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Abstract—In this research, the feasibility of a method based high-resolution (VHR) optical data and damage detection algo-
on some soft computing algorithms for earthquake damage map- rithms were proved to be effective in estimating earthquake
ping is sought. The idea is to classify different patterns of change damages in urban areas [1]–[4].
associated with building footprints and to detect distinct damage
levels. A fuzzy inference methodology is employed to determine Pixel-based, object-based, or a combination of these image
the damage grade for individual building roofs by the means of processing approaches have been developed and applied in
evaluating the contribution of different patterns of changes. For urban classification and change/damage detection. In pixel-
implementation, satellite images of before and after the 2003 Bam, based schemes, image processing makes use of spectral, spatial,
Iran earthquake, are used in addition to some available ancillary or spectral–spatial hybrid features within the images. Huang
data. Building footprint pixels were extracted from pre- and pos-
timages using the ancillary building mask. Haralick second-order et al. [5] presented a hybrid feature classification and extrac-
textural features were computed for the building objects and an tion method where statistical features of the direction lines’
optimum set of such features was selected using genetic algorithm histogram were extracted from high-resolution multispectral
(GA). Considering optimal indices, different parts of roofs were imagery and after applying a dimension reduction step, some
classified into three change patterns as “low change,” “moderate suitable classifiers were presented. In object-based techniques,
change,” and “severe change” employing a support vector machine
(SVM) algorithm. For each building footprint, the contribution of the change/damage detection algorithm is applied to individ-
each class was calculated as the input of a fuzzy inference system ual urban scene components or objects, namely buildings, road
(FIS). Mamdani fuzzy engine was used to determine the damage segments, bridges, etc., as a whole. Since there is a tendency
grade of each building. The proposed algorithm was evaluated for change/damage detection algorithms to be fine-tuned for
by comparing the produced damage map with a reference dam- object contents (pixels representing the objects only), pixels
age map (ground truth). The results demonstrated the efficacy of
the method showing overall accuracies of 76% for detecting three outside the objects of interest are effectively left out, thus gener-
levels of structural damage (no to slight, moderate, and heavy to ally providing better results. Object-based methods can reduce
destruction) and 89% for determining binary damage levels (no- the effects of noises, minute shifts, or pixel misregistration of
collapsed, and collapsed) as suitable for such overall monitoring images leading to more accurate results [1], [6], [7]. It should
process. be noted that some pixel-object joint processing frameworks
Index Terms—Fuzzy logic, genetic algorithm (GA), image have been also developed. For example, Huang and Zhang
texture analysis, satellite applications, urban areas. [8] developed a support vector machine (SVM) approach for
the classification of high-resolution remotely sensed imagery
I. I NTRODUCTION where the spectral–spatial and semantic features are inte-
grated in the pixel and object levels to accurately classify the
not be interpreted at the pixel level. Chini et al. [13] exploited TABLE I
SAR and VHR optical satellite images to quantify damage H ARALICK T EXTURAL F EATURES F ROM GLCM M ATRIX
caused by the 2003 Bam earthquake. They studied the sensi-
tivity of different parameters as extracted from remotely sensed
images to the levels of actual damage as obtained from ground
survey map. Using VHR optical data, building extraction was
realized by the application of morphological operators com-
posed of opening and closing operations and employing an
unsupervised Isodata classifier. Damage mapping was at pixel
scale according to normalized difference of the radiances. There
method indicated that for different levels of damage, signifi-
cant increase (52% or more) in damage detection defined as
rate of damaged pixels was observed when the building mask
was utilized. Chini et al. [14] combined visual inspection and
automatic classification tools using QuickBird panchromatic
images related to 2005, Kashmir, Pakistan earthquake to detect
damages, ruptures, and landslides. For building damage detec-
tion, they used the same method as described in [13]. Tiede P [i, j]: co-occurrence probability of pixel pairs with i
et al. [15] developed rulesets in an object-based image anal- and j.
ysis (OBIA) environment [cognition network language (CNL)
by Definiens] for automatic building damage extraction using
illumination situation of both images in overall sense), eight
VHR data for the 2010 Haiti earthquake. The damage assess-
second-order histogram Haralick [18] textural features were
ment algorithm was based on the shadow indicator as casted by
extracted according to definitions listed in Table I, and an
buildings before and after the earthquake. Also, a vegetation
optimum set of three such features were selected using the
mask has been created to delineate the results from vegeta-
combination of GA and SVM as will be explained in upcom-
tion shadows for both images. Corbane et al. [16] provided a
ing parts. The classification of each building footprint (roof)
