Using drones in archaeological research: Kasakh Valley Archaeological Survey (KVAS),

Ian Lindsay Department of Anthropology Purdue University

Purdue GIS Day November 4, 2016 Indiana Drones: UAV/UAS in Archaeology

New Approaches to Spatial Archaeometry: Applications from the Near East Capturing Complexity Toward an Integrated Low-Altitude Photogrammetry and Mobile Geographic Information System Archaeological Registry System

Steven A. Wernke, Julie A. Adams, and Eli R. Hooten

An autonomously-piloted octocopter, a Cinestar8, equipped with a thermal camera, takes off to begin a survey of an archaeological site. Lightweight aerial mapping SAA Advances in Arch. Practice (2014) systems like this one have great potential for archaeological research. Photograph by J. Casana. Jesse Casana Journal of Archaeological Science 45 (2014) 207e219 Near Eastern Archaeology (2014) Contents lists available at ScienceDirect A Journal of Archaeological Science

bs_bs_banner journal homepage: http://www.elsevier.com/locate/jas

Archaeometry 57, 1 (2015) 128–145 doi: 10.1111/arcm.12078

Archaeological aerial thermography: a case study at the Chaco-era Blue J community, New Mexico IMAGE-BASED MODELLING FROM UNMANNED AERIAL

a, b a c VEHICLE (UAV) PHOTOGRAMMETRY: AN EFFECTIVE, Jesse Casana *, John Kantner , Adam Wiewel , Jackson Cothren LOW-COST TOOL FOR ARCHAEOLOGICAL APPLICATIONS* a Department of Anthropology, University of Arkansas, Main 330, Fayetteville, AR 72701, United States b University of North Florida, 1 UNF Dr., Jacksonville, FL 32224, United States c Department of Geosciences and Center for Advanced Spatial Technologies, University of Arkansas, JBHT 320, Fayetteville, AR 72701, United States J. FERNÁNDEZ-HERNANDEZ, D. GONZÁLEZ-AGUILERA,† P. RODRÍGUEZ-GONZÁLVEZ and J. MANCERA-TABOADA article info abstract Department of Cartographic and Land Engineering, University of Salamanca, C/ Hornos Caleros, 50, CP. 05003, Journal of Archaeological Science (2014) Ávila, Spain Article history: Despite a long history of studies that demonstrate the potential of aerial thermography to reveal surface Received 18 September 2013 and subsurface cultural features, technological and cost barriers have prevented the widespread appli- Received in revised form cation of thermal imaging in archaeology. This paper presents a method for collection of high-resolutionThe recording and 3D modelling of complex archaeological sites is usually associated with 17 February 2014 thermal imagery using an unmanned aerial vehicle (UAV), as well as a means to efficiently process and Archaeometry (2015) Accepted 20 February 2014 high capital and logistical costs, because the data acquisition must be performed by specialists orthorectify imagery using photogrammetric software. To test the method, aerial surveysusing were con- expensive surveying sensors (i.e., terrestrial laser scanners, robotic total stations ducted at the Chaco-period Blue J community in northwestern New Mexico. Results enable the size and Keywords: organization of most habitation sites to be readily mapped, and also reveal previously undocumentedand/or ground-penetrating radar). This paper presents a novel, low-cost, user-friendly Thermal imaging photogrammetric tool for generating high-resolution and scaled 3D models of complex sites. LWIR architectural features. Our easily replicable methodology produces data that rivals traditional archaeo- UAV logical geophysics in terms of feature visibility, but which can be collected very rapidly, over largeThe results areas, obtained with unmanned aerial vehicle (UAV) photogrammetry of an archaeologi- Photogrammetry with minimal cost and processing requirements. cal site indicate that this approach is semi-automatic, inexpensive and effective, and that it Archaeo-geophysics Ó 2014 Elsevier Ltd. All rights reserved. Ancestral Puebloans guarantees quality.

KEYWORDS: UNMANNED AERIAL VEHICLE (UAV), ARCHAEOLOGY, SOFTWARE DEVELOPMENT, IMAGE-BASED MODELLING, PHOTOGRAMMETRY, COMPUTER VISION

