J Indian Soc Remote Sens (March 2013) 41(1):141155 DOI 10.

1007/s12524-012-0209-4

RESEARCH ARTICLE

Urban Built-up Area Assessment of Ranchi Township Using Cartosat-I Stereopairs Satellite Images
Arvind Chandra Pandey & Amit Kumar & A. T. Jeyaseelan

Received: 13 August 2011 / Accepted: 20 February 2012 / Published online: 20 March 2012 # Indian Society of Remote Sensing 2012

Abstract In the present study, the Cartosat-I digital elevation model (DEM) was utilized to deduce the vertical characteristics of Ranchi urban area and its relation to long term built-up expansion (19272010). The DEM represents moderate variation in terrain relief ranging from 595 m to 754 m with majority of area exhibiting upto 3 of slope and 3 to 6 indicating flat to undulating nature of terrain in Ranchi township. The DEM was used to generate location of sinks within urban area, which are generally delineated along the drainage channels, adjacent to high-rise built-up land and along the elevated road network. The pattern of urban sprawl over the eight decades (19272010) were examined with reference to terrain relief zones, which indicated that the built-up growth
A. C. Pandey (*) Department of Remote Sensing, Birla Institute of Technology, Mesra, Ranchi 835215, India e-mail: arvindchandrap@yahoo.com A. Kumar Centre for Land Resource Management, Central University of Jharkhand, Brambe, Ranchi 835205, India e-mail: amit.iirs@gmail.com A. T. Jeyaseelan Jharkhand Space Applications Center, Department of Information Technology, Government of Jharkhand, Ranchi 834004, India e-mail: jeyaseelanat@yahoo.com

was mainly taken place over the elevation range of moderate (620660 m) (67.0%) and high relief (660 680 m) (19.8%) zones. Although earlier preference for built-up development was more in high elevation zones (660680 m), the low elevation zones (<600 620 m) are now preferred for multistoried built-up land development where better groundwater availability occur. The spatial pattern of vertical growth of built-up land was assessed using contour density obtained from Cartosat-I DEM. The results show that the high density contours predominately correspond to hilly area and high-rise buildings at majority of locations. The urban sprawl pattern and population trend exhibited rapid increase in vertical built-up growth after 1996 indicating beginning of urban densification in Ranchi township. Keywords Cartosat-I . DEM . Sinks . Urban sprawl . Vertical growth

Introduction Remote sensing images are useful for monitoring the spatial distribution and growth of urban built-up areas due to synoptic views of urban land cover in temporal time frame (Xu 2008; Bhatta 2009; Griffiths et al. 2010). Over the past two decades, researchers have become increasingly interested in using remotely sensed imagery to address urban and peri-urban problems (Jacquin et al. 2008). However, the spatial and spectral

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variabilities of urban environments present fundamental challenges to derive accurate remote sensing-based information for urban areas (Powell et al. 2007). In recent years, three-dimensional modeling of urban regions gained great interest (Sirmacek et al. 2010). For decades, the terrestrial surveying techniques and aerial images were the only approaches of generating digital elevation model (DEM). The emergence of Global Positioning System (GPS) facilitated the conventional techniques, however, difficulties such as timeconsuming, reaching to impassable areas, high expenses, were still remaining. The possibility of using satellites stereoscopic images for global digital elevation data commenced with the launch of SPOT (Systme Probatoire d Observation de la Terre) series satellites in 1986 (Deilami and Hashim 2011). At present, global elevation information can be derived from the globally available SRTM data at 90 m resolution (Eckert 2008) and Advanced Spaceborne Thermal Emission and Reflection Radiometer (ASTER) Global Digital Elevation Model (GDEM) at 30 m spatial resolution (http://www.gdem.aster.ersdac.or.jp). During the past decade, digital photogrammetric methods for providing automatic digital surface model (DSM) or digital terrain model (DTM) generation have been widely used due to the efficiency and cost-effectiveness of the production process (Zhou et al. 2005). DTM refers to the digital representation of the actual terrain or bare surface of the earth without any natural or artificial object on it whereas DSM refers to the digital representation of actual surface of the earth with all types of object like buildings, trees, or any other artificial objects or natural vegetation on it (Maune 2007; Unger et al. 2009). DEM is used as generic term for DTM as well as DSM. The DEM is one of the most used raster datasets (a grid or a matrix) in geographical information systems (GIS) with an elevation value (height) in each square cell of the grid (Podobnikar 2009). Urban area DEMs are required for a variety of applications such as mobile communication, air traffic navigation, urban planning, hydrological studies, environmental studies (Champion and Boldo 2006; Elaksher and Bethel 2008), urban monitoring, urban change, damage detection and assessment (Eckert 2008; Bhattarai and Conway 2010; Sirmacek et al. 2010) and greatly assists in analysis and interpretation of images in terms of identification of slopes, flow