comprehensive report on the analysis of building damage in the
was completed for three distinct classes describing three dam-
2010 Haiti earthquake using VHR satellite and aerial imageries.
age patterns. These patterns of change (low change, moderate
This study mainly focused on the use of remotely sensed images
change, severe change) represent subregions for individual
and some techniques involved for visual damage interpretation
building footprint as determined by a supervised classification
and damage mapping by a number of researchers. Such idea
method employing SVM. Finally, a fuzzy inference methodol-
was supported through the GEOCAN consortium (2010) for the
ogy is used to determine the damage grade of each building
main purpose of setting some global standard for rapid dam-
(footprint) by means of evaluating the contribution of distinct
age mapping utilizing crowd sourcing through the web. Chen
change patterns. As follows, the details of the proposed method,
and Hutchinson [17] have presented a probabilistic classifica-
the implementation steps, and the results are reported for the
tion framework by means of multiclass classifier for damage
2003 Bam earthquake as our case study.
mapping of buildings. Three damage levels were assigned to
individual structures where the train data were visually selected
and the remaining structures were predicted using the relevance
vector machines (RVM) classification procedure. II. M ETHODOLOGY-DAMAGE M APPING
Although the study of advanced method for building extrac- The flowchart of the proposed method is shown in Fig. 1.
tion is very important, we supposed that this is feasible either In this study, “before” and “after” QuikBird VHR data of the
by some sophisticated automated or semi-automated meth- 2003 Bam earthquake and a building mask are considered. The
ods or by compiling actual building data (i.e., geo-databases) initial step involves the preprocessing of the satellite images
whenever available. In this research, we mainly focused on and consequently a difference image was made by subtracting
the development of a change/damage detection scheme as a the after from the before panchromatic data. Also, a building
combination of some soft-computing methods [genetic algo- mask is made using a vector map as ancillary data.
rithm (GA), SVM, and fuzzy inference system (FIS)] trying Haralick textural images were created and the textural dif-
to present a systematic and potentially rapid damage detec- ference images were produced by subtracting textural image of
tion scheme using VHR optical satellite imagery. However, “after” from “before” in eight textural bands. Then, a set of
for general applicability, the robustness and the timeliness of three optimum features was determined using a combination of
such processes depend mainly on the amount and the qual- GA and SVM procedures. Using train and test data, the building
ity of building data, amount of manual processes, computation roofs are represented within three distinct change levels using
facilities, prior validations, and calibration of the results consid- the SVM supervised classifier. Finally, by considering the con-
ering building attributes (i.e., roof types, building heights, roof tribution of pixels representing different patterns of change, an
materials, etc.) with respect to the imagery details. FIS is employed to determine the overall damage for each build-
After preprocessing steps needed to coregister before and ing object. Further details of the proposed method are described
after satellite images and histogram matching (to match the in the following sections.
MANSOURI AND HAMEDNIA: SOFT COMPUTING METHOD FOR DAMAGE MAPPING USING VHR OPTICAL SATELLITE IMAGERY 4937
TABLE II
B UILDING DAMAGE C LASSIFICATION ACCORDING TO EMS-98 [21]
TABLE III
R ELATIVE P IXEL P OPULATION FOR T HREE PATTERN C LASSES
Fig. 6. Membership functions for input variables (a: very low, b: low, c:
medium, d: high, and e: very high).
TABLE V
C ONFUSION M ATRIX AND R ESULTED PA AND UA
many known and unknown sources of error and uncertainty [14] M. Chini, F. R. Cinti, and S. Stramondo, “Co-seismic surface effects
are involved in different stages of the processes as many were from very highresolution panchromatic images: The case of the 2005
Kashmir (Pakistan) earthquake,” Nat. Hazards Earth Syst. Sci., vol. 11,
technically unavoidable. This scheme is partly based on visual no. 3, pp. 931–943, 2011.
interpretation but benefits from some robust classification and [15] D. Tiede, S. Lang, P. Fureder, D. Holbling, C. Hoffman, and P. Zeil,
inferencing techniques as suitable for a systematic damage “Automated damage indication for rapid geospatial reporting. An oper-
ational object-based approach to damage density mapping following
mapping. the 2010 Haiti Earthquake,” Photogramm. Eng. Remote Sens., vol. 77,
pp. 933–942, 2011.
[16] C. Corbane et al., “A comprehensive analysis of building damage in the
12 January 2010 Mw7 Haiti Earthquake using high-resolution satellite
R EFERENCES and aerial imagery,” Photogramm. Eng. Remote Sens., vol. 77, pp. 997–
1009, 2011.
[1] B. Mansouri, M. Mousavi, and K. Amini-Hosseini, “Parcel-based damage [17] Z. Chen and T. C. Hutchinson, “Probabilistic urban structural damage
detection using VHR optical data,” in Proc. 6th Int. Workshop Remote classification using bitemporal satellite images,” Earthquake Spectra,
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[2] L. Gusella, B. J. Adams, G. C. Bitelli, C. K. Huyck, and A. Mognol, [18] R. M. Haralick, K. Shanmugam, and I. Dinstein, “Textural feature for
“Object-oriented image understanding and post-earthquake damage image classification,” IEEE Trans. System Man Cybern., vol. 3, no. 6,
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[3] B. J. Adams, B. Mansouri, C. K. Huyck, R. T. Eguchi, and M. Shinozuka, of buildings in Bam city using QuickBird images following the 2003Bam,
“Application of high-resolution optical satellite imagery for post- Iran earthquake,” Earthquake Spectra, vol. 21, no. S1, pp. 329–336,
earthquake damage assessment: The 2003 Boumerdes (Algeria) and Bam 2005.