1. Introduction architectural remains, as well as providing a blueprint for similar investigations elsewhere. INTRODUCTION Archaeologists have recognized since the 1970s that aerial im- ages which record thermal infrared wavelengths of light (7.5e 2. Archaeological thermography The past decade has witnessed a technological revolution in remote sensing that has transformed 13 mm) could be a powerful means for recognizing both surface and the imaging and modelling of objects and scenes. In particular, new developments in terrestrial subsurface cultural remains (e.g., Tabbagh, 1977; Fourteau and The principles behind archaeological thermographicsurveying, imaging such as the advent of terrestrial laser scanners, mobile mapping systems and robotic Tabbagh, 1979; Berlin et al., 1977), yet technological and cost bar- are relatively simple: due to their composition, densitytotal stations, and mois- have allowed the accurate acquisition of large amounts of data. However, these riers have largely prevented the widespread application of ther- ture content, materials on and below the ground surface absorb, mography in archaeological contexts. This paper presents interim emit, transmit, and reflect thermal infrared radiationgeomatic at different techniques are often impractical because of their high cost and the expertise they results of a National Endowment for the Humanities-funded proj- rates. Experimental data illustrates the complexityrequire. of the variables Close-range photogrammetry and, more recently, computer vision photogrammetry, ect to develop techniques for collection of thermal imagery using a that affect the potential visibility of archaeologicalhave features revolutionized in a the acquisition and 3D modelling of objects and scenes because they can be UAV, to design workflows for efficient photogrammetric processing thermal image (Scollar et al., 1990: 593e611). However,used with in general, lightweight aerial platforms, such as unmanned aerial vehicles (UAVs), and to recon- of imagery, and to assess the effectiveness of the technology at such features should be resolvable if when compared to the back- archaeological sites located in a variety of different environments. ground matrix they have sufficient contrast in thermalstruct complex inertia, a areas such as archaeological sites. Fixed-wing (Wang et al. 2004), multi-rotor Herein we present a case study that provides an illustration of our product of a material’s thermal conductivity and its(Haarbrink volumetric heat and Eisenbeiss 2008; Nebiker et al. 2008; Steffen and Förstner 2008) and modern methodology, conducted at a Chaco-period archaeological com- capacity (Perisset and Tabbagh, 1981), and if the imageautogyro is acquired UAVs have become the most powerful and robust UAV platforms. The integration of munity known as Blue J, located in northwestern New Mexico at a time in the diurnal cycle when such differencesphotogrammetry are pro- and computer vision (Atkinson 1996; Hartley and Zisserman 2003) has pro- about 70 km south of Chaco Canyon (Fig. 1). Results demonstrate nounced. Several studies have demonstrated thatvided thermography advances towards three objectives: (1) greater automation, which allows the positioning the enormous potential of aerial thermography in archaeology, can detect features at or near the ground surface such as pits, revealing the organization of occupation at Blue J and aiding in ditches and field boundaries as well as buried architecturaland orientation features of the UAVto collect images from different heights and in different directions; (2) the discovery of many previously undocumented subsurface up to a half meter below the ground (e.g., Perissetgreater and Tabbagh, flexibility, which makes it possible to work with any type of image (e.g., visible, infrared 1981; Lunden, 1985; Bellerby et al., 1990). and/or thermal) and any type of camera (calibrated or non-calibrated); and (3) high-quality * Corresponding author. Tel.: 1 479 595 9569. Despite its potential, archaeological applications of the tech- þ results, by incorporating processes that allow the user to control the accuracy and reliability of the E-mail address: [email protected] (J. Casana). nology are scarce, largely because few archaeologists had access to results. http://dx.doi.org/10.1016/j.jas.2014.02.015 0305-4403/Ó 2014 Elsevier Ltd. All rights reserved.

*Received 23 May 2013; accepted 22 November 2013 †Corresponding author: email [email protected] © 2014 University of Oxford Indiana Drones: UAV/UAS in Archaeology

• Several price points ✓ ~$500 = home-made UAV ✓ $1000 = 3DR Solo (+ a la cart accessories) ✓ $1300 = DJI Phantom 3 Pro ✓ $3000 = DJI Inspire ✓ $40,000 = Trimble UX5 Indiana Drones: UAV/UAS in Archaeology

• Common applications

✓ hi-res aerial photography of excavations (stills, video) ✓ site documentation and modeling - record hard-to-access sites (e.g., rock art) - surface site cataloging - remote sensing: LiDAR, thermal imaging, etc. - orthomosaics, 3D mapping of sites and landscapes • excavation units “structure-from-motion (SfM)” • DEM, contour map generation • morphometric, volumetric analysis

✓ site monitoring (e.g., looting, construction)

✓ outreach, education Indiana Drones: UAV/UAS in Archaeology

• Common applications

✓ field selfies Analytical applications of drones • Photogrammetry - analysis using geospatial modeling and visualization of landscapes • terrestrial: digital photos/laser scanning • aerial: balloons/kite images ✓ drones

- Software: ✓ AutoDesk 123D Catch (Free) ✓ PhotoModeler ($1145) ✓ ERDAS Imagine LPS ✓ Agisoft PhotoScan Pro ($550 edu.; $3500 retail) ✓ Pix4Dmapper Pro ($1990 edu.; $8700 retail) Extent of LBA/Iron 1 Forts in Armenian Highland (1500-800 BC) B Georgia A Z U M R

