{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,2,24]],"date-time":"2026-02-24T11:58:02Z","timestamp":1771934282976,"version":"3.50.1"},"reference-count":42,"publisher":"MDPI AG","issue":"5","license":[{"start":{"date-parts":[[2019,5,8]],"date-time":"2019-05-08T00:00:00Z","timestamp":1557273600000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"name":"Federal Ministry of Research and Education, Germany","award":["FKZ 13N12746"],"award-info":[{"award-number":["FKZ 13N12746"]}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["IJGI"],"abstract":"<jats:p>Security applications such as management of natural disasters and man-made incidents crucially depend on the rapid availability of a situation picture of the affected area. UAV-based remote sensing systems may constitute an essential tool for capturing aerial imagery in such scenarios. While several commercial UAV solutions already provide acquisition of high quality photos or real-time video transmission via radio link, generating instant high-resolution aerial maps is still an open challenge. For this purpose, the article presents a real-time processing tool chain, enabling generation of interactive aerial maps during flight. Key element of this tool chain is the combination of the Terrain Aware Image Clipping (TAC) algorithm and 12-bit JPEG compression. As a result, the data size of a common scenery can be reduced to approximately 0.4% of the original size, while preserving full geometric and radiometric resolution. Particular attention was paid to minimize computational costs to reduce hardware requirements. The full workflow was demonstrated using the DLR Modular Airborne Camera System (MACS) operated on a conventional aircraft. In combination with a commercial radio link, the latency between image acquisition and visualization in the ground station was about 2 s. In addition, the integration of a miniaturized version of the camera system into a small fixed-wing UAV is presented. It is shown that the described workflow is efficient enough to instantly generate image maps even on small UAV hardware. Using a radio link, these maps can be broadcasted to on-site operation centers and are immediately available to the end-users.<\/jats:p>","DOI":"10.3390\/ijgi8050219","type":"journal-article","created":{"date-parts":[[2019,5,9]],"date-time":"2019-05-09T11:22:35Z","timestamp":1557400955000},"page":"219","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":23,"title":["Integrated UAV-Based Real-Time Mapping for Security Applications"],"prefix":"10.3390","volume":"8","author":[{"ORCID":"https:\/\/orcid.org\/0000-0001-9186-4178","authenticated-orcid":false,"given":"Daniel","family":"Hein","sequence":"first","affiliation":[{"name":"German Aerospace Center (DLR), Rutherfordstr. 2, 12489 Berlin, Germany"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-3270-5606","authenticated-orcid":false,"given":"Thomas","family":"Kraft","sequence":"additional","affiliation":[{"name":"German Aerospace Center (DLR), Rutherfordstr. 2, 12489 Berlin, Germany"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-3556-7643","authenticated-orcid":false,"given":"J\u00f6rg","family":"Brauchle","sequence":"additional","affiliation":[{"name":"German Aerospace Center (DLR), Rutherfordstr. 2, 12489 Berlin, Germany"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-1314-5554","authenticated-orcid":false,"given":"Ralf","family":"Berger","sequence":"additional","affiliation":[{"name":"German Aerospace Center (DLR), Rutherfordstr. 