Compilation of Digital Elevation Model for Turkey in 3-Arc-Second Resolution by Using SRTM Data Supported with Local Elevation Data

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1 Chapter 10 Compilation of Digital Elevation Model for Turkey in 3-Arc-Second Resolution by Using SRTM Data Supported with Local Elevation Data I. Oztug Bildirici 1, Aydin Ustun 1, Necla Ulugtekin 2, H. Zahit Selvi 1, R. Alpay Abbak 1, Ilkay Bugdayci 1 and A. Ozgur Dogru 2 1 Dept. of Geodesy & Photogrammetry, Selcuk University, Konya, Turkey 2 Dept. of Geodesy & Photogrammetry, Istanbul Technical University, Turkey Abstract In February 2000, the Shuttle Radar Topography Mission (SRTM) shuttle launched by U.S. National Aeronautics and Space Administration (NASA) collected elevation data by scanning the earth landmasses between ~60º north and south parallels. After this 11 days mission, the collected data were processed, and a Digital Elevation Model (DEM) at 1-arc-second resolution was created. SRTM DEM contains data voids, which are considered as the most important obstacles for efficient use of the data, because of several disturbing effects such as geometric artifacts and reflection. The proportion of data voids in Turkey (0.17% for the second corrected version) is approximately same as the global proportion that is 0.15%. DEMs with high resolution are important data sources for all disciplines in geosciences. Since collecting such data and creating DEM are both time consuming and expensive processes, many scientists have been studied on filling voids of SRTM-DEM in a reliable way. The aim of this paper is to present the results of a project, which aims to validate the SRTM data within Turkish territory, and to create a DEM without voids based on this data. The validation of SRTM data was performed by using ground truth data sets: topographic maps (25K maps) and Differential Global Positioning System (DGPS) tracks. Statistical analyses executed for accuracy assessment of SRTM data in Turkish territory give consistent results with global analyses performed by several ICA Symposium on Cartography for Central and Eastern Europe Vienna, February 2009 In: Georg Gartner & Felix Ortag (Eds.): Proceedings of the First ICA Symposium for Central and Eastern Europe 2009, Vienna University of Technology, 2009.

2 148 I. Oztug Bildirici et al. researchers. Two different void filling methods were used in the project for different void types that are visually classified as clustering voids and scattered voids. In this context, clustering voids were filled by using national topographic map set (25K maps) while scattered voids were filled with interpolation within the SRTM data. As a result of the project, which was completed in September 2008, a complete DEM of Turkey with 3-arc-second resolution has been created and published via Internet for the use of researchers and professionals in geosciences. Keywords: Digital Elevation Model, SRTM, Interferometric Synthetic Aperture Radar, Topographic Maps, Topography, accuracy assessment 10.1 Introduction The data used for modeling the Earth land masses topographically has been considered essential in a variety of geospatial applications such as mapping, hydrology, geology, navigation, Geographic Information Systems (GIS), mission planning and simulation. Capturing such data, especially for large-scale mapping applications, requires imaging techniques based on air- or space-borne methods. A Digital Elevation Model (DEM) (as a form of the Digital Terrain Model) is such a model commonly obtained from raster images. In 2000, the most complete and up to date high-resolution digital topographic database of the Earth was produced in the SRTM project spearheaded by the U.S. National Geospatial-Intelligence Agency (NGA) and the U.S. National Aeronautics and Space Administration (NASA) (Farr et al., 2007; NASA 2008a). In this project, radar images were acquired by the space shuttle equipped with two radar antennas at the end points of a baseline that is 60 meters in length. This technique is well known as Interferometric Synthetic Aperture Radar (IfSAR or InSAR) that produces topographic (elevation) data derived from the phase difference of the radar images (Burgmann et al., 2000). The horizontal datum of the SRTM data is WGS84, while the topographic heights are referred to the EGM96 geoid, which approximately coincides with mean sea level. SRTM data sets at 3 and 30 arc-second resolution for all land portions between the latitudes of ~60 in the northern and southern hemispheres are freely distributed via the Seamless Data Distribution System (SDDS) of the U.S. Geological Survey (USGS) and the Land Processes Distributed Active Archive Center (LP-DAAC) of the NASA (USGS, 2008; NASA, 2008a and b). The original data set at 1 arc second resolution has only been released for the US territory. The 3 arc-second data have been generated from 1 arc-second data by sub-sampling and averaging. The data set available at SDDS is sub-sampled where each 3 arc-second data point is generated by selecting the center sample of the 3x3 array of 1 arc-second points surrounding the post location. The other data set available at LP-DAAC is averaged where each

