remote sensing

Article
Quantification and Analysis of Impervious Surface
Area in the Metropolitan Region of São Paulo, Brazil
Fernando Kawakubo 1, * , Rúbia Morato 1 , Marcos Martins 1 , Guilherme Mataveli 1 ,
Pablo Nepomuceno 1 and Marcos Martines 2
1 Laboratory of Remote Sensing, Department of Geography, University of São Paulo, São Paulo, SP 13010-111,
Brazil; [email protected] (R.M.); [email protected] (M.M.); [email protected] (G.M.);
[email protected] (P.N.)
2 Department of Geography, Tourism and Humanities, São Carlos Federal University (UFSCar), Sorocaba,
SP 13565-905, Brazil; [email protected]
* Correspondence: [email protected]; Tel.: +55-11-3091-3723




Received: 9 March 2019; Accepted: 5 April 2019; Published: 19 April 2019


Abstract: The growing intensity of impervious surface area (ISA) is one of the most striking effects
of urban growth. The expansion of ISA gives rise to a set of changes on the physical environment,
impacting the quality of life of the human population as well as the dynamics of fauna and flora.
Hence, due to its importance, the present study aimed to examine the ISA distribution in the
Metropolitan Region of São Paulo (MRSP), Brazil, using satellite imagery from the Landsat-8
Operational Land Imager (OLI) instrument. In contrast to other investigations that primarily
focus on the accuracy of the estimate, the proposal of this study is—besides generating a robust
estimate—to perform an integrated analysis of the impervious-surface distribution at pixel scale with
the variability present in different territorial units, namely municipalities, sub-prefecture and districts.
The importance of this study is that it strengthens the use of information related to impervious
cover in the territorial planning, providing elements for a better understanding and connection
with other spatial attributes. Reducing the dimensionality of the dataset (visible, near-infrared and
short-wave infrared bands) by Karhune–Loeve analysis, the first three principal components (PCs)
contained more than 99% of the information present in the original bands. Projecting PC1, PC2 and
PC3 onto a series of two-dimensional (2D) scatterplots, four endmembers—Low Albedo (Dark),
High Albedo (Substrate), Green Vegetation (GV) and Non-Photosynthetic Vegetation (NPV)—were
visually selected to produce the unmixing estimates. The selected endmembers fitted the model
well, as the propagated error was consistently low (root-mean-square error = 0.005) and the fraction
estimates at pixel scale were found to be in accordance with the physical structures of the landscape.
The impervious surface fraction (ISF) was calculated by adding the Dark and Substrate fraction
imagery. Reconciling the ISF with reference samples revealed the estimates to be reliable (R2 = 0.97),
regardless of an underestimation error (~8% on average) having been found, mostly over areas
with higher imperviousness rates. Intra-pixel variability was combined with the territorial units of
analysis through a modification of the Lorenz curve, which permitted a straightforward comparison
of ISF values at different reference scales. Good adherence was observed when the original 30-m
ISF was compared to a resampled 300-m ISF, but with some differences, suggesting a systematic
behavior with the degradation of pixel resolution tending to underestimate lower fractions and
overestimate higher ones; furthermore, discrepancies were bridged with the increase of scale analysis.
The analysis of the IFS model also revealed that, in the context of the MRSP, gross domestic product
(GDP) has little potential for explaining the distribution of impervious areas on the municipality scale.
Finally, the ISF model was found to be more sensitive in describing impervious surface response than
other well-known indices, such as Normalized Difference Vegetation Index (NDVI) and Normalized
Difference Built-up Index (NDBI).

Remote Sens. 2019, 11, 944; doi:10.3390/rs11080944 www.mdpi.com/journal/remotesensing

Remote Sens. 2019, 11, 944 2 of 18

Keywords: urban area; Landsat; validation; multi-scale analysis; imperviousness pattern