2, 12489 Berlin, Germany"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"1968","published-online":{"date-parts":[[2019,5,8]]},"reference":[{"key":"ref_1","unstructured":"United Nations Office for the Coordination of Humanitarian Affairs (2019, May 06). UNDAC Field Handbook. Available online: https:\/\/www.unocha.org\/sites\/unocha\/files\/1823826E_web_pages.pdf."},{"key":"ref_2","unstructured":"Tanner, V.D. (2019, May 06). Using Drones in Disaster Areas: Perspectives of Disaster Responders in North Carolina, Virginia and Maryland. Available online: http:\/\/thescholarship.ecu.edu\/bitstream\/handle\/10342\/7046\/TANNER-MASTERSTHESIS-2018.pdf."},{"key":"ref_3","unstructured":"Swiss Foundation for Mine Action (FSD) (2019, May 06). Drones in Humanitarian Action. Available online: http:\/\/drones.fsd.ch\/en\/independent-report-drones-are-ready-for-disasters."},{"key":"ref_4","unstructured":"DuPlessis, J. (2019, May 06). Using Drones to Inspect Post-Earthquake Road Damage in Ecuador. Available online: http:\/\/drones.fsd.ch\/wp-content\/uploads\/2016\/11\/13.Case-StudyEcuador3.pdf."},{"key":"ref_5","unstructured":"Alschner, F., DuPlessis, J., and Soesilo, D. (2019, May 06). Using Drone Imagery for Real-Time Information after Typhoon Haiyan in The Philippines. Available online: http:\/\/drones.fsd.ch\/wp-content\/uploads\/2016\/06\/9Case-Study.Philippine.SearchRescue.3May2016.pdf."},{"key":"ref_6","unstructured":"Swiss Foundation for Mine Action (FSD) (2019, May 06). Using Drones to Create Maps and Assess Building Damage in Ecuador. Available online: http:\/\/drones.fsd.ch\/wp-content\/uploads\/2016\/11\/14.Case-StudyEcuador.pdf."},{"key":"ref_7","unstructured":"Meier, P. (2019, May 06). Digital Humanitarians\u2014How Big Data is Changing the Face of Humanitarian Response. Available online: http:\/\/www.digital-humanitarians.com\/."},{"key":"ref_8","unstructured":"McFarland, M. (2019, May 06). In Nepal, a Model for Using Drones for Humanitarianism Emerges. Available online: https:\/\/www.washingtonpost.com\/news\/innovations\/wp\/2015\/10\/07\/in-nepal-a-model-for-using-drones-for-humanitarianism-emerges."},{"key":"ref_9","doi-asserted-by":"crossref","first-page":"1","DOI":"10.1016\/j.jvcir.2015.10.014","article-title":"A survey on image mosaicing techniques","volume":"34","author":"Ghosh","year":"2016","journal-title":"J. Vis. Commun. Image Represent."},{"key":"ref_10","first-page":"1188","article-title":"Novel image mosaicking of UAV\u2019s imagery using collinearity condition","volume":"7","author":"Tjahjadi","year":"2017","journal-title":"Int. J. Electr. Comput. Eng."},{"key":"ref_11","first-page":"3442","article-title":"A Methodical Review on Image Stitching and Video Stitching Techniques","volume":"11","author":"Pravenaa","year":"2016","journal-title":"Int. J. Appl. Eng. Res."},{"key":"ref_12","unstructured":"Cubic MotionDSP Inc. (2019, May 06). Fast 2D Mapping from Video. Available online: https:\/\/www.motiondsp.com\/software-and-subscription-pricing\/isr-video-enhancement-software\/."},{"key":"ref_13","unstructured":"Pix4D SA (2019, May 06). Pix4Dmapper. Available online: https:\/\/pix4d.com."},{"key":"ref_14","unstructured":"Agisoft LLC (2019, May 06). Agisoft PhotoScan Professional. Available online: https:\/\/www.agisoft.com."},{"key":"ref_15","unstructured":"Trimble Inc (2019, May 06). Inpho UASMaster. Available online: https:\/\/geospatial.trimble.com."},{"key":"ref_16","doi-asserted-by":"crossref","first-page":"137","DOI":"10.1007\/BF00129684","article-title":"Shape and motion from image streams under orthography: A factorization method","volume":"9","author":"Tomasi","year":"1992","journal-title":"Int. J. Comput. Vis."