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An Automatic Method for Vine Detection in Airborne Imagery Using Wavelet Transform and Multiresolution Analysis Thierry Ranchin, Bernard Naert, Michel Albuisson, Gilbert Boyer, and Par h a n d Abstract The problem of automatic vine detection from airborne Infrared Color (IRC) images is addressed. An automatic method was designed, based on a separate modeling of the textural and spectral information extracted from the data. A multiresolution analysis associated with a wavelet transform allows the separation of spectral and spatial information. After a description of the vine detection problem, the automatic method is described. An example application is proposed and a quantitative evaluation of the results achieved is presented. The analysis of the results demonstrates the efficiency of the method. The square system of planting is the main source of errors. But this growing technique is now nearly abandoned in France due to mechanization. Thus, this method may help photointerpreters in the updating or definition of agricultural registers of vineyards as defined by the European Commission. Background The automatic characterization of heterogeneous environments with regular structures are of interest for cultures such as orchards, vineyards, and market gardens, and is of tremendous importance for the establishment and the survey of national or European registers. The diversity of objects that compose these environments (plants, soil, shadow, grass, stones, and organic residues) makes it a very complex process. This paper focuses on automatic vine detection. This problem is representative, at an easily accessible scale in the field, of the complexity of these environments. Only a few studies have been conducted in the field of remote sensing for vine detection (Riom, 1992). Boissard (1972; 1973) has shown that the textural and structural elements in avine parcel can be accessed by the Fourier transformation of airborne photographs. These elements lead to the characterization of the stocks of vine and of their structure (orientation of the rows, distance between the stocks, dimension of the stocks, and leaves). Using spectral and temporal parameters with a very high spatial resolution, Debusshe (1975),Josa (1978),Sentex (1984),and Naert (1985)performed comprehensive analyses of some elements of the vine states: physiological states, growing methods, and type of vine. These T. Ranchin and M. Albuisson are with the Groupe TBlBdBtection & ModBlisation, Centre d'Energbtique, Ecole des Mines de Paris, BP207, 06904 Sophia Antipolis cedex, France (thierry.ranchin8cenerg.cma.fr). B. Naert and G. Boyer are with the Laboratoire INRA, Maison de la T616dBtection, 500 rue Jean-FranqoisBreton, 34093 Montpellier cedex 5, France. P a Astrand is with the Space Applications Institute, MARS sector, Joint Research Center, 21020 Ispra, Italy PHOTOGRAMMETRIC ENGINEERING & REMOTE SENSING studies show that the automatic recognition of these pararneters can only be achieved when the detection of vine parcels is effective. When spectral information alone is considered, the observed parcels can be confused with non-cultivated soils or fallow soils. Depending on the cultivation technique of the vineyard, confusion is possible with orchards or plantings of asparagus, when only textural information is considered. Hence, effective detection can only be achieved by approaches using jointly texture or structure and spectral information. If temporal information is available, detection will be better. A vineyard is a patchwork of objects whose signatures change with the sun position, the season, the orientation of the rows of vines, the type of vine, and the growing method. For a spectral and temporal study and for characterization of the vines, the detection of vines is essential. As proposed by Boissard (1972; 1973),the use of the Fourier transform was tested by the present authors. But, even if fast algorithms exist, the use of directional filtering for detection of rows of vines in the Fourier domain of images is very demanding in computational resources. The Fourier transform makes some strong assumptions regarding the original image. The image needs to be periodic, to represent stationary phenomena, and, for computational reasons, to be preferably a power of 2 in size. But an image is neither periodic nor stationary, and the power of 2 in size limits the application of the Fourier transform. Nevertheless, the Fourier transform was successfully applied to images. The following procedure was applied to perform a directional filtering of the image for line detection: a Fourier transform is applied to the original image (Figure 1); the filter is designed manually (Figure 2) on the amplitude spectrum, by selecting the frequencies to preserve (Figure 3); this first filter is converted into an optimal filter which is applied to the amplitude spectrum of the image; and the inverse Fourier transform is applied to the filtered spectrum and the filtered image is reconstructed (Figure 4). This method is efficient but, in addition to the previous restrictions, it should be stressed that the design of the filter is done by the user, which strongly influences the results. This point prevents the automation of the method. Due to these different remarks, this method was not further employed and an alternative one was designed. More flexible mathematical tools were chosen: the wavelet transform (WT) and multiresolution analysis (MRA). These Photogrammetric Engineering & Remote Sensing Vol. 67, No. 1, January 2001, pp. 91-98. 