direction, drainage patterns, surface material, vegetation growth, etc. (Srivastava et al. 2007). The use of 3D cartographic data has become very important for many applications related to urban areas viz., microclimate investigation, transmitter placement in telecommunication, transport, tourism, air analysis, flooding risk, noise simulation, heat and exhaust spread in big cities, estate agencies etc. (Zhou et al. 2005). The availability of urban DEM is a major concern for most users (Baillard 2003). However, the efficiency and effectiveness decreases rapidly for complex scenes in dense urban areas using large-scale imagery due to occlusions, depth discontinuities, shadows, foreshortening and motion artifacts, and the lack of models for man-made objects (Forstner 1986; Schenk and Toth 1992; Zhou et al. 1999). DEM and DSM generation using high resolution satellite imagery is a relevant research topic for some years. Fradkin et al. (1999) proposed segmentation based method to reconstruct three-dimensional models of dense urban areas using very high resolution color aerial images and DEM data. Arefi et al. (2008) extracted above-ground objects from LIDAR data. Then, three-dimensional buildings are reconstructed by hierarchical fitting of minimum boundary rectangles (MBR) and RANSAC based straight line fitting algorithm. In these studies, good results are achieved generally using very high resolution (more than 1 m spatial resolution) DEMs, which are generated using airborne datasets. Elaksher (2008) proposed a multi-photo least squares matching based DEM enhancement method. The comparative lower resolution (in 5 m. spatial resolution) DEM, the exact building shapes was not conveniently extracted (Sirmacek and Unsalan 2008). A Cartosat-I stereopairs generates highly automated and operational DSM and orthoimage (dAngelo, et al. 2009; Arefi et al. 2009). Radhadevi, et al. (2009a) reported the generation, evaluation and comparison of DEMs from SPOT-5 and Cartosat-1 stereopairs. She also discussed satisfactory geometric accuracy and capability of Cartosat-1 DEM for topographic feature capture at 1:10000 scale (Radhadevi, et al. 2009b). Evans et al. (2008) compared the vertical accuracy with National Elevation Data (NED), ASTER and SRTM DEMs, whereas the horizontal accuracy with the Digital Orthophoto Quad data. Crespi et al. (2007) compared Quickbird and Cartosat-I stereopairs for generation of DSM of Rome (Italy), which demonstrated that DSM