1. Introduction
In the strict sense, impervious surface area (ISA) corresponds to areas where soil infiltration by
water is impeded, mainly due to imperviousness resulting from anthropogenic interventions in the
landscape, such as buildings, driveways, paved streets, parking lots, etc. Besides being considered an
important element of urbanization, ISA has a close relationship with important characteristics of the
physical and biological environment, affecting the quality and maintenance of life.
In urban areas, one of the most notorious impacts of the increase in ISA is the increase in velocity
and volume of runoff, which potentially increases the scale and frequency of flooding [1–3]. Another
prominent change concerns the increase in latent and sensible heat flux. Urban materials, such as
asphalt, concrete and asbestos, have a capacity to absorb more solar energy, which is then released as
heat. As a consequence, a strong positive correlation is found when impervious surface values are
plotted against the temperature of the environment [4–7]. Deterioration of water quality also relates to
sprawling ISA [8,9], with deleterious impacts on fauna and flora [10].
Studies conducted by Schueler [8] revealed that, in many hydrographic basins, environmental
degradation occurs at a relatively low level of soil imperviousness of just 10–20%. Impervious coverage
thus scales up the transport of nutrients (N and K), toxic contaminants and pathogenic agents to rivers,
streams and lakes. A global inventory of the spatial distribution and density of ISA [11] indicates that
watersheds damaged by ISA are primarily concentrated in the USA, Europe, Japan, China and India.
On the other hand, pristine watersheds having little or no ISA are concentrated in central Asia, portions
of Africa, the Amazon Basin and the southern regions of South America and the Arabian Peninsula.
An increase in ISA is associated with the intensification of economic activities in the secondary and
tertiary sectors. However, this relationship is not linearly distributed in space and time. Once a given
locality diversifies its economy, ISA usually increases rapidly as the infrastructure necessary for that
development is created. From a certain stage of growth, when the essential infrastructure is already in
place, the ISA variability starts to depend on other attributes, such as the presence of vegetation in
the urban plot and the spatial arrangement set in the urban planning. Guo et al. [12] conducted an
interesting study relating the economic conditions of Chinese cities with the root-mean-square (RMS)
error generated from the ISA estimates. They concluded that gross domestic product (GDP) is an
important factor affecting the estimation errors. Considering the example of Beijing and Shanghai,
the two largest populations and GDPs in China, the study highlighted the fact that the highest
estimation errors found in these cities were related to their distinct characteristics in spatial patterns of
urban landscapes and different land-coverage compositions.
Remote sensing constitutes the main source of data for mapping and monitoring ISA [13–15].
Indeed, one of the biggest challenges in mapping ISA using optical remote sensing is to deal with
the great spectral diversity of impervious materials that compose the urban plots [16,17]. Industrial
rooftops usually present a high reflectance of energy that is commonly confused with bright soils;
on the other hand, paved roads and old tiles have significantly lower reflectance values that often
mimic the spectral signatures of flooded areas, rivers or shade [18]. To some extent, this explains the
difficulties found in mapping ISA accurately.
To determine the extent of ISA, most studies have used visual interpretation or automatic
image-classification techniques [3,19–21]. Despite producing accurate results, visual interpretation of
high-resolution aerial photography, for instance, has the drawback of being subjective, time consuming
and not practical over large areas. On the other hand, the applicability of running an automatic
classification in aerial photography or orbital imagery depends on several factors, such as the
characteristics of the algorithm being used, the combination of bands employed, and the physical
nature of the study area under analysis [21].
Remote Sens. 2019, 11, 944 3 of 18

The image-classification task is even more difficult in urban areas due to the heterogeneity
of land use in a relatively small space, which amplifies the problem of the pixel-mixing effect.
The spectral-mixing effect occurs when a given pixel registers the energy signal coming from two or
more targets or materials on the surface. Therefore, the intensity of the mixing effect basically depends
on the spatial configuration of the land use (extrinsic factor) and the spatial resolution of the image
(intrinsic factor). In urban areas, only a few pixels are pure. The preponderance of mixed pixels
registered in Landsat imagery (30 m) occurs due to the decorrelation of urban reflectance observed at
10–20 m [22]. Even in higher spatial-resolution imagery, such as the Ikonos multispectral images (4 m),
the proportion of mixed pixels found in the image is quite significant [23]. For statistical classification,
mixed pixels are problematic because most algorithms are predicated on the assumption of spectral
homogeneity within a particular land class. When this assumption is violated, statistical classification
can fail to appropriately represent land information.
In order to circumvent the problems related to the spectral-mixing effect, techniques that privilege
intra-pixel variability in their analysis should be adopted. One of the most effective techniques designed
to manage the matter of the mixing effect is the spectral mixture analysis (SMA) [24]. SMA provides
valuable information on the physical components of the landscape by taking into consideration the
relative presence of dominant spectral materials signalized at pixel level. In addition to enhancing
targets of interest, the use of the mixing analysis has the advantage of simplifying the interpretation of
the images [24,25], given that interpreting an image in terms of approximate fractions of the different
materials present in each pixel is easier than considering the values expressed in terms of the radiance,
reflectance or emittance of the materials.
SMA constitutes one of the primary techniques used in a variety of disciplines. Investigations
related to rock and soil [26,27], forest [25,28–30], burning severity [31,32], land-use and land-cover
mapping [33–35] and urban applications [16,36–39], as well as specific analyses related to
ISA [5,13,15,18,23,40–43] are just a few examples of applications.
Due to the importance that ISA imposes on the environment, this study aimed at mapping the
ISA distribution in the Metropolitan Region of São Paulo (MRSP), southeastern Brazil. Most studies
addressed to ISA have focused on the process of estimating and minimizing the errors associated with
it. Our research has gone beyond this scope. In addition to delineating a robust model for impervious
surface fraction (ISF) in terms of accurate estimates, we also propose analyzing, in a simple but efficient
way, the behavior of impervious surface distribution, bridging the variability found within the pixel
with the variability present in the territorial units. The importance of this study is that it strengthens the
use of information related to ISF in territorial planning, providing elements for a better understanding
and connection with other attributes in space. Hence, to perform this study, multispectral imagery
taken from the Landsat-8 Operational Land Imager (OLI) instrument was used. The choice of the
Landsat imagery is based on its ready availability and global distribution; however, other data, such as
those collected by Sentinel, may also be employed using the methodology described.