3 Compilation of Digital Elevation Model for Turkey in 3-Arc-Second Resolution 149 point is the average of the nine 1 arc-second samples surrounding the post. This data set, which was also used in this study, is distributed in tiles sizes of 1x1 with SRTM or hgt file format. Table 10.1 gives a summary about publicly available SRTM data sets (NASA, 2008b). Although some areas with missing height data (voids) are still existed in this data set, it has been available as the second version, also known as the finished version, since This version is the result of a substantial editing effort by the NGA, and exhibits precisely defined water bodies and coastlines and the absence of spikes and wells (single pixel errors) (NASA, 2008b). A project, which aims to compile a complete digital elevation model of Turkey based on the SRTM data at 3 arc-second resolution, started in 2006 with the supports of the Scientific and Technological Research Council of Turkey (TUBITAK) (Bildirici et al., 2007a). In this project, firstly, clustering and scattered voids of SRTM data within Turkish territory were determined. Secondly, clustering voids were filled by the help of topographic maps and other voids filled by using interpolation techniques. Furthermore, comparisons were performed to validate the accuracy of SRTM heights using GPS tracks collected by cars and 25K maps (Bildirici et al., 2007b). This paper aims to explain all these above stated studies. Table Version 1 Version 2 SRTM data availability SDDS 1 U.S. 3 world sub-sampled Formats: ArcGrid, Bil, TIFF, GridFloat LP DAAC 1 U.S. 3 world - averaged 30 world - averaged Format: SRTM 1 U.S. 3 world - averaged 30 world - averaged Format: SRTM 10.2 The Status of the SRTM Data Covering Turkish Territory Data Voids As the first step of the project, the SRTM data of Turkish territory, which covers or intersects 112 tiles size of 1º 1º, were examined for determining voids. Ustun et al. (2006) analyzed the SRTM version 1 data and determined that the proportion of the data voids in Turkey were much higher than the global proportion. These voids were mostly clustered around water bodies, and mountainous areas. SRTM version 2 was published after editing and correcting the voids (especially around water bodies) of

4 150 I. Oztug Bildirici et al. Fig Distribution of data voids Fig Data voids per tile version 1 by NASA. Studies executed by Bildirici et al. (2007b) introduced that the quantity of voids in version 2 SRTM data was about 0.17%, which is approximately close to the global level (Hall et al., 2005; Rodriguez et al., 2005; Reuter et al., 2007). As a result of the examinations performed on version 2 SRTM data, it was also observed that the points with void heights remain in the mountainous regions in the northeast and southeast of the country as depicted in Figure Figure 10.2 shows the void data per tile of 1ºx1º.

5 Compilation of Digital Elevation Model for Turkey in 3-Arc-Second Resolution SRTM Validation SRTM data products were validated on continental scale by using long tracks of GPS, at an accuracy under 1 m (Farr et al., 2007). Rodriguez et al. (2005) attained 90th percentage of errors under 10 m, which are less than 16m, the targeted error of SRTM project (Table 10.2). Table Summary of SRTM validation. All quantities represent 90% errors in meters (Rodriguez et al., 2005) Africa Australia Eurasia Islands Absolute Geolocation Error Error Type N. America S. America Absolute Height Error Relative Height Error Long Wavelength Height Error The validation of the SRTM within Turkish territory was performed against two types of ground truth data: DGPS tracks and 1:25000 scaled topographic maps (25K maps). The tracks along roads crisscrossing the country were collected with the DGPS receiver CSI Wireless Minimax with a positional accuracy less than 1 m. According to the Turkish National Mapping Agency, General Command of Mapping (GCM), the vertical and horizontal errors of 25K maps have been given as 2.5 m and 5 m respectively (GCM, 2008). Since both data sets were more accurate than the SRTM data, they were considered as ground truth for SRTM validation. Figure 10.3 depicts the DGPS tracks and test areas (25K map data) used in the context of the study. As seen in the figure the DGPS tracks crisscross the territory, Fig Ground truth data for SRTM validation: DGPS tracks and test areas of 25K maps