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extraction from Cartosat-1 stereo pairs has accuracy (RMSE) of 12 pixels with smoothing effects over urban zones, whereas the DSM results generated from Quickbird has overall accuracy of about 23 pixels. Dabrowski et al. (2008) also proposed use of Cartosat-1 stereopairs based Digital Elevation Models for generating orthoimages with the resolution of 2.5 m. Cartosat-1 DEMs compare quite well with the most accurate reference DEMs (Evans et al. 2008; Saran et al. 2010). In general, DEM always contain some depressions or sinks, which are basically holes in the DEM, whose directions of flow are not defined and hinders the flow routing. Sinks may occur due to the erroneous data in the course resolution DEM incorporated during the time of acquisition and many represents depression sites. Although, a depression-less DEM is created through neighbourhood analysis (Saraf et al. 2004), the high resolution Cartosat-I DEM represents no such erroneous spikes and holes (sinks) (Tiwari et al. 2008). In high resolution urban DSM large areas such as courtyards in buildings, depressions in roofs, low-lying areas near elevated walkways as well as one pixel depressions that may be found in roads or other urban surfaces are identified as sinks. Also, sinks represents areas, where surface water can collect thus forming a pond or an area of potential flooding/ waterlogging. Asian cities are often seen as high-rise dense urban forms (Hwang 2006). In Indian cities, the high-rise residence is fast growing since last two decades. Highrise residential construction has become very popular in large cities. The demand of space due to the pressure of urbanization in the inner cities has resulted in high-rise apartments to withstand the higher densities in these areas (Reddy 1996). Verzosa and Gonzalez (2010) have adopted photogrammetric techniques for measuring building heights in estimating the vertical population concentration. In the present study, the potential of the Cartosat-I satellite data was used to assess the topographical variability of urban built-up landscape and geographic features of Ranchi township as well as to deduce surface flow direction for delineation of location of major depression (sink) area causing waterlogging within urban landscape. The contour density deduced at 5 m contour interval from Cartosat-I stereo pair data was correlated with topographically high and low areas to assess the vertical built-up characteristics of Ranchi township. Later, the evolution of built-up land

in Ranchi township during the period 19272010 was evaluated with reference to the terrain relief zones. The study area (317.6 km2) comprising Ranchi township, the capital of Jharkhand state, is situated on Chotanagpur plateau in the eastern part of India and located between 85 13 to 85 25 E longitude and 23 13 to 23 26 N latitude above 645 m above sea level (Fig. 1) having a population of 11,19,000 (UNPD 2010). Administratively, the area comprises parts of Kanke, Namkum and Ratu Community Development Blocks in Ranchi district of Jharkhand State. The demarcation of study area was based on 2 km buffer of Ranchi Municipal Corporation (RMC) boundary, which covers majority of continuous builtup land.

Data Used and Methodology In the present study, Cartosat-I stereo pair satellite data providing 2.5 m spatial resolution in panchromatic mode was used to generate DEM and contours at 5 m interval. The optical sensor in the satellite is configured with two push broom cameras, which are mounted such that one camera is looking at +26 (band F) and the other at 5 (band A) along the track and provides stereoscopic image pairs along the same pass (Krishnaswamy and Kalyanaraman 2005; C-Sap 2006). The two scenes of stereo images (path and row: 573289 and 574289) of Cartosat-I were acquired on 26 March 2007 and 18 May 2007 with an overlap of almost 90%. Each image is 120003000 pixels large, with a ground resolution of 2.5 m. The stereo image was generated using Cartosat-1 fore and aft sensor in Leica Photogrammetry Suite (LPS) software ver. 9.3 using provided RPC (Rational Polynomial Coefficient) to solve interior and exterior orientations and represent the ground-to-image viewing geometry (Fig. 2). These RPCs were further refined by 30 ground control points (GCPs) having X, Y, and Z values collected using GPS device, which provide a satisfactory accuracy level while generating DEM. The WorldView-II satellite image was employed for selection of ground control points (GCPs) to be uniformly distributed, followed by field data collection. The Cartosat-I fore and aft images were correlated (auto-tied) using point measurement tool with average pattern success rate of 80.25% and 81.48% having total 148 and 115 unique tie points for both scenes

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Fig. 1 Location map of the study area

respectively. The block triangulation technique was performed to refine sensor model with polynomials order 1, where total root mean square (RMS) error of 0.464 and 0.071 were accepted for DEM generation of both scenes respectively. The 30 ground control points were again used for providing coordinates as 3D reference points in DTM extraction properties. The DEM image was quantified at 10 m10 m pixel resolution.
Fig. 2 Methodology flowchart adopted in the study
RPC info