0099-1112/01/6701-91$3.00/0 O 2001 American Society for Photogrammetry and Remote Sensing lanuary 2001 91 I Figure 1. Original image. The pixel size is 25 cm. Figure 2. Amplituae spectrum of tne touner transform computed from Figure 1. tools allow a hierarchical description of the information. The textural information is accessed through the use of the WT and MRA, and the spectral information is accessed through a classification scheme. In the field of the analysis and processing of remotely sensed images, a few works were done using these tools and concerning the analysis of the characteristic scales in geology (Besnus et a]., 1993),in the urban domain (Ranchin and Wald, 1993a), or in oceanography (Ranchin and Wald, 1993b). The Figure 3. Mask defined mar .--.., directional filter. ... order t~ --..., ~ t the e Figure 4. Reconstructed image computed from the applica tion of the directional filter on Figure 1. reduction of speckle in Synthetic Aperture Radar (SAR) imagery was proposed using degradation of the spatial resolution of the image (Proenca et al., 1992),by selection and filtering of the most speckled scales (Ranchin, 1993; Ranchin and Cauneau, 1994),by application of the shrinkage method on the wavelet coefficient images (Eldridge and Lasserre, 1995; Horgan, 1998), or through the use of a recursive scheme (Dong et al., 1998). PHOTOGRAMMETRIC ENGINEERING & REMOTE SENSING The restoration of blurred images was studied in the case of airborne images (Bruneau et al., 1991).The benefits of using these tools for data compression were demonstrated from the point of view ofperformance (Antonini et al., 1992; Singh, 1999), and the European Space Agency has proposed the distribution of a CD-ROM of Meteosat images using such a kind of compression. SAR data compression was also explored with significant good results (Moureaux et al. 1995; Parkes and Clifton, 1999).An automatic method for registration of images was proposed (Djamdji et al., 1993). The detection and selection of ground control points (GCP) is done using the WT,and the computation of the transformation model is achieved through successive approximations in a coarse to fine approach. This method was deeply improved by Blanc and Wald (1998) by taking into account the local deformation of images. These tools were used for the analysis of satellite-derived irradiance maps and for the characterization of the spatial and temporal structures in the irradiance fields (Beyer et al., 1995). A characterization of the local roughness of digital elevation models by a wavelet-based estimator (Datcu et al., 1996)and surface determination for digital terrain reconstruction and ortho image formation (Tsay, 1998)were improved by the use of the WT. The scale analysis of surfaceproperties of sea ice (Lindsay et al., 1996)or of sea ice drift (Liu and Cavalieri, 1998)were also investigated. These tools were also applied to the fusion of images and raster-maps of different spatial resolutions by encrustation in the case of the construction of the European solar radiation atlas (Wald and Ranchin, 1995),to the merging of images for updating urban maps (Ranchin and Wald, 1996), and to the merging of SPOT and SAR images (Mangolini et al., 1993).They are the basis of the ARSIS method (from its French name "am6lioration de la rbolution spatiale par injection de structures") which is the subject of a patent (Mangolini et al., 1992).This method allows the improvement of the spatial resolution of images up to the best available in a set of images with different spatial and spectral resolutions, and the preservation of the spectral content of original images. In the case of SPOT imagery, this method was shown to give the best available results in terms of preservation of the spectral content of original images (Wald et al. 1997).Thus, the synthesized images can be used for applications where high spatial and spectral resolutions are necessary. The complete description of the implementation for this case is provided in Ranchin and Wald (2000). Couloigner andRanchin (1999; 2000) demonstrate the benefits of these tools for the semi-automatic extraction of urban networks. Some potentialities of the WT and MRA were also proposed by Ranchin and Wald (1993a). Ranchin (1997; 1999) explored the benefits of wavelets for environmental modeling. MRA and the WT were also used for the detection of settlements in a water resources management context (Staudenrausch et al., 1999)and for the automatic interpretation of buildings from aerial images (Shao, 