Surveying Small Streams with COTS UAVs

We tested the ability to make high resolution surveys of stream bathymetry and exposed banks using a commercial off-the-shelf unmanned quadcopter equipped with a 12 megapixel, gimbal stabilized, RGB camera, and L1-code-only GPS.Our study site is a canyon-wall confined gravel bed river with pool-riffle morphology. The survey reach was 15 m wide and on average 0.3 m deep with a maximum water depth during survey of approximately 1.2 m. Streambed material ranged between pea gravel to boulders. For accuracy comparison we field-surveyed the reach with an RTK GPS. The survey mapped large boulders and cobbles, stream banks and bed morphology, as well as the center of each of 9 black/white photo targets with a surface area of 22" x 16" that were placed around the perimeter of the reach. The water was clear, and the bottom substrate reflectivity was highly variable and rich in texture Nearly 1,000 photos were captured, many with sub-centimeter pixels. The photos were processed using Agisoft Photoscan and the resulting point cloud linked to the GPS coordinate system via the surveyed photo targets. The submerged portion of the data was separated from the sub-aerial data, corrected for refraction using external software and then rejoined to produce a seamless point cloud. Comparison between the merged results and ground-survey point shows good agreement with less than 10cm rmse.