6 152 I. Oztug Bildirici et al. while the 25K test areas are so distributed for representing different variety of topographic features of the whole country. The test areas do not contain voids in data Methodology For the SRTM validation following methodology was used. For each point of the ground truth data set, the SRTM height was estimated by interpolation and the differences in heights were calculated by using following formula where H SRTM denotes the SRTM height, H GT the ground truth height. d H = H SRTM H G T (1) Accuracy of the SRTM DEM was estimated by calculating the root mean square error (RMSE) between the SRTM DEM and the ground truth heights: d H RMSE = 2 (2) N Alternatively, in order to show the variability of the measurements from the mean value, the standard deviation that implies the index of precision of the model, ( d d H ) = σ N was calculated, where the mean 2 d H d H = (4) N is a residual mean that describes the bias between the reference surfaces of the SRTM-DEM and the 25K-DEM. Since the differences in heights were not absolute values (they were signed as negative and positive values) the bias, which represents the possible shift in height between the 25K DEM and the SRTM DEM, can be determined. Another meaningful measure is the 90 th percentile of absolute error, which is denoted with AE showing that the 90% of the absolute differences are under this value, was calculated as it was commonly used in similar studies (Rodriguez et al., 2005). Additionally the median of the height differences were also computed, which is in terms of blunders more reliable than the mean. A computer program under the LINUX environment was developed for performing these calculations. This program uses hgt files (native SRTM format) while it reads the ground truth data from text files. (3)

7 Compilation of Digital Elevation Model for Turkey in 3-Arc-Second Resolution Validation with DGPS Data For the validation of SRTM DGPS data were collected along the roads by car. For this purpose NMEA messages from the receiver (CSI Wireless Minimax) were recorded and analyzed. Only valid DGPS points with acceptable positional accuracy were extracted from NMEA messages. Acceptable accuracy was determined by using several parameters, such as number of satellites in use, PDOP, HDOP, VDOP, etc. For every valid point on the tracks, four surrounding grid points in the SRTM data were found, and the SRTM height for these points were computed by IDW (Inverse Distance Weighting) Interpolation. Doing so, all height differences (dh) were calculated for statistical evaluation. The test points that were more than 35 m away from the SRTM surface were considered to be above or under the natural surface (e.g. points on the bridges, viaducts etc.), and they were excluded from the statistical evaluation. Starting from Konya, 9 tracks, crisscrossing the country, were measured for covering areas with different topographic characters. These tracks were totally 3670 km in length and they were distributed in north-south and east-west directions. The locations of the tracks are depicted in Figure A summary of track characteristics is also given in Table In Table 10.4, the results of the statistical evaluation are presented. As a result of the study, approximately 1 m differences were realized between the mean and the median values. From these values it can be concluded that the SRTM DEM surface is about 2-3 m higher than the actual topographic surface. This height difference between the surfaces resulted from the nature of the SRTM DEM: it was created from raster images, where each pixel represents a partial area on the ground. Additionally, the 3 arc-second SRTM DEM used in the study is the result of averaging of the 1 arc-second DEM. The vegetation should also be considered as another factor that affects the results. With the other measures presented in Table 10.4 the possible accuracy of heights that are taken from the SRTM DEM can be estimated. The RMSE and standard deviation of these values were about 5 m. The errors of 90 th percentile (AE) were meaningful measures for validation of SRTM, which vary between 3.7 m and 13.1 m; the value for the whole tracks was 9.2 m. All are under the target error of the SRTM project, 16 m. One of the results of the statistical evaluation was the direct relation between the accuracy and the topography, because the statistical measures increase in the rough and rugged areas while they decrease in flat areas. In this context the tracks 9 and 4 (from Pozanti to Amasra) were analyzed and the correlation between topography and height differences (dh) were determined as represented in Figure 10.4.