1993).Interesting studies on the multiscale properties of images (Hu eta]., 1998)and on texture analysis and classification using wavelets (Zhu and Yang, 1998)were also achieved. This list is far from being exhaustive because the recent use of these tools in remote sensing and their potentials provide new applications every day. An Automatice Method for Vine Detection The Wavelet Transform and Multlresolutlon Analysis The association of the wT and MRA leads to a powerful and comprehensive analysis and processing of remotely sensed images. The concept of MRA introduced by Mallat (1989) derives from the Laplacian pyramids (Burt and Adelson, 1983). Figure 5 is a very convenient description of MRA and more generally of pyramidal algorithms. PHOTOGRAMMETRIC ENGINEERING & REMOTE SENSING of the original Difference of informatton between two successive appmx~mationsmodelised by the wavelet coefficients Original image Figure 5. Pyramid representing the multiresolution analysis combined with the wavelet transform. Figure 6. Strategy for vine detection. The base of the pyramid is the original image. Each level of the pyramid is an approximation of the original image computed from the original one. When climbing the pyramid, the successive approximations have coarser and coarser spatial resolutions. The theoretical limit of an MRA is one pixel representing the mean of the original image. Due to some physical constraints, this limit is never reached. The base of the pyramid can also be considered as an approximation of the landscape measured by the sensor. Associated with MRA, the WT allows the description of the differences existing between two successive approximations of the same image (i.e., of two successive levels of the pyramid, by its wavelet coefficients).If the process of MRA is inverted, the original image can be exactly reconstructed, from one approximation and from the different wavelet coefficients. These tools allow a hierarchical description and modeling of the information contained in the image. The present method uses the "B trous" algorithm (Dutilleux, 1987). For each iteration, one context image and one wavelet coefficient image are computed. They have the same number of pixels as the original one, and can be compared pixel by pixel to the original one. The wavelet coefficient image represents the characteristic scales of the original image with no privileged direction. The Propmd Strategy Figure 6 describes the strategy for the automatic detection of vines. The strategy is as follows: were achieved by fitting the histogram by a generalized Gaussian law. The values close to zero (central peak of the histogram) represent noise or a very small variation of the image. The high values of the histogram (left and right parts of the histogram) represent the strong variations of the image, i.e., wellmarked structures as borders between different elements. The method of line detection is based on this interpretation of the histogram. Hence, a thresholding of the wavelet coefficients image of the relevant structures will enhance the wellmarked structures and show the lines of vines. The threshold was determined empirically to be 0.7 uwhere uis the root mean square of the wavelet coefficients image between one and two meters of the image. This threshold depends on the application and on the size of the structures to be detected; it shouldbe fitted according to the objectives. The algorithm of line detection is item (2) of the strategy scheme (Figure 6) and may be described as follows: I L Y Y Y E J I " I m m Figure 7. Typlcal histogram of the wavelet coeffic~entsImage representing the information at a given scale (here between one and two meters) for a natural image. (1)The original infrared color (IRC) image is decomposed into conven6onal red, green, and blue layers. ~ c c o r d i nto~the usual processing of airborne photographs (Naert, 1977), the vegetation is mostly enhanced in the green layer which contains the infrared information (Boureau and Naert, 1985). using the WT is applied to this layer. (2) Line detection is applied to the wavelet coefficients image representing the structures to be detected. The choice of this image depends on an a priori knowledge of the distances between the rows of vines, and can easily be tuned. (3) A textural index is derived from the results of this line detection. [4) Approximations of the original data computed through MRA and the textural index are used to derive a supervised classification of the whole image. (5) Results of the classification are analyzed in a G I environment ~ in order to provide the results on a parcel basis. Then a combination of the parcel shapes and the results of the classification is performed. A threshold is applied to determine if the parcel is a vine parcel. All the parcels with a value in surface detected greater than 75 percent of the reference surface are considered as vine. This threshold was determined empirically from the individual parcel results. = The richness of the details of high spatial resolution imagery enables the detection