n
d
S
p
a
t
i
a
l
I
n
f
o
r
m
a
t
i
o
n
S
c
i
e
n
c
e
s
,
v
o
l
.
X
LI
V
-
M
–
2
–
2
,
p
p
.
6
1
–
6
7
,
N
o
v
.
2
0
2
0
,
d
o
i
:
1
0
.
5
1
9
4
/
i
sp
r
s
-
a
r
c
h
i
v
e
s
-
x
l
i
v
-
m
-
2
-
2
0
2
0
-
61
-
2
0
2
0
.
[
1
3
]
O
.
G
.
A
j
a
y
i
,
M
.
P
a
l
mer,
a
n
d
A
.
A
.
S
a
l
u
b
i
,
“
M
o
d
e
l
l
i
n
g
f
a
r
m
l
a
n
d
t
o
p
o
g
r
a
p
h
y
f
o
r
s
u
i
t
a
b
l
e
si
t
e
se
l
e
c
t
i
o
n
o
f
d
a
m
c
o
n
s
t
r
u
c
t
i
o
n
u
s
i
n
g
u
n
m
a
n
n
e
d
a
e
r
i
a
l
v
e
h
i
c
l
e
(
U
A
V
)
p
h
o
t
o
g
r
a
mm
e
t
r
y
,
”
R
e
m
o
t
e
S
e
n
s
i
n
g
Ap
p
l
i
c
a
t
i
o
n
s:
S
o
c
i
e
t
y
a
n
d
E
n
v
i
r
o
n
m
e
n
t
,
v
o
l
.
1
1
,
p
p
.
2
2
0
–
2
3
0
,
A
u
g
.
2
0
1
8
,
d
o
i
:
1
0
.
1
0
1
6
/
j
.
r
s
a
se.
2
0
1
8
.
0
7
.
0
0
7
.
[
1
4
]
J.
Li
a
o
,
J.
Z
h
o
u
,
a
n
d
W
.
Y
a
n
g
,
“
C
o
m
p
a
r
i
n
g
L
i
D
A
R
a
n
d
S
f
M
d
i
g
i
t
a
l
su
r
f
a
c
e
mo
d
e
l
s
f
o
r
t
h
r
e
e
l
a
n
d
c
o
v
e
r
t
y
p
e
s
,
”
O
p
e
n
G
e
o
sc
i
e
n
c
e
s
,
v
o
l
.
1
3
,
n
o
.
1
,
p
p
.
4
9
7
–
5
0
4
,
Ja
n
.
2
0
2
1
,
d
o
i
:
1
0
.
1
5
1
5
/
g
e
o
-
2
0
2
0
-
0
2
5
7
.
[
1
5
]
A
.
G
r
e
ss
i
n
,
J
.
V
a
l
l
e
t
,
a
n
d
M
.
B
r
o
n
,
“
A
b
o
u
t
p
h
o
t
o
g
r
a
m
met
r
i
c
U
A
V
-
ma
p
p
i
n
g
:
w
h
i
c
h
a
c
c
u
r
a
c
y
f
o
r
w
h
i
c
h
a
p
p
l
i
c
a
t
i
o
n
?
,
”
T
h
e
I
n
t
e
r
n
a
t
i
o
n
a
l
Arc
h
i
v
e
s
o
f
t
h
e
Ph
o
t
o
g
ra
m
m
e
t
ry
,
R
e
m
o
t
e
S
e
n
s
i
n
g
a
n
d
S
p
a
t
i
a
l
I
n
f
o
rm
a
t
i
o
n
S
c
i
e
n
c
e
s
,
v
o
l
.
X
LI
I
I
-
B2
-
2
,
p
p
.
1
0
8
1
–
1
0
8
9
,
A
u
g
.
2
0
2
0
,
d
o
i
:
1
0
.
5
1
9
4
/
i
s
p
r
s
-
a
r
c
h
i
v
e
s
-
x
l
i
i
i
-
b2
-
2
0
2
0
-
1
0
8
1
-
2
0
2
0
.
[
1
6
]
M
.
H
.
M
.
R
o
o
m,
A
.
A
h
ma
d
,
a
n
d
M
.
A
.
R
o
sl
y
,
“
A
ss
e
ssm
e
n
t
o
f
d
i
f
f
e
r
e
n
t
u
n
m
a
n
n
e
d
a
e
r
i
a
l
v
e
h
i
c
l
e
s
y
s
t
e
m
f
o
r
p
r
o
d
u
c
t
i
o
n
o
f
p
h
o
t
o
g
r
a
mm
e
r
t
y
p
r
o
d
u
c
t
s
,
”
T
h
e
I
n
t
e
rn
a
t
i
o
n
a
l
Arc
h
i
v
e
s
o
f
t
h
e
Ph
o
t
o
g
r
a
m
m
e
t
r
y
,
Re
m
o
t
e
S
e
n
si
n
g
a
n
d
S
p
a
t
i
a
l
I
n
f
o
rm
a
t
i
o
n
S
c
i
e
n
c
e
s
,
p
p
.
