U.S. Geological Survey 2018 1.0 digital text files data release DOI:10.5066/F74F1PX3 Reston, VA U.S. Geological Survey https://doi.org/10.5066/F74F1PX3 https://www.sciencebase.gov/catalog/item/5a58c991e4b00b291cd6a63d Christopher R. Sherwood Sandra M. Brosnahan Seth D. Ackerman Jonathan Borden Ellyn T. Montgomery Elizabeth A. Pendleton Emily J. Sturdivant 2018 1.0 data release DOI:10.5066/F74F1PX3 Reston, VA U.S. Geological Survey Suggested citation: Sherwood C.R., Brosnahan S.M., Ackerman S.D., Borden Jonathan, Montgomery E.T., Pendleton E.A., and Sturdivant, E.J., 2018, Aerial imagery and photogrammetric products from unmanned aerial systems (UAS) flights over the Lake Ontario shoreline at Braddock Bay, New York, July 10 to 11, 2017: U.S. Geological Survey data release, https://doi.org/10.5066/F74F1PX3. https://doi.org/10.5066/F74F1PX3 https://www.sciencebase.gov/catalog/item/5a329336e4b08e6a89d88012 Low-altitude (80-100 meters above ground level) digital images were obtained from a camera mounted on a 3DR Solo quadcopter, a small unmanned aerial system (UAS), in three locations along the Lake Ontario shoreline in New York during July 2017. These data were collected to document and monitor effects of high lake levels, including shoreline erosion, inundation, and property damage in the vicinities of Braddock Bay, Sodus Bay, and Chimney Bluffs State Park, New York. This data release includes images tagged with locations determined from the UAS GPS; tables with updated estimates of camera positions and attitudes based on the photogrammetric reconstruction; tables listing locations of the base stations, ground control points, and transect points; geolocated, RGB-colored point clouds; orthomosaic images; and digital elevation models for each of the survey regions. Collection of these data was supported by the Federal Emergency Management Agency, the State of New York Departments of State and Environmental Conservation, and the USGS Coastal and Marine Geology Program and was conducted under USGS field activity number 2017-042-FA. This camera location data provides updated image location information as determined by the Agisoft Photoscan software as a result of processing that included automated image alignment, lens calibration and using independent ground control data. The cameras (or images) noted in this table were imported into the Photoscan software and, if successfully aligned, they were used in the creation of the final photogrammetric products (including point clouds, digital elevation models and orthomosaics). In addition to XYZ location, attitude data estimates (yaw, pitch and roll), and error values from the original photo GPS data are also included. For more information about this field activity, see https://cmgds.marine.usgs.gov/fan_info.php?fan=2017-042-FA. Photogrammetric processing using ground control points produces estimates of camera location and attitude (roll, pitch, and yaw) with much higher accuracies. These tables contain position and attitude estimates derived from photogrammetric post-processing and are considered to have better positional accuracy than the GPS information provided in the EXIF headers in the images in the photo dataset. 20170710 ground condition Complete None planned -77.713146 -77.701520 43.311624 43.304969 USGS Metadata Identifier USGS:5a58c991e4b00b291cd6a63d None U.S. Geological Survey USGS Coastal and Marine Geology Program CMGP Woods Hole Coastal and Marine Science Center WHCMSC State of New York Department of State State of New York Department of Conservation Federal Emergency Management Agency 3DR Solo quadcopter Ricoh GRII low-altitude aerial imagery aerial imagery shoreline photographs photographs photos UAS Unmanned aerial system lakeshore Agisoft Photoscan camera locations navigation Global Positioning System GPS field activity number 2017-042-FA USGS Thesaurus navigational data remote sensing aerial photography ISO 19115 Topic Category geoscientificInformation inlandWaters location elevation None USA Great Lakes New York Lake Ontario Braddock Bay Wildlife Management Area Braddock Bay Greece, NY Braddock Point Westpoint Marina Braddock Bay Park none Public domain data from the U.S. Government are freely redistributable with proper metadata and source attribution. Please recognize the U.S. Geological Survey (USGS) as the source of this information. U.S. Geological Survey Sandra Brosnahan Physical Scientist mailing and physical address