of individual stocks but prevents the effective detection of the parcel of vines. On the one hand, the high spatial resolution imagery is necessary for accessing the texture of vine areas. On the other hand, such images are too complex for accessing the spectral signature of a vine parcel. This makes difficult the definition of an automatic detection. To avoid this problem, using the information at a selected scale focuses on the structures of the relevant dimensions; the emphasis is put on the lines of vines, and the spectral signature of vine parcels is well represented by smooth approximations of the original image. Additionally, to obtain this textural information, it is necessary to start from an image with a pixel size at least two times smaller than the size of the structures to detect (Shannon theorem; see, e.g., Papoulis (1987)). Line Detection and Textural index The wavelet coefficients images have histograms that are centered at zero and present avery sharp distribution. Figure 7 is a typical example of the histogram of the wavelet coefficients image for a natural image. This histogram, which is a representation ofthe probability density function (pdf)of the image, can be adjusted to a theoretical pdf obeying a Laplacian or a Gaussian law. Following Antonini et al. (1992),the best results an MRA using the WT is applied to a single channel of the image (usually the channel best representing the vegetation), the root-mean-square uis computed for the wavelet coefficients image comprised between one and two meters, all the wavelet coefficients with value lower than 0.7 u are set to 0, and all the wavelet coefficients with value greater than 0.7 r a r e set to 255. A texture index is derived from the line detection image by computing the number of pixels with a value equal to 255 in a moving window of size 9 by 9. This index will be used as one input layer in the subsequent supervised classification. Example of Application The area of interest is situated on the district of Villeneuve les Maguelone (HBrault, France]. It comprises the Viticultural Experiment Station of INRA, called "Domaine du Chbpitre," surrounded by representative and exhaustive samples of the languedocian vineyard. In 1984, this station exhibited structures of plantations that are still (i.e., rows 2 m apart with a distance of 1.2 m between stocks, 2 m by 1.3m, and 2.5 mby 1.2 m) in bush vines (goblet-prunedvines) or lateral cordon-constrained and trellised vines with numerous different varieties of vines. Around the experiment station, the parcels are not homogeneous. Many of them are planted in bush-vines with a square system of planting (1.5 m by 1.5 m or less); a path exists every three or four rows, for the treatment tractors. The image was acquired using an IRC (inhared color) emulsion, at a scale of 1:5000 on 16 October 1984 and is composed of urban area (more or less diffuse), vineyard (the "Domaine du Chbpitre" represents 20 hectares of the vineyard), fallow land, asparagus, and orchards. Plate 1presents an example of application of the complete strategy. The inter-row distance of vines is between one and two meters. Then, the line detection algorithm has been applied to the wavelet coefficients image describing the information between one and two meters. The spatial resolution of the approximations (computed by application of MRA) used for the spectral description of the area is 8 meters in this case. The masking was applied to the results of the classification. The surfaces of the resulting parcels are then compared to the reference surfaces. If the individual difference for each parcel is lower than 25 percent in area, the parcel is classified as vine. If the difference is greater than 25 percent, the parcel is classified as non-vine. In the next section, the results for the whole image are summarized using error matrices and indexes. Results and Discussion The evaluation of the results was first achieved for each parcel. In order to obtain an indicator for the whole process, the approach proposed by Congalton (1991) was used. An error matrix was computed for the image. It contains two classesPHOTOGRAMMETRIC ENGINEERING & REMOTE SENSING TABLE2. ACCURACYINDICES DERIVED FROM TABLEI User's accuracy indexes Producer's accuracy indexes Overall accuracy index KAPPA parameter Plate 1 . Example of the strategy for automatic vine detection. The upper left corner is an extract of the reference image. The pixel size is 0.25 m and the image was acquired using an infrared color emulsion at the scale of 1:5000. The upper right corner is the result of the line detection algorithm using the wavelet transform. The lower left corner is the superimposition of the original image and the parcel information. The lower right corner is the combination of the results of the classification scheme and the parcels information. vine and n o n - v i n e where columns describe the reference data and rows indicate the assigned land-cover categories. The followingindices were calculated: the user's accuracy indices (an inverse measure of the