},{"key":"ref_17","doi-asserted-by":"crossref","first-page":"7","DOI":"10.1023\/A:1008109111715","article-title":"Self-Calibration and Metric Reconstruction Inspite of Varying and Unknown Intrinsic Camera Parameters","volume":"32","author":"Pollefeys","year":"1999","journal-title":"Int. J. Comput. Vis."},{"key":"ref_18","doi-asserted-by":"crossref","first-page":"1129","DOI":"10.5194\/isprsarchives-XL-7-W3-1129-2015","article-title":"Detailed and Highly Accurate 3D Models of High Mountain Areas by the MACS-Himalaya Aerial Camera Platform","volume":"XL-7\/W","author":"Brauchle","year":"2015","journal-title":"Int. Arch. Photogramm. Remote. Sens."},{"key":"ref_19","unstructured":"Luhmann, T., and Schumacher, C. (2016). Vorstellung eines photogrammetrischen Kamerasystems f\u00fcr UAV\u2019s mit hochgenauer GNSS\/INS Information f\u00fcr standardisierte Verarbeitungsverfahren. Photogrammetrie\u2014Laserscanning\u2014Optische 3D-Messtechnik: Oldenburger 3D Tage 2016, Wichmann\u2014VDE Verlag."},{"key":"ref_20","doi-asserted-by":"crossref","unstructured":"Kraft, T., Ge\u00dfner, M., Mei\u00dfner, H., Przybilla, H.J., and Gerke, M. (2016, January 10\u201312). Introduction of a Photogrammetric Camera System for RPAS with Highly Accurate GNSS\/IMU Information for Standardized Workflows. Proceedings of the EuroCOW 2016, the European Calibration and Orientation Workshop (Volume XL-3\/W4), Lausanne, Switzerland.","DOI":"10.5194\/isprsarchives-XL-3-W4-71-2016"},{"key":"ref_21","first-page":"499","article-title":"An Integrated Rapid Mapping System for Disaster Management","volume":"Volume XLII-1","author":"Hein","year":"2017","journal-title":"Proceedings of the ISPRS Hannover Workshop: HRIGI 17 (Volume XLII-1\/W1)"},{"key":"ref_22","first-page":"61","article-title":"Terrain Aware Image Clipping for Real-Time Aerial Mapping","volume":"Volume IV","author":"Jutzi","year":"2018","journal-title":"Proceedings of the ISPRS TCI Midterm Symposium\u2014Innovative Sensing\u2014From Sensors to Methods and Applications"},{"key":"ref_23","unstructured":"(2019, May 06). The Shuttle Radar Topography Mission (SRTM), Available online: http:\/\/www2.jpl.nasa.gov\/srtm."},{"key":"ref_24","doi-asserted-by":"crossref","first-page":"965","DOI":"10.1109\/34.159901","article-title":"Camera calibration with distortion models and accuracy evaluation","volume":"14","author":"Weng","year":"1992","journal-title":"IEEE Trans. Pattern Anal. Mach. Intell."},{"key":"ref_25","doi-asserted-by":"crossref","first-page":"1335","DOI":"10.1109\/TPAMI.2006.153","article-title":"A generic camera model and calibration method for conventional, wide-angle, and fish-eye lenses","volume":"28","author":"Kannala","year":"2006","journal-title":"IEEE Trans. Pattern Anal. Mach. Intell."},{"key":"ref_26","doi-asserted-by":"crossref","unstructured":"Kelcey, J., and Lucieer, A. (2012). Sensor Correction and Radiometric Calibration of a 6-BAND Multispectral Imaging Sensor for Uav Remote Sensing. Int. Arch. Photogramm. Remote. Sens. Spat. Inf. Sci., 393\u2013398.","DOI":"10.5194\/isprsarchives-XXXIX-B1-393-2012"},{"key":"ref_27","unstructured":"European Machine Vision Association (EMVA) (2016). EMVA Standard 1288 Release 3.1, EMVA."},{"key":"ref_28","first-page":"1072","article-title":"Survey on JPEG Image Compression","volume":"4","author":"Verma","year":"2014","journal-title":"Int. J. Adv. Res. Comput. Sci. Softw. Eng."