384 Woods Hole Road

Woods Hole Massachusetts 02543-1598 508-548-8700 x2265 508-457-2310 sbrosnahan@usgs.gov https://www.sciencebase.gov/catalog/file/get/5a58c991e4b00b291cd6a63d/?name=2017042FA_BraddockWest_CameraLocations_browse.jpg Browse image of the camera locations text file JPEG Coordinates recorded for each record describe discrete positions in space and the visual reflectance at the time of capture and the estimated position based on automated alignment done by the photogrammetry software. Agisoft Photoscan software determines the photos used in the construction of the products (Point Cloud, DEM and Orthomosaic) based on the ability to align the photo and the usability of valid tie points within an image. Images that were not successfully aligned but were imported into the software retain the original camera (image) position data but have the no-data value (NaN) for all of the processed data fields. Some photos from each flight were not loaded into photoscan by the processor. These photographs are typically from takeoff and landing, and were eliminated to reduce the total number of photographs within the project. A small number of additional photos were not included in Photoscan because of drop outs in the GPS signal that prevented the photos from being geotagged using Mission Planner (version 1.3.49). However, these photos that were omitted from the Photoscan projects have been provided in the photo zip files in this publication for completeness. All of the photos were re-geotagging using the ExifTool software, which may result in slightly different original camera position estimates between the original camera positions reported in this file and the photo position recorded in the EXIF header of the JPEG images. Twenty-two UAS flights (f1 - f22) were conducted in Braddock Bay survey areas along the NY Lake Ontario shoreline. Flights 2, 8, 9, 14, and 15 were aborted for reasons including errors in the telemetry log, loss of contact with GPS base station, and poor photo quality. During the 17 successful flights, photographs were captured every 2 seconds. Gaps in sequential 2-second photo intervals exist because some photos were deleted because of bad exposure, slow shutter speed, excessive tilt, or low altitude during takeoff and landing. Not all of the images loaded into the photogrammetry software were used in the reconstruction. Some were omitted automatically because they yielded an insufficient number of tie points relating them to the others. Location and attitude information was calculated for all of the images used in the reconstruction, and that information is provided for only for those photos. A total of 1175 photos were imported into the Braddock West project (at the processor's discretion, some photos, usually those from the take-off and landing, were omitted). Photos that were not aligned in the project are included in this data table but have the no-data value (NaN) for all of the processed data fields. To minimize the effects of changing environmental factors (e.g. shadows, lighting, etc) on the final products, the BraddockWest photogrammetry project contains only imagery from flights on July 10, 2017. Horizontal positions recorded in the UAS flight logs and later applied to the EXIF portion of the images were derived from a mRo GPS (u-Blox Neo-M8N / 3DR SOLO Upgrade), which received signals from GPS and GLONASS satellites, but are otherwise uncorrected. Horizontal locations for the original photo dateset are considered accurate to approximately 3 meters, but may be off by as much as 10 meters. Horizontal camera positions, presented in this dataset, are calculated from photogrammetry and are considered more accurate because the location takes into account the overall reconstruction of the Photoscan project incorporating tie points from adjacent aerial photos and the ground control point data. The estimated camera positions are likely accurate to within 0.2 m. Vertical positions recorded in the UAS flight logs and later applied to the EXIF portion of the images were derived from a mRo GPS (u-Blox Neo-M8N / 3DR SOLO Upgrade), which receives signals from GPS and GLONASS satellites, but is otherwise uncorrected. Vertical locations from the GPS are considered to be less accurate than horizontal positions and may be off by more than 10 meters. Like the horizontal camera positions, the vertical camera positions, presented in this dataset, are calculated from photogrammetry and are considered more accurate because the location takes into account the overall reconstruction of the Photoscan project incorporating tie points from adjacent aerial photos and the ground control point data. The estimated camera positions are likely accurate to within 0.2 m. U.S. Geological Survey 2018 data release DOI:10.5066/F74F1PX3 Reston, VA U.S. Geological Survey https://doi.org/10.5066/F74F1PX3 raster digital images 20170710 20170711 ground condition; images were obtained between 20170710 and 20170711. geotagged aerial digital images The digital images are the raw data used to produce subsequent photogrammetric products. U.S. Geological Survey 2018 data release DOI:10.5066/F74F1PX3 Reston, VA U.S. Geological Survey https://doi.org/10.5066/F74F1PX3 text data files 20170710 20170711 ground condition; ground control points were obtained between 20170710 and 20170711. text files with ground control point (GCPs) The ground control points (GCPs; not transect points -- see metadata for more information) were used to geolocate the photogrammetric products. During USGS field activity 2017-042-FA, digital images were taken approximately 80 and 100 m above the ground on July 10 - 14, 2017, with a Ricoh GRII digital camera mounted in a 3DR Solo quadcopter operated by the U.S. Geological Survey. This camera location file, for the Braddock Bay project, was created using a standard processing flow as described in the processing steps below. These camera locations are the product of one of several photogrammetry projects from field activity 2017-042-FA. Two projects incorporated flights over Braddock Bay on July 10 and 11, 2017 (Braddock West, Braddock East); four were used for flights in the vicinity of Sodus Bay on July 12, 13, and 14, 2017 (Lake Bluff / Crescent Bar, Crescent Bar / Charles Point, Sodus North, and Greig Street); and one project incorporated flights over Chimney Bluffs on July 14, 2017. For this camera location file, original camera position estimates were determined using Mission Planner software (version 1.3.49). These position estimates are written to the header of JPEG images in a process know as geotagging. Geotagging functionality in Mission Planner is accessed from the main menu by clicking 'control' and 'F', and then choosing 'GeoRef Images' from the menu that pops up. Geotagging requires a telemetry log (created by mission planner during survey flight), photos (collected by the Ricoh camera during flight), and a time offset between camera and GPS if applicable. The updated camera locations also present in this dataset were determined using photogrammetry software (Agisoft Photoscan Professional v. 1.3.2), and differ from the original position estimates due to photogrammetric correction and ground control adjustments. 201709 U.S. Geological Survey, Woods Hole Coastal and Marine Science Center Christopher R. Sherwood Research Oceanographer mailing and physical address