2. Materials and Methods

2.1. Study Site

The area selected to perform this study is the MRSP, located in the state of São Paulo, southeastern
Brazil (Figure 1). The MRSP consists of 39 municipalities and is also the largest economic and most
populous center in Brazil and South America. The region is home to approximately 21 million people
(more than half the population of the state). In 2015, the GDP of the MRSP reached 17.6% of the
Brazilian total [44]. A remarkable feature of this region is its diverse landscape, consisting of a complex
mosaic of socio-economic formations and land uses spread over a territory of around 8.000 km2 .
Concentrating important industrial, commercial and financial centers, the MRSP is surrounded by a
vast green belt for the protection of agriculture and the water supply. The city of São Paulo, the capital
of the state, is the most important municipality of the metropolitan area and of Brazil.
 Remote Sens. 2019, 11, 944 4 of 18
Remote Sens. 2019, 11, x FOR PEER REVIEW 4 of 19

TheMetropolitan
Figure1.1.The
Figure MetropolitanRegion
RegionofofSão
SãoPaulo
Paulo(MRSP)
(MRSP)and
andthe
thespatial
spatialconfiguration
configurationofofimpervious
impervious
surface (ISF) values. The areas with lower imperviousness rates (<20%) are rural zones
surface (ISF) values. The areas with lower imperviousness rates (< 20 %) are rural zones dedicated dedicated
to
to agriculture
agriculture and and protection
protection of forest
of forest andand water
water sources.
sources. TheThe estimate
estimate of of ISFwas
ISF wasgenerated
generatedusing
using
Landsat-8Operational
Landsat-8 Operational Land
LandImager
Imager(OLI) imagery
(OLI) acquired
imagery on 23on
acquired August 2015. The
23 August spatial
2015. Theresolution
spatial
of the image is 30 m.
resolution of the image is 30m.
2.2. Data and Calibration
2.2. Data and calibration
Imagery collected by the OLI instrument onboard the Landsat-8 satellite was employed in this
Imagery collected by the OLI instrument onboard the Landsat-8 satellite was employed in this
study (Table 1). This multispectral (VIS–NIR–SWIR) imagery with 30-m spatial resolution was collected
study (Table 1). This multispectral (VIS–NIR–SWIR) imagery with 30-m spatial resolution was
during the dry season and converted to ground reflectance values through the Fast Line-of-Sight
collected during the dry season and converted to ground reflectance values through the Fast
Atmospheric Analysis of Hypercubes (FLAASH) algorithm [45]. This transformation was performed in
Line-of-Sight Atmospheric Analysis of Hypercubes (FLAASH) algorithm [45]. This transformation
all images aiming to correct for atmospheric effects and to provide a better spectral characterization of
was performed in all images aiming to correct for atmospheric effects and to provide a better
the different targets in the scene. After the atmospheric correction, in order to compose the study area,
spectral characterization of the different targets in the scene. After the atmospheric correction, in
the two scenes (219/76-77) covering the MRSP were mosaicked and then clipped using a “shapefile”
order to compose the study area, the two scenes (219/76-77) covering the MRSP were mosaicked and
containing the border of the metropolitan area as a spatial reference.
then clipped using a “shapefile” containing the border of the metropolitan area as a spatial reference.
Table 1. Characteristics of the Landsat-8 OLI images used in this study.
Table 1. Characteristics of the Landsat-8 OLI images used in this study.
Solar Elevation Solar Azimuth Wavelength
Date Date Path/Path/Row
Solar elevation
Angle (◦ ) Solar azimuth
Angle (◦ ) Wavelength
(µm)
Band
Band
row 219/76 angle (°) 53.9
23 August 2015 angle 54.2
(°) (μm)
0.435–0.451 B1 – Ultra Blue
23 219/76 219/77 53.9 52.9 54.252.9 0.452–0.512
0.435–0.451 B2 – Blue
B1 – Ultra Blue
0.533–0.590 B3 – Green
August 0.636–0.673 B4 – Red
2015 0.851–0.879 B5 – Near infrared (NIR)
1.566–1.651 B6 – Short-wave infrared (SWIR) 1
219/77 52.9 52.9 0.452–0.512
2.107–2.294 B2 – Blue
B7–Short-wave infrared (SWIR) 2
0.533–0.590 B3 – Green
0.636–0.673 B4 – Red
0.851–0.879 B5 – Near infrared
(NIR)
1.566–1.651 B6 – Short-wave
infrared (SWIR) 1
2.107–2.294 B7–Short-wave
Remote Sens. 2019, 11, 944 5 of 18