8 154 I. Oztug Bildirici et al. Table Characteristics of DGPS tracks Track Number Track Length (km) Number of point Terrain slope 1 Bartin-Kadinhani Beyşehir-Ören Erzincan-Sivas Konya-Amasra Konya-Erdemli Konya-Manavgat Konya-Yozgat Manavgat-Konya Pozanti-Konya Total Table The results of the comparison of SRTM with DGPS data (units: m) Track number Median Mean RMSE Std. dev. AE (90%) Total Fig The relationship between topography and SRTM-accuracy

9 Compilation of Digital Elevation Model for Turkey in 3-Arc-Second Resolution Validation with 25K Topographic Maps Since the DGPS tracks were collected along roads they had linear character and, they could be away from the real topographic surface significantly. Another way to validate the SRTM data is to use topographic maps the areal data. For this purpose 8 test areas distributed in the territory of Turkey were selected. Each test area included four 25K map sheets, 15x15 arc-minutes in size. The digitized contour lines of these maps were available at GCM. This data has been delivered in common CAD file formats in the desired datum and coordinate system. Before the validation process, a point thinning algorithm was applied to 25K-data vectors, because the point density on the digitized contour lines was too high (approximately 10 m of intervals on the contour lines). In this research, those points that are closer than 25 m (1 mm on the map sheet) to the next point were eliminated. The comparison for validation can be undertaken in two ways: Method A: For each point on the contours of the 25K data set, the SRTM height (H SRTM ) is calculated by using interpolation depending on four of surrounding SRTM grid points. Similar to the comparison by using DGPS data, the IDW method (Inverse Distance Weighting) is used in this manner. The original height (ground truth) is denoted with H GT. Method B: Another way to make the comparison is to create a grid file (25K DEM) having the same structure as the SRTM (3 arc-second resolution). For this purpose, 25K DEM files were created by using the GMT software package (GMT, 2008). The algorithm implemented in this software is gridding with continuous curvature splines in tension (Smith and Wessel, 1990). Since the structure is the same for every grid point, the SRTM height (H SRTM ) and the height from 25K DEM (H GT ) can be compared directly. The statistical evaluation explained above was applied for both of the methods. The results of the statistical evaluation with method A are presented in Table These are the results of the comparison of approximately test points. The density of test points was affected from the topography, because they were the points on the contour lines. Since the blunders were not expected in this data set, all points were taken into consideration. In the test areas 3 and 4, the mean and the median values were significantly different from zero. This result was considered as the evidence of a height shift about 5 m between the SRTM DEM and 25K DEM. Since these test areas were partially forested, the potential reason of this shift besides topography- was considered as vegetation. In the other test areas the differences between the mean and median values were close to zero. RMSE and standard deviation were calculated less than 10 m. All the AE values were less than 15 m. As a result of these statistical results, the SRTM performance in the territory of Turkey is as good as expected.

10 156 I. Oztug Bildirici et al. Table The results of the comparison of SRTM with 25K map data (Method A) Test area # of point min max Median Mean RMSE Std. dev. AE (90%) Total Table The results of the comparison of SRTM with 25K map data (Method B) Test area # of point min max Median Mean RMSE Std. dev. AE (90%) Total The results obtained by using the method B were similar to those of the method A. In this test, approximately test points were used, and all were taken into statistical evaluation. The height shift in the test areas 3 and 4 was recognized again. The RMSE, standard deviation and AE values were also similar to the results of method A. The dependence of the SRTM accuracy on the topography could also be recognized in these tests. In previous works of the authors, similar analyses were given in more detail (Bildirici et al., 2008a; Bildirici et al., 2008b). Bildirici et al. (2008b) deal with the method B and give maps of the spatial distribution of the height differences (dh) for all test areas. They also performed a correlation analysis and found a strong correlation between the accuracy and the topography.