384 Woods Hole Road

Woods Hole Massachusetts 02543 U.S.A. 508-548-8700 x2269 508 457 2310 csherwood@usgs.gov The following steps make up the general processing flow for creating digital elevation models from UAS flights: 1. Geotagged images (see source citation) containing useful imagery from the survey area were imported into Agisoft Photoscan Professional v. 1.3.2 software using the “Add photos…” tool. Photos taken before and immediately after takeoff, photos taken immediately prior to and after landing, and photos with 100% water were not loaded into the project. Project coordinate system is set to EPSG::7660 WGS84 (G1150) geocentric coordinate system. 2. Using ”Convert”, the coordinate system of the images (called “cameras” in Photoscan) was converted from native latitude/longitude WGS84 (G1150) coordinate system to meters in NAD83/UTM zone 18N (EPSG::26918). 3. The photos were processed through an initial alignment and optimization procedure using the following settings: Alignment - Accuracy: “High”; Pair selection: “Reference”; Key point limit: 80,000; Tie point limit; 0 (unlimited). Adaptive camera model fitting option was selected. Optimization - Lens-calibration parameters f, cx, cy, k1, k2, k3, p1, and p2 were included; b1, b2, and higher-order parameters k4, p3, and p4 were not. 4. The sparse point cloud (also known as tie points; created as a result of photo alignment and optimization) was edited using an iterative error-reduction procedure to filter the data. This was done in several iterations of a process called "Gradual Selection" to first to reduce reconstruction uncertainty (to a unitless value of 10) and then projection accuracy (to a weighted value of 3). 5. Ground control points were created by first by letting the software automatically detect markers where it finds all of the 4-ft square black/white targets deployed (false targets that are sometimes detected were manually deleted). The automatically-generated marker labels were manually changed to match the names in the survey notes and GCP location files. 6. "Import markers” was used to load the GCP location file, which assigned coordinates (northing, easting, and elevation in UTM Zone 18 North meters in NAD83 and NAVD88 coordinate systems) from the location file to the detected markers. The locations of auto-detected markers were retained. 7. Another round of "Gradual Selection" was done to reduce the reprojection error (to a value of 0.3 pixels, unless more than 10% of the points would be removed). 8. A dense point cloud was then created with the parameters "High" quality and “Aggressive” depth filtering. 9. A DEM was create with the parameters Source data="Dense Cloud" Interpolation="Enabled" Resolution="0.05" 10. An orthomosaic was create with the parameters Surface="DEM" Blending mode="Mosaic" Pixel size X="0.025" Pixel size Y="0.025" 11. The camera locations data (this dataset) was exported in CSV text format (2017-07-10_Braddock_West_CAMERAS.csv) from Photoscan with the following parameters (Items=Cameras, Delimiter=Comma, Columns=[all boxes checked on] with Precision=6). This file was manually edited to remove columns that contained no data for all records and to fill those columns for the photos not successfully aligned with a no-data value of "NaN". Then the file was renamed (2017042FA_BraddockWest_CameraLocations.csv). 20170913 U.S. Geological Survey, Woods Hole Coastal and Marine Science Center Christopher R. Sherwood Research Oceanographer mailing and physical address