},{"key":"ref_29","unstructured":"Aguilera, P. (2006). Comparison of Different Image Compression Formats, Computer Aided Engineering, University of Wisconsin. Research Report ECE533."},{"key":"ref_30","first-page":"8","article-title":"A Review of Image Compression Techniques","volume":"142","author":"Kaur","year":"2016","journal-title":"Int. J. Comput. Appl."},{"key":"ref_31","first-page":"1055","article-title":"The JPEG image compression algorithm","volume":"6","author":"Awad","year":"2013","journal-title":"Int. J. Adv. Eng. Technol."},{"key":"ref_32","unstructured":"(2019, May 06). Independent JPEG Group. Available online: http:\/\/ijg.org."},{"key":"ref_33","doi-asserted-by":"crossref","unstructured":"Postel, J. (1980). User Datagram Protocol, University of Southern Californica, Information Sciences Institute. Available online: https:\/\/www.rfc-editor.org\/rfc\/rfc768.txt.","DOI":"10.17487\/rfc0768"},{"key":"ref_34","doi-asserted-by":"crossref","unstructured":"Braden, R. (1989). RFC 1122 Requirements for Internet Hosts\u2014Communication Layers, Internet Engineering Task Force.","DOI":"10.17487\/rfc1122"},{"key":"ref_35","unstructured":"Peterson, L.L., and Davie, B.S. (1996). Computer Networks: A Systems Approach, Morgan Kaufmann Publishers Inc."},{"key":"ref_36","unstructured":"Heckbert, P. (1989). Fundamentals of Texture Mapping and Image Warping. [Master\u2019s Thesis, University of California Berkeley]."},{"key":"ref_37","doi-asserted-by":"crossref","unstructured":"Hartley, R., and Zisserman, A. (2004). Multiple View Geometry in Computer Vision, Cambridge University Press. [2nd ed.].","DOI":"10.1017\/CBO9780511811685"},{"key":"ref_38","unstructured":"Satoh, S., Ngo, C.W., and Yuan, J. (2017). Automatic Ship Detection on Multispectral and Thermal Infrared Aerial Images Using MACS-Mar Remote Sensing Platform. Pacific-Rim Symposium on Image and Video Technology (PSIVT 2017), Springer Science."},{"key":"ref_39","doi-asserted-by":"crossref","first-page":"35","DOI":"10.1007\/s12567-018-0207-7","article-title":"MACS-Mar: A Real-Time Remote Sensing System for Maritime Security Applications","volume":"11","author":"Brauchle","year":"2018","journal-title":"CEAS Space J."},{"key":"ref_40","first-page":"123","article-title":"Echtzeit-Lagekarten f\u00fcr die Katastrophenhilfe","volume":"89","author":"Kraft","year":"2018","journal-title":"Vermessung mit Unbemannten Flugsystemen"},{"key":"ref_41","doi-asserted-by":"crossref","first-page":"1755","DOI":"10.1016\/j.robot.2014.07.010","article-title":"A new approach to real-time mosaicing of aerial images","volume":"62","author":"Kekec","year":"2014","journal-title":"Robot. Auton. Syst."},{"key":"ref_42","unstructured":"Hein, D. (2016). Verfahren und Vorrichtung zur Ermittlung der Schnittkanten von zwei sich Uberlappenden Bildaufnahmen einer Oberfl\u00e4che. (No. DE102016224886B), German Patent."}],"container-title":["ISPRS International Journal of Geo-Information"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.mdpi.com\/2220-9964\/8\/5\/219\/pdf","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,10,11]],"date-time":"2025-10-11T12:50:06Z","timestamp":1760187006000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.mdpi.com\/2220-9964\/8\/5\/219"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2019,5,8]]},"references-count":42,"journal-issue":{"issue":"5","published-online":{"date-parts":[[2019,5]]}},"alternative-id":["ijgi8050219"],"URL":"https:\/\/doi.org\/10.3390\/ijgi8050219","relation":{},"ISSN":["2220-9964"],"issn-type":[{"value":"2220-9964","type":"electronic"}],"subject":[],"published":{"date-parts":[[2019,5,8]]}}}