2.3. Spectral Unmixing

2.3.1. Linear Spectral-Mixture Model

The linear spectral-mixture model (LSMM) is one of the primary techniques used to estimate ISA
at pixel level, especially for remote-sensing products of medium spatial resolution [18]. The LSMM
assumes that the pixel-mixing effect is a result of the linear combination of two or more spectral
components weighted by their areal extent. When pure spectral components (named “endmembers”)
that modulate the mixture are known, fraction imagery depicting the endmember abundances in each
pixel can be estimated. The mathematical model of the LSMM can be expressed as:
m
X
Rk = fi ri,k + ek (1)
i=1

where Rk is the measured value of a mixed pixel in band k; m is the number of endmembers; fi is the
fractional abundance of endmember i; ri,k is the measured value of endmember i in band k; ek is the
residual error in band k for the fit of the selected endmembers.
The modeling error can be assessed by means of the root-mean-square (RMS) error:
 n 1/2
 1 X 
2
RMS =  ek  (2)
n
i=1

where n is the number of bands.

The key to successful unmixing is the combination of appropriate types and numbers of
endmembers. Three or four endmembers usually incorporate most of the spectral variability found
in the landscape and preclude error propagation in the modeling [24,33,35,37]. As a rule, in the
endmember selection, pure spectral representatives of dominant materials in the landscape are
prioritized, and not just spectrally distinct components [24]. This precaution is necessary to avoid the
inclusion of non-representative spectra in the unmixing composition.

2.3.2. Spectral Normalization

Spectral normalization was proposed by Wu [46] as a practical solution for enhancing spectral
signatures of dominant components, while attenuating the spectral response associated with absolute
brightness. Many studies have shown the effectiveness of spectral normalization in overcoming some
obstacles associated with the spectral variation within land-cover types [5,23,41,47,48]. In contrast to
the original technique, which normalizes all images using the average reflectance values of the pixels,
we opted to perform the normalization using the values resulting from the sum of the set of bands.
With this simple change, pixels values were constrained to the range of 0–1, thereby facilitating the
comparison with their original spectra. The normalization was performed as:

Rk
Rd = (3)
s
n
X
s= Rk (4)
b=1

where Rd is the normalized reflectance; Rk is the original reflectance for band b at each pixel; s is the
sum reflectance of bands for that pixel; n is 7, considering the number of OLI bands used.

2.3.3. Selection of Endmembers

Endmembers were selected by means of an interactive process based on principal-components
analysis (PCA). The rationale of PCA (or Karhune–Loeve analysis) is to eliminate correlation
Remote Sens. 2019, 11, 944 6 of 18

encountered among the original spectral bands, first identifying the axes of greater variance of
the data set (in order from the highest to lowest variance) and then rotating those axes orthogonally to
a new coordinate system. Considering the present application, PCA makes it possible to reduce the
dimensionality of the original dataset by concentrating the greatest proportion of variance into the first
principal components [49]. Hence, projecting the first three principal components (PC1, PC2 and PC3)
onto a series of two-dimensional (2D) scatterplots makes it possible to visualize the spectral-mixing
space (SMS) under analysis.
The SMS can be considered a coordinate space, whereby a pixel at any point location in that space
can be described as a mixture of spectral endmembers [37]. Thus, while pure spectra (endmembers) lie
at the corners of the SMS, mixed spectra are found within the convex hull or along the straight edges
between pairs of endmembers. As can be seen in Figure 2a–c, the combination of PC1 with PC2 covers
most of the total variance (~98%), forming a well-defined triangular SMS bounded by the apexes Dark,
Green Vegetation (GV), and Substrate/Non-Photosynthetic Vegetation (NPV) spectra endmembers.
Combinations of PC1 with PC3 and PC2 with PC3 (accounting for ~85% and ~15% of the total variance,
respectively) complement the endmembers selection by distinguishing more clearly between NPV and
SubstrateRemote
spectra, allocating
Sens. 2019, 11, x FORthem to diametric apexes.
PEER REVIEW 7 of 19