commission errors), the producer's accuracy indexes (an inverse measure of the omission errors], the overall accuracy index, and the KAPPA parameter (directly computed without any use of the KHAT estimator]. Table 1 presents the error matrix computed for the whole image and Table 2 presents the calculated statistical indices. The overall accuracy has to be considered with the "producer's accuracy" and the "user's accuracy." The overall accuracy for the whole image is close to 82 percent. It excludes the omission and commission errors. The producer's accuracy indicates that approximately 74 percent (26 percent omission of vine) of the vines are well-classified and that approximately 95 percent of the non-vines are well classified. The user's accuracy indicates that approximately 96 percent (4 percent commission or mix-up of vine) of the vine parcels are actually vine and that approximately 68 percent of the non-vine parcels are TABLE1. ERRORMATRIX FOR THE IMAGE WITH A Vine Non vine 0.96 0.68 0.74 0.95 0.82 0.64 actually non-vine parcels. The KAPPA parameter is a measure of how well the classification agrees with the reference data, and takes into account the omission and commission errors. This parameter is usually considered as the one reflecting the global quality of the classification. For this image, it reaches approximately 64 percent. This is a fairly good result compared to the usual results obtained by photointerpretation. In order to analyze the contribution of the different growing methods, extended error matrices were computed and the producer's accuracy indexes derived first for different types of planting (Table 3) and vine-growingmethods (Table 4 and 5). This area comprises two main types of planting existing in this area: the tying up types composed of stocks growing on wires, for which the leaves of the different stocks constitute a continuous line, and the bush or goblet pruning which corresponds to stocks planted individually without any physical link as wire in the tying up mode. Depending on their inter-rows distance, the leaves can give an impression of continuity in lines. There are two modes of planting for goblet pruning. Figure 8 displays the square system of planting and the usual goblet pruning. The differences are in the inter-line and inter-row distances. Table 3 shows that the main sources of error are due to the young and badly maintained vines and to the square system of planting. The young vines are very difficult to detect even using photointerpretation. The badly maintained vines are presenting missing stocks, holes in rows, and do not reach the 75 percent of vine surface occupation. The vines planted in rows are very well detected (less than 4 percent of omission). Table 4 shows that the method allows a good detection, whatever the growing method, when the vine is planted in rows. The square system of planting is the main source of error in our strategy for automatic vine detection. These parcels represent 43 percent of the omission. Table 5 shows the results for the five different classes of squares that are present in the image. The regular square system of planting corresponds to stocks planted on a regular grid in lines and rows spaced at 1.5 m that gives an impression of squares. No link exists between the stocks. The other classes are composed of the same regular grid but with one row out of two, three, four, or six missing. The missing lines in the parcels correspond to the pulling up of stocks, allowing the use of tractors for exploitation of the vines. Table 5 shows that the square system of planting itself presents an omission of 23 percent. The interpretation of the square with one row out of three missing is difficult, because the number and size of parcels is not statistically significant. The square with one row out of two missing is PIXELSIZEOF 25 CM AND PROCESSEDUSINGTHE PROPOSED STRATEGY Ground Truth Detected areas Vine Non vine Total Vine in square meters in number of parcels Non vine in square meters in numbers of parcels Total in square meters in number of parcels PHOTOGRAMMETRIC ENGINEERING & REMOTE SENSING January 2001 95 ACCURACYINDEX BASED UWN THE TYPE OF PLANTATION INFORMATION FOR ME IMAGE PROCESSED WITH ME TABLE3. EXTENDEDERRORMATRIXAND PRODUCER'S PROPOSED STRATEGY -- Vine in m2 in parcels Non vine in mZin parcels Total in mZin parcels Producer's accuracv index - Rows Square 197131 33 7489 2 204620 35 0.96 79164 22 60714 15 139877 37 0.57 Young or badly maintained No information Total EXTENDED ERRORMATRIXAND PRODUCER'S ACCURACYINDEX BASED UPON WE DETAILED TYPE OF VINE-GROWING METHODFOR THE PLANTATION IN ROWS TABLE4. --- -- 5 i n g UP Vine in m2 in parcels Non vine in mZin parcels Total in mZin parcels Bush or goblet pruning 157219 23 7489 2 164708 25 39912 10 0.95 1 a 0 0 39912 10 Producer's accuracy index (a) (b) Figure 8. (a) Usual bush or goblet pruning. (b) Square system of planting. very close to a classical row system of planting. But the distance between two successive rows is 3 m. The algorithm was tuned to detect vines spaced of