384 Woods Hole Road

Woods Hole Massachusetts 02543 U.S.A. 508-548-8700 x2269 508 457 2310 csherwood@usgs.gov Added keywords section with USGS persistent identifier as theme keyword. 20200807 U.S. Geological Survey VeeAnn A. Cross Marine Geologist Mailing and Physical

384 Woods Hole Road

Woods Hole MA 02543-1598 508-548-8700 x2251 508-457-2310 vatnipp@usgs.gov Point Point 1175 Universal Transverse Mercator 0.999600 -75.00000 0.000 500000.0000 0.0000 coordinate pair 0.001 0.001 meters North American Datum of 1983 Geodetic Reference System 80 6378137.000000 298.257222101 North American Vertical Datum of 1988 0.000001 meters Attribute values Braddock East camera locations These locations have been processed using photogrammetric software and ground control points and are considered more accurate than the GPS coordinates recorded by the UAS-attached GPS and included in the photograph EXIF tags. U.S. Geological Survey #Label Photograph name in standard USGS format U.S. Geological Survey character set of photograph name including: survey ID, Camera ID, flight ID, date and time, and original filename to ensure no duplicated filenames X/Easting Easting coordinate of the camera in UTM Zone 18 meters, NAD83 (EPSG::26918) as determined by the UAS-attached GPS and applied to photo during 'geotagging'. These coordinates were converted from WGS84 to NAD83, upon import to Photoscan, but are otherwise the same as the coordinates in the photo EXIF GPS-tags. U.S. Geological Survey 279947.8216 280914.695 meters Y/Northing Northing coordinate of the camera in UTM Zone 18 meters, NAD83 (EPSG::26918) as determined by the UAS-attached GPS and applied to photo during 'geotagging'. These coordinates were converted from WGS84 to NAD83, upon import to Photoscan, but are otherwise the same as the coordinates in the photo EXIF GPS-tags. U.S. Geological Survey 4798256.913 4798965.5 meters Z/Altitude Orthometric height of the camera in NAD83 (EPSG::26918) as determined by the UAS-attached GPS and applied to photo during 'geotagging'. These altitudes were converted from WGS84 (ellipsoidal heights) to NAD83, upon import to Photoscan, but are otherwise the same as the altitudes in the photo EXIF GPS-tags. U.S. Geological Survey 70.610 171.5 meters Error_(m) total difference (in meters) between the initial coordinates from the UAS GPS log (inclduded in the photograph EXIF GPStags header) and the coordinates estimated from the photogrammetric reconstruction. U.S. Geological Survey 0 68.295 meters X_error X difference (in meters) between the initial Easting coordinates from the UAS GPS log (inclduded in the photograph EXIF GPStags header) and the coordinates estimated from the photogrammetric reconstruction. U.S. Geological Survey -42.577513 36.649155 meters Y_error Y difference (in meters) between the initial Northing coordinates from the UAS GPS log (inclduded in the photograph EXIF GPStags header) and the coordinates estimated from the photogrammetric reconstruction. U.S. Geological Survey -53.046004 36.13526 meters Z_error Z difference (in meters) between the initial altitude coordinates from the UAS GPS log (inclduded in the photograph EXIF GPStags header) and the coordinates estimated from the photogrammetric reconstruction. U.S. Geological Survey -12.790666 16.589517 meters X_est X-coordinate of the camera in UTM Zone 18 meters, NAD83 (EPSG::26918) estimated from the photogrammetric reconstruction using ground control points U.S. Geological Survey 279953.9605 280913.7166 meters Y_est Y-coordinate of the camera in UTM Zone 18 meters, NAD83 (EPSG::26918) estimated from the photogrammetric reconstruction using ground control points U.S. Geological Survey 4798254.599 4798966.82 meters Z_est Z-coordinate (altitude) of the camera in meters adjusted to the NAVD88 orthometric heights as estimated from the photogrammetric reconstruction using ground control points U.S. Geological Survey 81.938835 183.457731 meters Yaw_est estimated (by photogrammetric reconstruction) rotation of the camera relative to the y-axis U.S. Geological Survey 5.744054 354.997242 degrees Pitch_est estimated (by photogrammetric reconstruction) rotation of the camera relative to the x-axis U.S. Geological Survey -36.492916 27.907664 degrees Roll_est estimated (by photogrammetric reconstruction) rotation of the camera relative to the z-axis U.S. Geological Survey -50.472354 26.899018 degrees The list of images and camera location information are provided in a CSV text file named 2017042FA_BraddockWest_CameraLocations.csv. The text contains one header line denoted with a "#' character, followed by rows of data records; there are 14 columns of data separated by commas. The first header row specifies the column headings for the data, as follows: Label (full name of the image file), X/Easting, Y/Northing, and Z/Altitude (initial horizontal and vertical coordinates from the UAS GPS log), Error_(m), X_error Y_error, Z_error (total distance, and x, y, an z components of the distances (meters) between the initial coordinates from the UAS GPS log and the coordinates estimated from the photogrammetric reconstruction), X_est, Y_est, Z_est (coordinates estimated from the photogrammetric reconstruction), Yaw_est, Pitch_est, Roll_est (camera attitude estimated from the photogrammetric reconstruction). The fields X/Easting, Y/Northing, and Z/Altitude are the uncorrected horizontal and vertical values and are therefore reported in this PhotoScan export in the coordinate system and vertical datum of original projection of the BraddockWest project (see process number 2 in the processing steps above). The fields X_est, Y_est, Z_est are in coordinates corrected by the image alignment and photogrammetry process; the X_est and Y_est are in the horizontal datum of the PhotoScan project (NAD83 UTM Zone 18 EPSG::26918) and the Z_est values are referenced to the NAVD88 vertical datum. If the image was not successfully aligned in the photogrammetric reconstruction, estimated camera location and attitude are not available, and only the first five columns contain valid data. Missing data for these unused cameras (images) are indicated by "NaN". USGS Field Activity 2017-042-FA U.S. Geological Survey - ScienceBase mailing and physical address