Figure 2. Location of the four endmembers, Dark, GV, Substrate and NPV in a series of two-dimensional
Figure 2. Location of the four endmembers, Dark, GV, Substrate and NPV in a series of
(2D) scatterplots (a–c). The first three principal components (PCs) account for >99% of variance,
two-dimensional (2D) scatterplots (a–c). The first three principal components (PCs) account for >99%
with information concentrated primarily in PC1 (84.2%) and PC2 (14.2%). Endmember spectra, real and
of variance, with information concentrated primarily in PC1 (84.2%) and PC2 (14.2%). Endmember
normalized reflectance (depicted by dashed and continuous lines, respectively), are shown in (d).
spectra, real and normalized reflectance (depicted by dashed and continuous lines, respectively), are
shown in (d).
The four spectra highlighted in Figure 2d correspond to Dark, GV, Substrate and NPV endmembers
used in the unmixing
2.3.4. Modelingmodeling. These
and validation endmembers
of impervious represent
surface fractionspectra
(ISF) that are representative of the
composition of the mixture of the landscape analyzed and were selected in the following places: in a
ISA is composed of a variety of construction materials with a broad range of energy reflections.
clean-water area, on an industrial roof and over a large area of green and dry pasture, respectively. During
In this study, the impervious surface fraction (ISF) was estimated by adding together dark and
the selection process,
substrate we avoided
fraction imagesselecting
derived spectra
from thelocated
LSMMon[14,40]
the edges of classes
(Figure to diminish
1). With this, ISA contamination
composed of
dark and bright materials, such as asphalt and concrete, appeared in the IFS model with the highest
values. Otherwise, non-impervious areas, such as forest lands and green pasture, were modeled
with the lowest ISF values.
It is important to note that rivers and lakes in the dark fraction image are modeled with high
fractional values similar to those for dark impervious areas. Aiming to circumvent this confusion
error, a water mask was created through a classification routine [50] and the ISF values
Remote Sens. 2019, 11, 944 7 of 18

of adjacent radiance; hence, all spectra considered were measured within homogeneous classes.
High-resolution Google Earth images were used to aid the identification of the corresponding classes.

2.3.4. Modeling and Validation of Impervious Surface Fraction (ISF)

ISA is composed of a variety of construction materials with a broad range of energy reflections.
In this study, the impervious surface fraction (ISF) was estimated by adding together dark and substrate
fraction images derived from the LSMM [14,40] (Figure 1). With this, ISA composed of dark and
bright materials, such as asphalt and concrete, appeared in the IFS model with the highest values.
Otherwise, non-impervious areas, such as forest lands and green pasture, were modeled with the
lowest ISF values.
It is important to note that rivers and lakes in the dark fraction image are modeled with high
fractional values similar to those for dark impervious areas. Aiming to circumvent this confusion
error, a water mask was created through a classification routine [50] and the ISF values corresponding
to rivers and lakes were then assigned to zero. Finally, all pixels with a fraction overflow (with
negative values or greater than 1) in the ISF model were constrained to the range 0–1 by applying
a practical solution: setting the negative values to zero and those greater than 1 to 1. The rationale
for this truncation is that, from an interpretative perspective, negative fractions mean that none of
an endmember is present, while fractions greater than 1 mean that an endmember is the only one
present [24].
To validate the results, reference ISAs calculated from high-resolution aerial orthophotographs
were compared to the ISF estimates generated by the LSMM. A total of 50 samples, following a stratified
random sampling scheme, were collected so as to represent the variability of imperviousness in the
MRSP. This number of samples is commonly used as a reference to obtain a consistent statistical analysis
of the results. Thus, 20 samples were collected in the most central portions of the Sao Paulo metro area,
20 samples in the urban fringe and the remaining 10 samples in rural zones. Each sample accurately
described the proportion of ISA within a ground reference of 300 × 300 m, a ground reference much
larger than the Landsat-8 OLI pixel size (30 m). This change of scale was intended to: (1) mitigate
location errors within orthophotos and satellite images since location errors drop with an increase of
measurement size [23,51]; (2) evaluate ISF fluctuations due to changes in the spatial resolution of the
image. Thus, to put the validation into practice, the original resolution of the ISF model (with 30-m
spatial resolution) was rescaled to 300 m pixel size through an aggregation factor of 10 × 10 pixels,
and the resulting pixel values were recalculated as an average function of the finer resolution model.

2.4. ISF Model Integration

Our approach integrates ISF information into a graph that describes the extent to which the impervious
level is concentrated or uniformly dispersed across a set of geographic units. This graph is similar to the
Lorenz curve commonly employed to assess the relative income distribution of a population, differing in
that the focus is on the distribution of imperviousness. The abscissa shows the ISF values and the ordinate
their respective cumulative percentages. This graph is constructed using a simple tabulation procedure.
The first step is to order ISF from the lowest to the highest values. The absolute frequency for each ISF
value is then transformed into a percentage and, finally, each of these percentages is added up to produce
the cumulative numbers needed to plot the curves on the graph [52].