between one and two meters. Hence, the omission of more than 54 percent, is due to this tuning. One way of detecting this type of growing method parcels is to process the wavelet coefficients image representing the corresponding characteristic scales. The omission decreases from 54 percent to 49 percent when the number of missing rows decreases. With the different spacing due to missing rows, the algorithm is able to detect the rows, but the masking leads to a surface occupation inferior to 75 percent. The part of the parcels covered by vines is well detected but no connection is made between these sub-parcels. One way of resolving this problem can be an adaptation of the algorithm by the computation of another textural index focusing on the characteristic scales of this process. Conclusions and Perspectives In this paper, an automatic method to detect the vinelnon-vine areas on aerial infrared photographs was described. The developed method allows detecting the vine areas in the test district with a Kappa coefficient of 0.64 in the case of a 1:5000-scale airborne IRC image. The pixel size of 50 cm seems to be a limit to properly detect the vines planted in squares. However, this technique of Square, Vine in mZin parcels Non vine in mZin parcels Total in mZin parcels Square 1 row12 missing 37093 6 11112 4 48204 12726 15133 10 11 6 5 27859 culture has been abandoned due to mechanization. The proposed method is able to detect the two or three rows of planted vines but has difficulty to link them through the grass lines. Other tests have also been achieved with 1:20,000-scale images and a pixel size of 50 cm and over different vineyards in Spain (panchromatic 1:40,000-scale image, pixel size 50 cm), Italy (panchromatic 1:40,000-scale image, pixel size 1m), and France in the area of Bordeaux ( L R 1:25,000-scale ~ image, pixel size 60 cm). The results obtained, without any modification of the method, on these images show a lower accuracy. This emphasizes the need for an adaptation of the method to fit the imagery, the type of vine growing method, and the inter-row distance present in the area under study. This method is fully automatic. Its applicability to the detection of vines parcels was demonstrated for a 1:5000-scale IRC image. The level of detection of the vinelnon-vine parcels is fairly good (Kappa parameter equal to 64 percent). The choice of the wavelet coefficients image to process permits an easy adaptation of the method to the available image and to the characteristics of the vineyard. The present results are less satisfactory than those usually obtained by photointerpretation. This method is a first step to Square, 1 row13 missing Square, 1 row14 missing 1518 1 6758 1 8276 2 20083 6 20391 4 40474 10 Square, 1 row16 missing Producer's accuracy index 0.77 96 January 2001 PHOTOGRAMMETRIC ENGINEERING & REMOTE SENSING an efficient automatic method for vine detection. It constitutes a good framework and will be improved by further investigation of the different ways of representing the textural information of vines. This method can presently be used as a support for photointerpretation, allowing a first step in the processing of vine detection. The photointerpreters can then focus on the parcels that are not detected as vines. The detection of changes in the use of parcels through time can also be conducted through comparison ofresults computed on different dates. -, 2000. Mapping of urban areas: A multiresolution modeling approach for semi-automatic extraction of streets. To appear in Photogrammetric Engineering & Remote Sensing, 66(7):867-874. Datcu, M., D. Luca, and K. Seidel, 1996. Wavelet-based digital elevation model analysis, Proceedings of the 16th Symposium of EARSeL, Integrated Applications for Risk Assessment and Disaster Prevention for the Mediterranean, 20-23 May, Ta'Xbiex, Malta, pp. 283-290. Debusshe, G., 1975. 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CALL FOR PAPERS PE&RS Special Issue on Geospatial Information Technology in KOREA Remo sing n December 2001, the American Society for Photogrammetry a n d Remote Sensing will ievote its issue of Photogrammetric Engineering a n d Remote Sensing ( P E e R S ) to 2eospatial Information Technology in KOREA. 4uthors are encouraged to submit manuscripts o n "cutting edge" research underway i n (OREA i n the following areas Photogrammetry Remote Sensing LIDAR Radar GIS GPS Biological & geological applications All aspects of geospatial information technologies 411 manuscripts must be prepared according to the "Instructions to Authors" published n each issue of PEbRS and o n the ASPRS web site at www.asprs.org. Papers will be 3eer-reviewed i n accordance with established ASPRS policy. Manuscripts must be re:eived by March 31, 2001 to be considered for publication. Please send completed manuscripts or direct inquires to : Dr. Woosug Cho, Guest Editor Department of Civil Engineering, Inha University 253 Yonghyun-Dong Nam-Gu, Inchon, 402-751, KOREA FAX : +82-32-873-7560, [email protected] PHOTOGRAMMETRIC ENGINEERING & REMOTE SENSING