The two DEM images were mosaiced using linear surfacing algorithm of terrain preparation tool. The image was then subset with reference to Ranchi township boundary and subsequently used in generation of slope and aspect map of Ranchi township. The contours at 5 m interval were generated and used for terrain mapping and locating areas of topographic high and low.
Cartosat-1 (2007)

Worldview-II (2010)
Population (1927-2010) UNPD

Built-up (2010)

LPS Interior & Exterior orientation Auto tie & triangulation

GCPs
Urban sprawl (horizontal) (1927-2010)

Aster GDEM

DEM Extraction

Relief map Contour generation (5m)

Slope

Flow direction Sink Analysis

Spatial distribution of vertical rising

Previous study

Vertical growth

Built-up expansion in 1927, 1975, 1986, 1996, 2005

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The both Cartosat-I images covers majority of area of Ranchi township except small parts in the southern area of the township. To maintain the continuity of DEM and contour based representation, ASTER GDEM data was used for that area. The ASTER GDEM was acquired from http://www.gdem.aster.ersdac.or.jp covering the study area. A model in ERDAS IMAGINE were prepared to incorporate the values from ASTER GDEM, where values of Cartosat-I was unavailable within the study area. The DEM were used to generate flow directions of its each raster cell using ESRI ArcGIS software. The flow direction map was used as input for estimating sink. The locations of sinks were verified through selective field checks. The contour of 5 m interval was used to generate contour density map and correlated with high-rise built-up land and hilly areas. The built-up expansion during 19272010 was analyzed with reference to elevation ranges in Ranchi township. The satellite based observation and topographical maps viz. Berkeley topographical sheet (1927), LANDSAT MSS (1975), TM (1986 and 1996), and IRS LISS-IV (2005) were used to delineate the spread of built-up land during the periods (Kumar et al. 2011a; Kumar et al. 2011b). The built-up land in 2010 was mapped using WorldView-II through visual interpretation. The multi-temporal satellite data based built-up expansion were overlaid over Cartosat-I based 3-D surface to deduce the periodic built-up expansion an different relief zones and correlated urban vertical growth and horizontal sprawl over the periods. The digital image processing and GIS analysis were carried out using ERDAS Imagine 9.2 and ArcGIS 9.3 software respectively.

Results and Discussion Urban Relief and Delineation of Sinks The Cartosat-I based DEM represent moderate variation in elevation from 595 m in eastern and northeastern parts to 754 m in the western parts of Ranchi township (Fig. 3a). The slope map of Ranchi township prepared using Cartosat-I DEM revealed that the majority of area have less than 3 slope followed by 3 to 6 slope indicating flat to undulating nature of terrain in major parts of Ranchi township. Fewer locations in