Denver Federal Center, Building 810, Mail Stop 302

Denver CO 80225 1-888-275-8747 sciencebase@usgs.gov This dataset contains the CSV file with camera locations (2017042FA_BraddockWest_CameraLocations.csv), a browse graphic (2017042FA_BraddockWest_CameraLocations_browse.jpg), and FGDC CSDGM compliant metadata. Neither the U.S. Government, the Department of the Interior, nor the USGS, nor any of their employees, contractors, or subcontractors, make any warranty, express or implied, nor assume any legal liability or responsibility for the accuracy, completeness, or usefulness of any information, apparatus, product, or process disclosed, nor represent that its use would not infringe on privately owned rights. The act of distribution shall not constitute any such warranty, and no responsibility is assumed by the U.S. Geological Survey in the use of these data or related materials. Any use of trade, product, or firm names is for descriptive purposes only and does not imply endorsement by the U.S. Government. CSV A CSV files with camera locations (2017042FA_BraddockWest_CameraLocations.csv) and FGDC CSDGM compliant metadata in standard formats. Use WinZip, 7zip, Peazip or pkUnzip 0.077 https://www.sciencebase.gov/catalog/item/5a58c991e4b00b291cd6a63d https://www.sciencebase.gov/catalog/file/get/5a58c991e4b00b291cd6a63d https://doi.org/10.5066/F74F1PX3 The first link is to the page containing the data, the second link downloads all data available from the page as a zip file, and the third link is to the publication landing page. none The CSV file is plain text with comma separated values. It can be read with most text editors or spreadsheet programs. 20200807 Sandra Brosnahan U.S. Geological Survey Physical Scientist mailing and physical address

U.S. Geological Survey

384 Woods Hole Rd.

Woods Hole MA 02543-1598 508-548-8700 x2265 508-457-2310 sbrosnahan@usgs.gov Content Standard for Digital Geospatial Metadata FGDC-STD-001-1998 local time None None