3. Results
On comparing the original reflectance with the normalized reflectance, an amplification of the
spectral contrast of the main land-use and land-cover (LULC) types presented in the study area was
observed. When uncorrelated PC imagery derived from the normalized imagery was projected onto
a series of scatterplots, pure spectra clustered more clearly at corners of distribution (Figure 2a–c),
than when using real reflectance images; thus, the process of endmembers selection was made easier
and less subjective. This result is explained by the fact that the normalization technique reduces
Remote Sens. 2019, 11, 944 8 of 18

intra-class variability of many LULC categories. In practical terms, as can be seen in Figure 2d,
the normalization attenuated the brightness values of the high reflectance endmembers (NPV and
Substrate); on the other hand, the normalization scaled up the signature values of moderate/low
reflectance endmembers (GV and Dark) along the spectrum. Further details of the normalization effect
on the imagery variance can be seen in Wu [23].
The results obtained here also revealed a good accommodation of the spectral endmembers
selected in the unmixing process. The RMS error was consistently low (mean = 0.005) and, generally,
the fraction estimates are in accordance with the physical structures of the landscape (Figure 3a–d).
While fraction-overflow errors were close to zero for Dark, GV and NPV (<1% of the image), for the
Substrate fraction, the frequency of pixels modeled with negative values (but close to zero) were
considerably higher (~50% of the image). Despite this, the overflow error had little practical effect on
the purpose of this research, being circumvented with the simple “truncation” of the data, since such
errors are concentrated mainly in the rural areas covered by green vegetation.
Remote Sens. 2019, 11, x FOR PEER REVIEW 9 of 19

Figure
Figure 3. Relationshipbetween
3. Relationship between theRMS)error
theRMS)error and
andthethe
fractional values
fractional for Dark
values for (a),
DarkSubstrate (b), GV (b),
(a), Substrate
(c), NPV (d), Dark + Substrate (e), and ISF model (f). Note: In the color scale, pixel density
GV (c), NPV (d), Dark + Substrate (e), and ISF model (f). Note: In the color scale, pixel density rises from rises
cold to warm colors. Avenida Paulista is the main financial center of the state of São Paulo, with high
from cold to warm colors. Avenida Paulista is the main financial center of the state of São Paulo,
construction density and low vegetation rates. Morumbi is a wealthy, green neighborhood of the city
with high construction density and low vegetation rates. Morumbi is a wealthy, green neighborhood of
of São Paulo. The campus of the University of São Paulo (USP) is a large structure interspersed with
the city of São Paulo. The campus of the University of São Paulo (USP) is a large structure interspersed
green vegetation (urban forest and grass).
with green vegetation (urban forest and grass).
After applying the water mask and performing the correction of the fraction-overflow
fluctuation, water bodies and rural areas covered by forest, green pasture and agriculture had their
pixel values assigned to zero in the final ISF estimate. Additionally, intra-urban variations had their
features modeled with a continuous field of values varying according to the size and density of
buildings, spatial arrangements of the features and presence of vegetation. The highest ISF rates
Remote Sens. 2019, 11, x FOR PEER REVIEW 10 of 19

good Sens.
Remote linear fit11,
2019, (R944
2 = 0.97) between the reference samples and the estimated ISF rates; the samples 9 of 18
clustered along the regression line indicate that the mathematical model is robust for describing
imperviousness response. It should be noted that the estimated values were generally lower than
After especially
expected, applying the waterwith
in areas masklarger
and performing
amounts ofthe correction
ISF. of the fraction-overflow
As a consequence, the average valuefluctuation,
of the
water bodies and rural areas covered by forest, green pasture and agriculture
generated residuals (Residual = Reference – Estimated) was equal to 7.88, an underestimation error had their pixel values
assigned
of ~8% onto zero ininthe
average thefinal
finalISF estimate. Additionally, intra-urban variations had their features
result.
modeled with a continuous field
Figure 5 shows the cumulative of values
ISFvarying
curves according
for the 39tomunicipalities
the size and density of buildings,
comprised spatial
by the MRSP.
arrangements
The four patterns exhibited in graphs a–d were grouped visually by analyzing the similarity LULC
of the features and presence of vegetation. The highest ISF rates were found in the of the
classes for industry,
curve describing eachcommercial/financial
municipality. Despite centers (such as Avenida
the differences seen inPaulista [+]), and
amplitudes, the high-density,
forms of the
low-income
curves wereneighborhoods.
considered theMeanwhile,
most importantthe lowest IFSs for
element were in parks,the
grouping in the University of because
municipalities, São Paulo it
(USP) campus and in wealthy neighborhoods with tree-lined streets (such
reveals a pattern underlying the impervious surface distribution that mirrors the spatial as Morumbi [?]).
When comparing
organization the ISF estimates
and functionalities of eachwith reference within
municipality data from
theaerial
contextphotography,
of the metro we foundThus,
region. that thein
model adopted predicted ISA considerably well at the 300 × 300-m pixel scale.
the following graphs: (a) Group 1 consists of essentially rural municipalities where the economy is Figure 4 shows a good
linear
focusedfit on = 0.97) between
(R2 agriculture and the reference samples
maintenance of forestsand thewater
and estimated ISF rates;
resource the samples
preservation; (b) clustered
Group 2
along the regression line indicate that the mathematical model is robust for describing
includes municipalities, mainly on the urban fringe, that are either significantly rural or high-density imperviousness
response.
urbanizedItareas;
should (c)beGroup
noted3that the estimated
includes values were
municipalities with generally
the second lower thanrural
largest expected, especially
proportion, but
in areasdiffers
which with larger amounts
from the previousof ISF.
groupAs due
a consequence, the average
to their greater economic value of the (this
centrality generated
groupresiduals
includes
the city of=São
(Residual Reference
Paulo) and– Estimated) was equalwith
greater similarities to 7.88,
theanMRSPunderestimation
in terms of ISF error of ~8% on(d)
distribution; average
Groupin4
the final result.
comprises municipalities with higher ISF rates in the metro region.