central, southern and northern parts exhibits 3 to 9 slope, whereas isolated hillocks, minor hilly areas as well as high-rise buildings (adjoining to HEC industrial units, commercial complexes) have more than 12 slope (Fig. 3b). Haphazard urban development potentially alters natural topography, which influence the extent, depth and location of flooding and waterlogging in urban area. Such topographical changes may remove key surface storage areas, therefore transmitting surface water to previously un-flooded locations by altering the flow paths (Diaz-Nieto et al. 2008). In the DEM, flow direction is assigned to each target cell based on the neighboring cell with the lowest elevation. The flow direction mapping is an essential process for calculating sinks (Fig. 3c). It is important to note that Cartosat-I based sinks delineated in the area, represent areas of topographic depression within urban landscape. These may act as potential sites of waterlogging and urban flooding in case of high runoff during heavy rainfall. The major sinks correspond to the reservoirs and lakes in the region as well as low lying areas within the urban landscape (Fig. 3d). It has been observed that the bare land and unconstructed surface area, which are surrounded by high-rise buildings also correspond to sinks at places and therefore prone to waterlogging during excessive rainfall. Few minor sinks were also observed over the hills, which primarily represent minor depression area within the hilly landscape (Fig. 4a). A number of sinks were located near the drainage channels (Fig. 4b, c, d), within dense built-up areas (Fig. 4e, f, h, k) and along the road network (Fig. 4i, j). The location of these sinks were found to be occupied by hydrophytes (such as water hyacinth), which exhibit smooth texture and bright red color in false color composite (FCC) image of WorldView-II. It is to remark that the built-up and infrastructure development activities ignoring geomorphological features and landscape flow directions is the major cause of development of such water congestion sites. More often, these depression areas generally occupied by water bodies and also used as waste dumping sites (Gupta and Nair 2010). These sites are apparently the favorable mosquito breeding sites and leads to deterioration of urban environment due to high susceptibility of these regions to dengue/ dengue haemorrhagic fever (DHF) outbreaks (Singh et al. 2008).

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Fig. 3 a Relief map, b slope map, c flow direction, and d sink locations in Ranchi township

Horizontal Sprawl and Terrain Relief Due to limited land availability in the majority of the city, the development of built-up land result more in vertical growth compared to horizontal sprawl as a process of urban densification and intensification (Hwang 2006). Verzosa and Gonzalez (2010) has measured vertical growth and horizontal sprawl employing remote sensing, GIS, photogrammetric

and Shannons entropy technique. Built-up development without considering the topography, surface and sub-surface flow direction leads to environmental problems like waterlogging, accumulation of storm runoff, flooding etc. The stereo pair capability of high resolution satellite data like Cartosat-I can effectively monitor vertical growth due to its higher accuracy and mapping capability of minor relief variation that exist in the urban area. The assessment

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Fig. 4 a Sink locations in Ranchi township and major sink near b Harmu, c Doranda, d HEC, e Lalpur Chowk, f Karbala chowk, g Tharpakana, h Kusai, i South of Ashok nagar, j Sector-III,

Dhurwa, and k Vidyapati nagar, Kanke with the background image of WorldView-II (2010)

of horizontal and vertical built-up expansions together provides an accurate assessment of built-up development in an urban area. In the present study, the multi-temporal satellite images based urban sprawl mapping (19272010) and Cartosat-I (2007) based vertical built-up development was correlated to ascertain the characteristics of built-up expansion of Ranchi township. The topographic view of Ranchi township as viewed by WorldView-II during field observation is represented in Fig. 5.

The urban built-up area has substantially increased in the region during 19272010 covering majority of the area under Ranchi township. The topographical maps (1927) and satellite based observation (1975, 1986, 1996, 2005 and 2010) shows that the built-up land expanded from 19.8 km2 to 124.0 km2 during 19272010 with 526.26% increase in comparison to 2115.09% of population growth in Ranchi township (Fig. 6). The built-up development took place in Ranchi in haphazard manner (Kumar et al. 2011b) and the

148 Fig. 5 WorldView-II overlaid on Cartosat-I DEM and respective field photograph depicting (a.1 and a.2) Ranchi lake at center of south-east, (b.1 and b.2) Kanke reservoir in the north, (c.1 and c.2) hills at northeast, and (d.1 and d.2) Jaganathpur (temple) hill at south parts of Ranchi township as visualized from Ranchi hill.