11 Compilation of Digital Elevation Model for Turkey in 3-Arc-Second Resolution Compilation of the Turkish Digital Elevation Model with 3 arc-second Resolution The second goal of the project was to compile a DEM at 3 arc-second resolution for the whole country without any void heights. The SRTM DEM was planned to be considered as the basis for such a DEM when the voids of it were properly filled. For succeeding this aim, two approaches were used for void filling. By visual inspection, the void data was divided into clustering and scattered voids. The clustering voids were filled by using 25K topographic maps. The scattered voids were filled with interpolation Analysis of Voids In order to determine the type of the voids, all 25K map frames containing more than 100 voids (1244 sheets) were visually examined. 340 sheets containing clusters of voids were decided to be used for void filling. They were purchased from the GCM. The remaining voids were considered scattered in character, which were decided to be filled by means of interpolation. The void filling with 25K maps precedes the void filling with interpolation. Doing so, the heights that are captured from 25K maps can be used in the interpolation Void Filling by using 25K Topographic Maps The 25K map sheets selected for void filling were scanned and registered. The void data were extracted from the SRTM data and overlaid on maps. Then, the contour lines covering the clusters of void points were digitized and partial Triangulated Irregular Networks (TIN) based on the contour lines were formed. The heights of void points were interpolated from these partial TINs. This part of the project was performed on Turkish CAD&GIS software NETCAD (NETCAD, 2007). Finally these heights were added to the first version of Turkish DEM at 3 arc-seconds (TDEM3) Void Filling by Means of Interpolation After the clustering voids were filled with help of 25K maps, the remaining ones were filled by interpolation. The multiquadric interpolation (MQ) was selected, in which a surface passing through known points are used to interpolate the heights of unknown points (void data), were used in this manner (for more information about MQ see Amidror, 2002). Since all valid points in the SRTM DEM couldn t be

12 158 I. Oztug Bildirici et al. Fig The moving window approach for the interpolation. used for the determination of MQ surface, moving windows were defined. In this context two windows with an internal size of 60x60 arc-second and an external size of 90x90 arc-second around the other were defined. As it is presented in Figure 10.5, the external windows were overlapping each other, while the internal windows were not. The points with heights within the external window were considered as the control points for interpolation, while the heights of void points within the internal window were to be interpolated. The method was implemented in application software developed and processed by moving defined windows within the territory of Turkey. The centers of all windows being within the Turkish territory were determined and listed in a file by using GIS software (MapInfo). The interpolation software processed every window listed in this file. After this long process the second and the final version of the TDEM 3 was completed The Resulting DEM After the void filling process the heights of approximately points were determined, and a DEM covering the Turkish territory TDEM 3- and contains no void data was compiled. This DEM has been published via Internet ( selcuk.edu.tr).

13 Compilation of Digital Elevation Model for Turkey in 3-Arc-Second Resolution Conclusion SRTM, an international research project to create the most complete DEM of the Earth, was a starting point in mapping the Earth surface at the global level. The project was conducted by the NGA, NASA, and the German and Italian Space Agencies. Digital elevation data on a near-global scale was obtained by processing interferometric radar images taken by two radar antennas. This study presented the results of a project that aims to validate the SRTM data within Turkish territory and to compile a DEM without voids. The analysis for validation of SRTM denoted that the values for the 90 th percentile of errors are less than the targeted project error of 16 m. Some height shifts in forested areas were observed. This is not surprising because the SRTM data are influenced by vegetation. After performing void filling, a complete DEM called TDEM 3 model was compiled. The TDEM 3 is in the SRTM file format, organized in the same tile structure. Because the void filling is performed within the Turkish Territory, there are still remaining voids located outside the territory in some tiles of the TDEM 3. The TDEM 3 has been shared with related users in such a DEM via Internet (www. tsym3.selcuk.edu.tr). Acknowledgement This study is based on the preliminary results of the project Compilation of Digital Elevation Model for Turkey in 3 3 Resolution Using SRTM Dataset Supported with Local Elevation Data. The authors thank the Scientific and Technological Research Council of Turkey (TUBITAK) for the support of the project (Project Nr. 106Y130). The authors also thank to the Coordinatorship of Selcuk University's Scientific Research Projects for supporting the participation at CEE References Amidror, I. (2002) Scattered Data Interpolation Methods for Electronic Imaging Systems: A Survey. Journal of Electronic Imaging, 11(2): Bildirici, I.O., Ustun, A., Selvi, H.Z., Abbak, R.A., Bugdayci, I. (2008b). An Assessment of SRTM Based on Topographic Maps in the Territory of Turkey, The 17th International Research Symposium on Computer-based Cartography AutoCarto2008, Shepherdstown, West Virginia, USA, CD. Bildirici, I.O., Ustun, A., Ulugtekin, N., Selvi, H.Z., Abbak, R.A., Bugdayci, I., Dogru, A.O. (2007a). Generating of Digital Elevation Models with 3 arc seconds resolution of