.
Figure 4. ISF validation. The reference data set (n = 50) was calculated from aerial orthophotography
Figure 4. ISF validation. The reference data set (n = 50) was calculated from aerial orthophotography
using a 300 × 300-m grid as a reference (see explanation in text). The dashed line is the 1:1 line and the
using a 300×300-m grid as a reference (see explanation in text). The dashed line is the 1:1 line and the
solid line is the regression line.
solid line is the regression line.
Figure 5 shows the cumulative ISF curves for the 39 municipalities comprised by the MRSP.
The four patterns exhibited in graphs a–d were grouped visually by analyzing the similarity of the
curve describing each municipality. Despite the differences seen in amplitudes, the forms of the
curves were considered the most important element for grouping the municipalities, because it reveals
a pattern underlying the impervious surface distribution that mirrors the spatial organization and
functionalities of each municipality within the context of the metro region. Thus, in the following graphs:
(a) Group 1 consists of essentially rural municipalities where the economy is focused on agriculture
and maintenance of forests and water resource preservation; (b) Group 2 includes municipalities,
mainly on the urban fringe, that are either significantly rural or high-density urbanized areas; (c) Group
3 includes municipalities with the second largest rural proportion, but which differs from the previous
group due to their greater economic centrality (this group includes the city of São Paulo) and greater
Remote Sens. 2019, 11, 944 10 of 18

similarities with the MRSP in terms of ISF distribution; (d) Group 4 comprises municipalities with
higherSens.
Remote ISF2019,
rates11,inx FOR
the metro region.
PEER REVIEW 11 of 19

Grouping of
Figure 5. Grouping of the
the relative
relative distributions
distributions of
of ISF
ISF in
in the
the MRSP.
MRSP. The municipalities highlighted in
the graphs are representative for each group, setting the upper and lower limits. The location
location of these
these
municipalities is shown in Figure 1.

4. Discussion
4. Discussion
An ISF map is an intrinsically physical model of anthropogenic activities in the environment and
An ISF map is an intrinsically physical model of anthropogenic activities in the environment
should not be confused with a “standard” LULC map. This is because a given land class comprises a
and should not be confused with a “standard” LULC map. This is because a given land class
variety of covers that drive soil imperviousness depending on their composition and functionality.
comprises a variety of covers that drive soil imperviousness depending on their composition and
Accordingly, it is very common to find distinct ISF rates distributed over a relatively small area in the
functionality. Accordingly, it is very common to find distinct ISF rates distributed over a relatively
urban plot. Residential areas of a high economic standard, for example, tend to have a wide spectrum
small area in the urban plot. Residential areas of a high economic standard, for example, tend to
of land cover, interspersing buildings, street gardens, lawns, etc., resulting in a great fluctuation of
have a wide spectrum of land cover, interspersing buildings, street gardens, lawns, etc., resulting in
ISF. In contrast, densely populated low-income zones have much less variability of cover, resulting in
a great fluctuation of ISF. In contrast, densely populated low-income zones have much less
lower fluctuations of ISF.
variability of cover, resulting in lower fluctuations of ISF.
Indeed, one of the major challenges of mapping ISA through remote sensing is to deal with the
Indeed, one of the major challenges of mapping ISA through remote sensing is to deal with the
great spectral diversity of materials in the built environment. According to Adams and Gillespie [24],
great spectral diversity of materials in the built environment. According to Adams and Gillespie
there is an implicit assumption in the standard SMA that the spectral properties of endmembers
[24], there is an implicit assumption in the standard SMA that the spectral properties of endmembers
do not vary; only their fractions do. However, in reality, endmember properties vary naturally
do not vary; only their fractions do. However, in reality, endmember properties vary naturally as a
as a result of intra-class spectral variabilities, thus having a direct impact on the quantification of
result of intra-class spectral variabilities, thus having a direct impact on the quantification of
impervious surfaces [42]. Due to this, procedures that incorporate such variability into the mixture
modeling [34, 53], or that attenuate their fluctuation values in a preliminary step, have gained
importance for the improvement of estimates. The image-normalization technique employed in this
study proved to be efficient for this purpose and also provided another advantage: it attenuated the
shadowing effects caused by the relief and arrangement of buildings. The normalization technique,
Remote Sens. 2019, 11, 944 11 of 18