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Fig. 6 Built-up growth in Ranchi township during 19272010 overlaid on painted relief map generated through Cartosat-I twin panchromatic data

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township had expanded more than six times in its size during the last 83 years. The horizontal sprawl exhibits the sudden increase in built-up land during 1996. Based on Cartosat-I derived DEM, the terrain relief of Ranchi township was categorized into low (<600 to 620 m), moderate (620 to 660 m), high (660 to 700 m) and very high (> 700 m) zone. The relief zone in Ranchi township exhibited that the moderate elevation zone has the maximum (58.99%) areal extent (32.21% in 620640 m and 26.78% in 640660 m zone), whereas the parts of low elevation zone i.e., 600 620 m (15.41%) and high elevation zone i.e. 660 680 m (14.95%) also occupies significant proportion in Ranchi township. The elevation zone of <600 m has very less proportion (0.63%) compared to very high elevation (> 700 m) zone (3.61%) (Table 1 and Fig. 7(a)). The horizontal sprawl with reference to terrain relief was analysed to ascertain the pattern of urban evolution and its chronological growth of Ranchi township in the undulating plateau terrain of Chotanagpur during the period of 19272010. The result indicated that the horizontal urban sprawl in Ranchi and environs mainly occupied the relief zone of 620 680 m during 19272010 (Figs. 6 and 7(a)). The evolution of Ranchi township was characterized with 19.8 km2 area in 1927, when Ranchi was mainly concentrated in central (Ranchi hill, Ranchi lake) and northern (Kanke) parts and largely occupied moderate

(17.2 km 2 ) and high (2.5 km 2 ) elevation zone (Table 1). During 192775, the built-up expanded to 44.6 km2 primarily within moderate (29.0 km2) to high (13.8 km2) elevation zones in south and central parts. In later periods (197586 and 198696), the built-up area were intensified together with horizontal expansion in almost all direction (viz., western, northern, southern and eastern parts), which occurred over moderate (55.2 km2) and high (21.9 km2) elevation zones. During 19962005 and 200510, the built-up land expanded mainly in north, north-east, east and south direction and occupied moderate (83.1 km2), high (30.2 km2) as well as low (9.3 km2) elevation zones. It is to remark that the area under low elevation zones (<600 to 620 m) were insignificantly inhabited (1.9 km2) in early periods (till 1986), whereas increasingly preferred for built-up development during 198696 (3.3 km2), 19962005 (6.6 km2) and 200510 (9.3 km2). The low elevation zones were preferred for built-up development by land developers due to higher availability of groundwater as compared to limited availability in the higher topographical zone within Ranchi township. The major environmental problem pertaining to built-up development in the areas of low elevation render high susceptibility of these locations to waterlogging and flooding during excessive rainfall. It is examined that the elevation zone of 62040 m has the large areal extent (98.9 km2) in Ranchi township, whereas the majority of built-up expansion

Table 1 Built-up statistics with reference to terrain relief in Ranchi township during 19272010 Elevation zone Total area In km2 Low Moderate High Very high <600 60020 62040 64060 66080 680700 70020 72040 > 740 Total 2.0 48.8 98.9 84.8 47.3 23.5 10.3 1.1 0.0 316.7
2

Built-up coverage (% of total area of Ranchi Township) 1927 0.0 0.0 2.3 3.1 0.8 0.0 0.0 0.0 0.0 6.26 19.8 2549 1975 0.0 0.6 3.0 6.2 4.0 0.4 0.0 0.0 0.0 14.09 44.6 7661 4.2 1986 0.0 0.6 3.4 7.6 4.6 0.5 0.0 0.0 0.0 16.63 52.7 10421 3.3 1996 0.0 1.0 6.5 10.9 6.0 0.9 0.1 0.0 0.0 25.51 80.8 8812 1.5 2005 0.1 2.0 10.2 13.1 6.9 1.4 0.4 0.0 0.0 34.12 108.1 9161 0.4 2010 0.1 2.9 12.1 14.2 7.8 1.8 0.4 0.0 0.0 39.14 124.0 9026 0.3

Built-up coverage (2010) % of elevation zone In km2 0.15 7.34 30.81 36.24 19.84 4.52 1.08 0.02 0.00 100.00 0.2 9.1 38.4 44.9 24.6 5.6 1.3 0.0 0.0 124.0