14 160 I. Oztug Bildirici et al. Turkey Based On SRTM Data. In: The 4th Symposium of Association of Turkish National Photogrammetry and Remote Sensing, 5-7 June 2007, Istanbul (in Turkish). CD. Bildirici, I.O., Ustun, A., Ulugtekin, N., Selvi, H.Z., Abbak, R.A., Bugdayci, I., Dogru, A.O. (2007b). SRTM Data In Turkey: Void Filling Strategy And Accuracy Assessment. In: The 4th Middle East Spatial Technology (MEST) Conference & Exhibition, December, 2007, Bahrain. CD. Bildirici, I.O., Ustun, A., Ulugtekin, N., Selvi, H.Z., Abbak, R.A., Bugdayci, I., Dogru, A.O. (2008a). Comparison of SRTM and 25K Topographic Maps in Turkey, In: T. Bandrova (ed.) The Second International Conference on Cartography and GIS, January 21-24, 2008, Borovets, University of Architectute, Civil Eng. And Geodesy, Sofia Burgmann, R., Rosen, P. A. and Fielding, E. J. (2000). Synthetic aperture radar interferometry to measure Earth s surface topography and its deformation. Annual Review of Earth and Planetary Sciences. 28: pp Farr, T.G., Caro E., Crippen R., Duren R., Hensley S., Kobrick M., Paller M., Rodriguez E., Rosen P., Roth L., Seal D., Shaffer S., Shimada J., Umland J., Werner M., Oskin M., Burbank D., Alsdorf D. (2007). The Shuttle Radar Topography Mission, Rev. Geophys., 45, RG2004, doi: /2005rg GCM. (2008). Digital Elevation Model from 25K National Topographic Maps. [Online]. Available from: htm. [Accessed: 20th December 2008]. GMT (2008). Generic Mapping Tools Home Page. [Online]. Available from: hawaii.edu. [Accessed: 20th December 2008]. Hall, O., Falorni, G., and Bras, R.L. (2005). Characterization and Quantification of Data Voids in the Shuttle Radar Topography Mission Data, IEEE Geoscience And Remote Sensing Letters, 2(2): pp NASA. (2008a). Shuttle Radar Topography Mission. [Online]. Available from: jpl.nasa.gov/srtm/. [Accessed: 20th December 2008]. NASA. (2008b). SRTM Topography. [Online]. Available from: ftp://e0srp01u.ecs.nasa.gov/ srtm/version2/documentation/srtm_topo.pdf. [Accessed: 20th December 2008]. NETCAD. (2008). The Official Website of the NETCAD Software. [Online]. Available from: [Accessed: 20th December 2008]. Reuter, H.I., Nelson, A., Jarvis, A. (2007). An Evaluation of Void-filling Interpolation Methods for SRTM Data, International Journal of Geographical Information Science, 21(9): pp Rodriguez, E., Morris, C.S., Belz, J.E., Chapin, E.C., Martin, J.M., Daffer, W., Hensley, S. (2005). An assessment of the SRTM topographic products, Technical Report JPL D-31639, Jet Propulsion Laboratory, Pasadena, California. Smith, W.H.F and Wessel, P. (1990). Gridding with continuous curvature splines in tension, Geophysics, 55/3: pp USGS. (2008). The National Map Seamless Server. [Online] Available from: usgs.gov/ [Accessed: 20th December 2008]. Ustun, A., Bildirici, I.O., Selvi, H.Z., Abbak, R.A. (2006). An evaluation of SRTM3 DTM data: Validity, problems and solutions, The First international conference on cartography and GIS, Borovets, Bulgaria, CD.

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