(Iran) earthquakes,” Research Progress and Accomplishments: 2003– [20] J. Keuchel, S. Naumann, and M. Heiler, “Automatic land cover analy-
2004, Multidisciplinary Center for Earthquake Engineering Research sis for Tenerife by supervised classification using remotely sensed data,”
(MCEER), Univ. Buffalo, State Univ. New York, Buffalo, NY, USA, Remote Sens. Environ., vol. 86, pp. 530–541, 2003.
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[4] R. T. Eguchi, C. K. Huyck, S. Ghosh, and B. J. Adams, “The application du Centre Européen de Géodynamique et de Séismologie 15, Centre
of remote sensing technologies for disaster management,” in Proc. 14th Européen de Géodynamique et de Séismologie, Luxembourg, 99, 1998.
World Conf. Earthquake Eng., Beijing, China, Oct. 12–17, 2008. [22] E. H. Mamdani, “Advances in the linguistic synthesis of fuzzy con-
[5] X. Huang, L. Zhang, and P. Li, “Classification and extraction of trollers,” Int. J. Man-Mach. Stud., vol. 8, pp. 669–678, 1976.
spatial features in urban areas using high-resolution multispectral
imagery,” IEEE Geosci. Remote Sens. Lett., vol. 4, no. 2, pp. 260–264,
Apr. 2007. Babak Mansouri was born in Tehran, Iran, in 1965.
[6] C. K. Huyck, B. J. Adams, S. Cho, H.-C. Chung, and R. T. Eguchi, He received the B.S. degree in applied physics
“Towards rapid citywide damage mapping using neighborhood edge dis- from Tehran Polytechnic, Tehran, Iran, in 1993 and
similarities in very high-resolution optical satellite imagery—Application the M.S. degree in structural engineering, the M.S.
to the 2003 Bam, Iran earthquake,” Earthquake Spectra, vol. 21, no. S1, degree in electrical engineering, and the Ph.D. degree
pp. 255–266, 2005. in civil engineering from the University of Southern
[7] F. Yamazaki, D. Suzuki, and Y. Maruyama, “Detection of damages due California (USC), Los Angeles, CA, USA, in 1997,
to earthquakes using digital aerial images,” in Proc. 6th Int. Workshop 2000, and 2002, respectively.
Remote Sens. Disaster Appl., Pavia, Italy, 2008, pp. 1–6. He joined ImageCat Inc., Long Beach, CA, USA,
[8] X. Huang and L. Zhang, “An SVM ensemble approach combining as a Remote Sensing Senior Scientist for about 2
spectral, structural, and semantic features for the classification of high- years and served as a Visiting Researcher at the
resolution remotely sensed imagery,” IEEE Trans. Geosci. Remote Sens., University of California Irvine, Irvine, CA, USA. Since 2005, he has been with
vol. 51, no. 1, pp. 257–261, Jan. 2013. the International Institute of Earthquake Engineering and Seismology (IIEES),
[9] Definiens Imaging, e-Cognition 4.0, User Guide. Munich, Germany: Tehran, Iran, as a Faculty Member of Risk Management Research Center and
Definiens Imaging GmbH, 2004. is the Head of the Emergency Management Department. His research interests
[10] B. Mansouri, M. Shinozuka, C. K. Huyck, and B. Houshmand, include seismic risk assessment, loss estimation and damage mapping using
“Earthquake-induced change detection in Bam, Iran, by complex analysis advanced technologies and intensive computation.
using envisat ASAR data,” Earthquake Spectra, Earthquake Engineering
Research Institute (EERI), Oakland, CA, USA, Special Issue 1, 2005,
vol. 21, pp. S275–S284. Yaser Hamednia was born in Oroumieh, Iran, in
[11] B. Mansouri, M. Mousavi, and K. Amini-Hosseini, “Parcel-based dam- 1981. He received the B.Sc. degree in applied physics
age detection using SAR data,” in Proc. 6th Int. Workshop Remote Sens. from K.N.Toosi University of Technology (KNTU)
Disaster Appl., Pavia, Italy, Sep. 2008, pp. 1–5. University, Tehran, Iran, in 2012 and the M.Sc. degree
[12] J. Hoffman, “Mapping damage during Bam (Iran) earthquake using in civil engineering from the International Institute
interferometric coherence,” Int. J. Remote Sens.,” vol. 28, no. 6, pp. 1199– of Earthquake Engineering and Seismology (IIEES),
1216, 2007. Tehran, Iran, in 2015.
[13] M. Chini and N. Pierdicca, “Exploiting SAR and VHR optical images His research interests include risk assessment,
to quantify damage caused by the 2003 Bam earthquake,” IEEE Trans. algorithm development, and GIS and remote sensing
Geosci. Remote Sens., vol. 47, no. 1, pp. 145–152, Jan. 2009. applications in urban disasters.