A N G E Azerbaijan # Lori Berd Armenia # Keti # Turkey # # (Azer.) # # Spitak a m b a ! R . P k # Vanadzor # Pambak Valley # ! Iran # # # Tagavoranist # # Gyumri Karnut I # # ! # # Karnut II # P A M B A K R Shirak # A N ## # Aragatsi G E # Plain # Berd # # # # # # T # S # Horom # Plain A Mirak G # H # K # U # Tsaghkahovit Lusagyugh N # # Y ## A # # T ! S R Aparani # # A # Berd N # G # # I E Kuchak II # M T . ARAGATS #Aparan II # # # Aparan III # (4090M ) !

# Kasakh

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# K

#2014-2018Proposed survey survey area area a s

# # Bronze-Iron Age site a

# k # # Site# targeted for testing ± h # bog# # # # # 0 5 10 20 km # contour interval 400m Project ArAGATS study areas LBA/Iron 1 Fortresses

Böyük Qaleh, northwest Iran (Biscione 2009) Horom, Shirak Plain, Armenia

Aliler Kale, Van basin, Turkey (Sevin 2004) Tsaghkahovit, Tsaghkahovit Plain, Armenia LBA/Iron 1 Fortresses

Çubuklu, Van basin, Turkey (Özfirat 2009)

Knole, Georgia (Shanshashvili and Narimanishvili 2012)

Tsaghkahovit, Tsaghkahovit plain, Armenia (Lindsay 2011)

Çubuklu, Van basin, Turkey (Özfirat 2009) , Ararat Valley, Armenia Gegharot fortress shrine complexes

West Citadel Shrine LBA shrine at Gegharot fortress

Images of (1) storage area and (2) altar in the East Citadel Shrine at Gegharot Gegharot East Citadel Shrine

Fortress shrines: ritual, production, storage

! # ! Georgia # ! Azerbaijan Upper Kazakh River Valley Armenia survey area, Armenia Turkey # Iran !

Studying Late Bronze Age ! ! ! T s a fortresses and associated # ! g h k # ! u ! ! ! n landscapes ! ! y a t s R a ! ! n !!! g ! ! ! e ! ! ! ! ! ! ! ! !! ! ! ! ! !!!!! ! ! ! ! ! !! ! ! ! ! ! ! ! ! ! ! ! !!!! !! ! ! !!! # A P A R A N !! !! " ! ! ! !! ! ! ! ! !!!!!!! !!! ! ! ! ! !! ! !!!! ! !! ! ! !! !!! ! #

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K a s a k h ! ! # Mt. Aragats ! 4090 m ! #! ! ! ! !! !! # ! ! ! # # ! ! /

Site Type 0 2.5 5 7.5 10 Alan Greene # Fortress km Project ArAGATS ! Burial Cluster 24 August 2016 Indiana Drones: UAV/UAS in Archaeology Indiana Drones: UAV/UAS in Archaeology DJI Phantom 3 Pro

• iOS and Android compatible • 12 megapixal camera • 4K video • 5 km distance • 20 min battery

DJI Go app on iPhone DJI Phantom 3 Pro

• built in GPS - hovers w/in 1m - go-home feature • waypoint programming or pre-program mission grid

Pix4D Capture app Analytical applications of drones • Photogrammetry workflow - Pix4Dmapper Pro Analytical applications of drones • Photogrammetry auxiliary - Kuchak fortress, Armenia defensive architecture(?) • 480 images - Hi-res orthomosiac images • excavation planning • morphometric analysis

citadel wall

intramural walls

terrace extramural gate architecture

Orthomosaic Test units proposed in Year 1 ± extramural (Pix4Dmapper Pro) architecture 0 50 100 m Analytical applications of drones • Photogrammetry - Aparani Berd fortress, Armenia • 1000 images

3D model (Pix4Dmapper Pro) Drones in archaeology: 443350 443400 Site monitoring and mitigation

•topsoil mine encroaching on

Bronze Age cemetery in rural

Armenia 4498500 4498500 Î

4498450 Î 4498450 Î Î Î ± 0 5 10 20 m

443350 443400

0 0.5 1 2 Km ± Drones in archaeology: Site monitoring and mitigation

•13th century medieval Armenian church with eroding cemetery from prior excavations

GF

0 0.25 0.5 1 Km ± Drones in archaeology: Outreach, education, story telling Drones in archaeology: Outreach, education, story telling Thank You

Dr. Nicole Kong and Shirley Yue, GIS Day organizers Project ArAGATS team members Purdue University College of Liberal Arts National Science Foundation Evelyn Stowe, Wilke undergraduate intern