5
4
9
–
5
5
4
,
O
c
t
.
2
0
1
9
,
d
o
i
:
1
0
.
5
1
9
4
/
i
s
p
r
s
-
a
r
c
h
i
v
e
s
-
x
l
i
i
-
4
-
w
1
6
-
5
4
9
-
2
0
1
9
.
[
1
7
]
N
.
L
a
t
t
e
,
P
.
G
a
u
c
h
e
r
,
C
.
B
o
l
y
n
,
P
.
L
e
j
e
u
n
e
,
a
n
d
A
.
M
i
c
h
e
z
,
“
U
p
s
c
a
l
i
n
g
U
A
S
p
a
r
a
d
i
g
m
t
o
u
l
t
r
a
l
i
g
h
t
a
i
r
c
r
a
f
t
s
:
a
l
o
w
-
c
o
s
t
m
u
l
t
i
-
s
e
n
s
o
r
s
s
y
s
t
e
m
f
o
r
l
a
r
g
e
s
c
a
l
e
a
e
r
i
a
l
p
h
o
t
o
g
r
a
m
m
e
t
r
y
,
”
R
e
m
o
t
e
S
e
n
s
i
n
g
,
v
o
l
.
1
2
,
n
o
.
8
,
p
.
1
2
6
5
,
A
p
r
.
2
0
2
0
,
d
o
i
:
1
0
.
3
3
9
0
/
r
s
1
2
0
8
1
2
6
5
.
[
1
8
]
E.
G
r
o
t
t
o
l
i
,
M
.
B
i
a
u
sq
u
e
,
D
.
R
o
g
e
r
s,
D
.
W
.
T.
J
a
c
k
s
o
n
,
a
n
d
J.
A
.
G
.
C
o
o
p
e
r
,
“
S
t
r
u
c
t
u
r
e
-
f
r
o
m
-
m
o
t
i
o
n
-
d
e
r
i
v
e
d
d
i
g
i
t
a
l
su
r
f
a
c
e
mo
d
e
l
s
f
r
o
m
h
i
s
t
o
r
i
c
a
l
a
e
r
i
a
l
p
h
o
t
o
g
r
a
p
h
s:
a
n
e
w
3
D
a
p
p
l
i
c
a
t
i
o
n
f
o
r
c
o
a
st
a
l
d
u
n
e
mo
n
i
t
o
r
i
n
g
,
”
Re
m
o
t
e
S
e
n
si
n
g
,
v
o
l
.
1
3
,
n
o
.
1
,
p
.
9
5
,
D
e
c
.
2
0
2
0
,
d
o
i
:
1
0
.
3
3
9
0
/
r
s
1
3
0
1
0
0
9
5
.
[
1
9
]
J.
A
.
S
e
n
n
,
J.
M
i
l
l
s,
C
.
L.
W
a
l
s
h
,
S
.
A
d
d
y
,
a
n
d
M
.
P
e
p
p
a
,
“
O
n
‐
s
i
t
e
g
e
o
met
r
i
c
c
a
l
i
b
r
a
t
i
o
n
o
f
R
P
A
S
mo
u
n
t
e
d
sen
s
o
r
s
f
o
r
S
f
M
p
h
o
t
o
g
r
a
mm
e
t
r
i
c
g
e
o
m
o
r
p
h
o
l
o
g
i
c
a
l
s
u
r
v
e
y
s
,
”
Ea
rt
h
S
u
rf
a
c
e
Pr
o
c
e
sses
a
n
d
L
a
n
d
f
o
rm
s
,
v
o
l
.
4
7
,
n
o
.
6
,
p
p
.
1
6
1
5
–
1
6
3
4
,
F
e
b
.
2
0
2
2
,
d
o
i
:
1
0
.
1
0
0
2
/
e
s
p
.
5
3
3
8
.
[
2
0
]
J
.
T
.
Q
u
i
r
o
g
a
-
V
e
l
á
s
q
u
e
z
a
n
d
E
.
M
a
c
a
n
a
-
T
u
t
a
,
“
A
n
a
l
y
s
i
s
o
f
t
h
e
p
o
s
i
t
i
o
n
a
l
a
c
c
u
r
a
c
y
o
f
c
a
r
t
o
g
r
a
p
h
i
c
p
r
o
d
u
c
t
s
g
e
n
e
r
a
t
e
d
w
i
t
h
i
m
a
g
e
s
a
c
q
u
i
r
e
d
b
y
u
n
m
a
n
n
e
d
a
e
r
i
a
l
p
l
a
t
f
o
r
m
s
(
i
n
S
p
a
i
n
)
,
”
M
.
S
.
t
h
e
s
i
s
,
U
n
i
v
e
r
s
i
d
a
d
C
a
t
ó
l
i
c
a
d
e
M
a
n
i
z
a
l
e
s
,
M
a
n
i
z
a
l
e
s
,
C
o
l
o
m
b
i
a
,
2
0
1
9
.