In % 0.63 15.41 31.21 26.78 14.95 7.43 3.25 0.36 0.00 100.00 316.7

Built-up land (area in km )

Population density (UNDP, 2011)

Annual increase in pop. Density (GDP) (in %)

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Fig. 7 Percentage built-up expansion (a) with reference to different elevation zones, and (b) with reference to different years

(44.9 km2) took place within the elevation zone of 64060 m, which has comparably lesser areal extent (84.8 km2). The percentage coverage of elevation zone exhibited that 36.2% of 64060 m zone were occupied by built-up development as compared to 30.8% of 62040 m zone indicating that former was the preferred elevation zone for built-up development in Ranchi township over the periods (Table 1 and Fig. 7(b)). On a temporal scale, it was also found that the elevation zone of 64080 m was more preferred for built-up land development till 1986 and thereafter the elevation zone of 62080 m was preferred. Comparing the low (60020 m) and high (660 80 m) elevation zones due to their similar areal extent (15.41 km2 and 14.95 km2) indicating that the high elevation zone was more preferred for built-up development (9.1 km2 at low and 24.6 km2 at high elevation zone) due to its location adjacent to urban built-up continuum. The low (<600 m) and high (680 700 m), very high (> 700 m) elevation zones are basically occupied by river course, undulating topography and hillocks respectively exhibit limited builtup development. Vertical Growth Urbanization is prime requirement for development (Bekele 2005). Initially the cities tend to grow horizontally and in the process the central parts becomes acute, vertical expansion takes place by renovating, altering and dismantling the old buildings in order to maximize available habitable space (Reddy 1996). Thus, both horizontal distribution and vertical growth need to be measured to determine the full scope of the implications of built-up growth in urban area (Verzosa and Gonzalez 2010). For this purpose, the Cartosat-I DEM, which captures the surface topography caused

by different land use and land cover viz., buildings, trees etc. as well as the natural features like hills and valleys, representing DSM was used to analyse vertical characteristics of Ranchi urban area (Figs. 5 and 8). The Cartosat-I based contours at 5 m interval were used to generate a contour density map of Ranchi township to characterize patterns of spatial distribution of contour density with vertical built-up development. It was observed that the area with high density contours were predominately found in the central, northern, western and extreme southern parts of the Ranchi township. The false color composite (FCC) image obtained from of WorldView-II satellite was overlaid on Cartosat-I DEM to correlate the topographical variation with geographical and man-made features in Ranchi township. It is to remark that the hillocks (Fig. 8.2(h) to (m)) as well as the majority of highrise built-up land (Fig. 8.2(a) to (g)) coincided with areas of high contour density. This clearly indicates the potential of Cartosat-I DSM in estimating vertical characteristics of built-up development within urban area. Such variation in topography within urban landscape may not be easily identifiable in the DEM obtained from SRTM and ASTER data due to their lower spatial resolution. It is to remark that due to difference in data acquisition of Cartosat-I (2007) and WorldView-II (2010) satellite images, few sites, which was constructed after 2007 viz., Khelgaon (sport complex), building developed under various housing scheme and business centers etc., were not delineated under high contour density, which substantiate the utility of such high resolution satellite data in urban vertical growth mapping. Correlations of urban sprawl with population growth depict the trend of population density and characterize the urban densification process during 19272010 (Fig. 9). The comparative less built-up

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Fig. 8 (1) Cartosat-I based contour density of Ranchi township and (2) high density contour areas as viewed by WorldView-II at (a) Kanke, (b) Albert Ekka Chowk, (c) Circular road/ Lalpur, (d) Church complex/ multiplex in Main road, (e) Sail Office, (f)

HEC industrial unit, (g) Apartments in Shamlong, (h) Bargain hill, (i) Hill near Hehal, (j) Ranchi hill, (k) Rocky area in west, (l) Rock garden, and (m) Jaganathpur (temple) hill

152 Fig. 9 Built-up and population increase during 19272010

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growth compared to population growth tend to densification of urban areas and more often it exhibit vertical rising. The decrease in (annual) growth of population density (GPD) exhibit more horizontal
Fig. 10 (a,c,e) Non uniform shapes of high rise buildings in Ranchi township as viewed by Cartosat-I DSM and (b,d,f) respective area in FCC of WorldView-II satellite images

expansion compared to vertical growth till 1986 (3.3%), which were minimum during 1986 96 (1.5%) exhibited high horizontal expansion. The increase in (annual) GPD during 19962005 (0.4%) can

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be related with rapid vertical growth than horizontal expansion, whereas the moderate (annual) GPD in 2005 (0.4) and 2010 (0.3%) exhibited both vertical growth and horizontal expansion patterns in Ranchi township (Table 1). Earlier studies (dAngelo, et al. 2009; Arefi et al. 2009) evaluating the accuracy of Cartosat-I DEM and orthoimage and comparing it with various other DEMs (Radhadevi, et al. 2009a) and found its satisfactory geometric accuracy (mean vertical error <4 m, and the standard deviations were <10 m, horizontal accuracy of 5 m) and capability for topographic feature capture (Crespi et al. 2007). The present study also supports the high accuracy of Cartosat-I DEM and its relevance in urban feature mapping for vertical growth assessment. The Cartosat-I DEM (10 m) exhibits highly improved 3-D surface generation as compared to SRTM DEM (80 m) and ASTER GDEM (30 m). On the contrary, the Cartosat-I DEM has limitation in representing exact building shapes compared to LIDAR (Baillard 2008) and DSM of high resolution satellite data viz. IKONOS (Sirmacek et al. 2010). The present study shows that the group of high-rise buildings and industrial units was represented in irregular form of high topography (Fig. 10). Although there were several model (viz. Huber regularization as adopted by Unger et al. 2009; Sirmacek et al. 2010) applied to enhance the 3D surface of DEM, the shape of large and high industrial units, which were not regular and appear as high-rise topographic feature (Fig. 10(a)).

development as compared to low elevation (<600 620 m) and very high elevation zone (> 700 m). Although the lower elevation zones are being occupied for built-up development in recent years due to better groundwater availability, mainly in eastern and northeastern parts of Ranchi township, which areas are highly vulnerable to waterlogging during excessive rainfall. The Cartosat-I DEM derived contour based density map correlates well with high rise buildings as well as hillocks within urban area in Ranchi township. The study demonstrates the capability of high resolution Cartosat-I satellite data in characterizing vertical development due to its higher accuracy and mapping capability of minor relief variation that exist in the urban area. The assessment of horizontal builtup expansion and vertical growth together provides an accurate assessment of urban growth and its densification process over the periods. The haphazard builtup and infrastructure development activities took place ignoring geomorphological features and natural landscape flow directions in Ranchi township, and are the major cause of development of water congestion. Thus, the built-up growth should be monitored regularly in terms of vertical and horizontal expansion of the city, in order to regulate sustainable built-up development.

Conclusion The study demonstrates the potential of Cartosat-I DEM in accurate assessment of topographically high and low features within urban built-up environment. The Cartosat-I based sink delineation helped in identification of depression areas, within the high rise buildings or near the elevated road networks, which could be potential site for waterlogging and mosquito breeding sites. The correlation of urban sprawl with different elevation zones exhibited that the elevation zone of 620 680 m (moderate and high) was mostly occupied by built-up land (> 86.9%) in plateau terrain of Ranchi township. It was observed that the increasing preference for built-up development was more on high elevation zones (660680 m) for multistoried built-up

Acknowledgments Authors thank the editor and anonymous referees for their valuable comments and suggestions, which helped to improve the manuscript. Authors also thank Digital Globe 8 Band Challenge Committee for providing the WorldView-II satellite data, which has been used for urban area assessment in the present study.

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