[
2
1
]
S.
-
K
.
C
h
o
i
,
R
.
A
.
R
a
mi
r
e
z
,
a
n
d
T
.
-
H
.
K
w
o
n
,
“
A
c
q
u
i
s
i
t
i
o
n
o
f
h
i
g
h
-
r
e
so
l
u
t
i
o
n
t
o
p
o
g
r
a
p
h
i
c
i
n
f
o
r
ma
t
i
o
n
i
n
f
o
r
e
st
e
n
v
i
r
o
n
m
e
n
t
s
u
si
n
g
i
n
t
e
g
r
a
t
e
d
U
A
V
-
Li
D
A
R
s
y
st
e
m:
S
y
s
t
e
m
d
e
v
e
l
o
p
m
e
n
t
a
n
d
f
i
e
l
d
d
e
m
o
n
st
r
a
t
i
o
n
,
”
H
e
l
i
y
o
n
,
v
o
l
.
9
,
n
o
.
9
,
p
.
e
2
0
2
2
5
,
S
e
p
.
2
0
2
3
,
d
o
i
:
1
0
.
1
0
1
6
/
j
.
h
e
l
i
y
o
n
.
2
0
2
3
.
e
2
0
2
2
5
.
[
2
2
]
W
.
E.
S
a
l
i
n
a
s
C
a
st
i
l
l
o
,
C
.
U
.
P
a
r
e
d
e
s
H
e
r
n
á
n
d
e
z
,
X
.
M
a
r
t
í
n
e
z
B
e
c
e
r
r
a
,
a
n
d
F
.
G
u
e
v
a
r
a
C
o
r
t
i
n
a
,
“
E
v
a
l
u
a
t
i
o
n
o
f
t
h
e
v
e
r
t
i
c
a
l
p
o
s
i
t
i
o
n
a
l
a
c
c
u
r
a
c
y
o
f
a
Li
d
a
r
t
o
p
o
g
r
a
p
h
i
c
p
o
i
n
t
c
l
o
u
d
u
s
i
n
g
c
o
n
v
e
n
t
i
o
n
a
l
su
r
v
e
y
i
n
g
a
s
a
r
e
f
e
r
e
n
c
e
(
i
n
S
p
a
i
n
)
,
”
I
n
v
e
s
t
i
g
a
c
i
o
n
e
s
G
e
o
g
rá
f
i
c
a
s
,
v
o
l
.
0
,
n
o
.
8
5
,
Ja
n
.
2
0
1
5
,
d
o
i
:
1
0
.
1
4
3
5
0
/
r
i
g
.
3
6
9
3
4
.
[
2
3
]
C
.
J
.
M
a
c
D
o
n
e
l
l
,
R
.
D
.
W
i
l
l
i
a
ms
,
G
.
M
a
n
i
a
t
i
s,
K
.
R
o
b
e
r
t
s,
a
n
d
M
.
N
a
y
l
o
r
,
“
C
o
n
su
mer‐
g
r
a
d
e
U
A
V
s
o
l
i
d
‐
s
t
a
t
e
L
i
D
A
R
a
c
c
u
r
a
t
e
l
y
q
u
a
n
t
i
f
i
e
s
t
o
p
o
g
r
a
p
h
y
i
n
a
v
e
g
e
t
a
t
e
d
f
l
u
v
i
a
l
e
n
v
i
r
o
n
me
n
t
,
”
E
a
rt
h
S
u
rf
a
c
e
Pr
o
c
e
sses
a
n
d
L
a
n
d
f
o
rm
s
,
v
o
l
.
4
8
,
n
o
.
1
1
,
p
p
.
2
2
1
1
–
2
2
2
9
,
M
a
y
2
0
2
3
,
d
o
i
:
1
0
.
1
0
0
2
/
e
s
p
.
5
6
0
8.
[
2
4
]
L.
C
a
o
,
H
.
L
i
u
,
X
.
F
u
,
Z.
Z
h
a
n
g
,
X
.
S
h
e
n
,
a
n
d
H
.
R
u
a
n
,
“
C
o
m
p
a
r
i
s
o
n
o
f
U
A
V
Li
D
A
R
a
n
d
d
i
g
i
t
a
l
a
e
r
i
a
l
p
h
o
t
o
g
r
a
mm
e
t
r
y
p
o
i
n
t
c
l
o
u
d
s
f
o
r
e
st
i
ma
t
i
n
g
f
o
r
e
s
t
s
t
r
u
c
t
u
r
a
l
a
t
t
r
i
b
u
t
e
s
i
n
su
b
t
r
o
p
i
c
a
l
p
l
a
n
t
e
d
f
o
r
e
st
s,
”
Fo
r
e
st
s
,
v
o
l
.
1
0
,
n
o
.
2
,
p
.
1
4
5
,
F
e
b
.
2
0
1
9
,
d
o
i
:
1
0
.
3
3
9
0
/
f
1
0
0
2
0
1
4
5
.
Evaluation Warning : The document was created with Spire.PDF for Python.