impervious surfaces [42]. Due to this, procedures that incorporate such variability into the mixture
modeling [34,53], or that attenuate their fluctuation values in a preliminary step, have gained importance
for the improvement of estimates. The image-normalization technique employed in this study proved
to be efficient for this purpose and also provided another advantage: it attenuated the shadowing
effects caused by the relief and arrangement of buildings. The normalization technique, however, was
not able to circumvent the well-known problem of confusion errors involving high-albedo impervious
surface and bright bare soil. Despite this, such errors have little impact on the quality of the final
results, given that they occurred locally, over small areas, and clustering along the urban fringe.
For the ISF estimate, the spectral references formed by the Dark, Bright, GV and NPV set
were found to be suitable for characterizing the mixture endmembers for the MRSP. Instead of four
endmembers, some studies described in the literature suggest using the Dark, Bright and GV triplet to
decouple the mixture composition of the urban landscape [37,54]. Small [37], for instance, found in
a global analysis that >98 % of the Landsat-7 ETM+ image-spectra variance can be represented in a
three-dimensional spectral mixing space. We also tried generating a model using three endmembers
(Dark, Bright and GV), but because of the significant presence of dry pasture (the imagery used was
taken during the local dry season), a proportion of the area ended up being modeled with a high
fraction of Bright endmember, which overestimated the ISF values. It is very likely that, if imagery
taken from the rainy season were employed, the aforementioned problem would at least be minimized,
since the pasture areas would be dominantly described no longer as a combination including the
Bright endmember, but as a modulation of the GV endmember. In some cases, a specific endmember
of impervious area has been inserted into the modeling to map ISA [36,55]; however, most of the time,
impervious areas (including dark and bright materials), soils and water are problematic to separate.
In principle, interpreting endmember fractions does not depend on the spatial configuration of
the image. What really matters are the mixture values encountered in the pixel and the precision
level required in the delineation of geometric features. This multi-scale characteristic allows imagery
originating from different instruments and with distinct spatial resolutions to be used complementarily,
expanding the possibility of monitoring and analysis. The only basic prerequisite for this integration is
that the endmember set be previously calibrated with the images used. Another advantage of mixture
analysis is that the fraction estimates can be generated either using ad-hoc endmembers to meet
site-specific requirements or using generic endmembers obtained from own images or laboratories,
making it possible, for instance, to compare fraction endmembers between different cities worldwide.
The Lorenz curve proved to be an effective instrument for describing ISF variation, assisting in
the characterization and grouping of municipalities according to the form of the cumulative curves.
Another advantage is that the cumulative curve allows direct comparison and analysis between distinct
territorial units. Figure 6 highlights the cumulative ISF curves, taking into account the municipality,
sub-prefecture and district levels. As can be seen, while the Palhereiros sub-prefecture is mostly rural,
the Campo Limpo sub-prefecture is the opposite. However, Campo Limpo is not homogeneous, having
a more regular pattern in the districts of Campo Limpo and Capão Redondo (with high population
density and low income) and greater internal divergence in the district of Vila Andrade (wealthier and
with greater ISF variation due to the greater presence of green streets and garden spaces).
A detailed analysis of ISF variation is useful in a variety of applications. As already mentioned,
an increase in constructed impervious surface strongly affects runoff, thus, an adequate measurement
of ISF is a prerequisite for strategies aiming to attenuate damage due to episodes of flooding in urban
areas. For studies related to urban morphology characterization, it is interesting to consider in the
analysis the complementary information derived from LSMM (ISF + GV + Dark) in order to obtain
a more comprehensive biophysical characterization of the built environment. This complementary
analysis is analogous to the conceptual vegetation–impervious-surface–soil (V–I–S) model proposed
by Ridd [56], but with the advantage of including the Dark spectrum in the mixing composition.
Dark imagery is useful for urban characterization, because it adds land-cover information related
to water/wetland not explained by the V–I–S model [15]. Another interesting possibility is to insert
Remote Sens. 2019, 11, 944 12 of 18

temperature information into the analysis. Dark ISA is confused with water in spectral signatures;
however, their land-surface temperatures vary [57], so expert rules could be established to distinguish
them automatically
Remote Sens. 2019, 11, x with no need
FOR PEER for a mask.
REVIEW 13 of 19

Figure 6. ISF distributions for different territorial units: municipality, sub-prefecture and district.
Figure 6. ISF distributions for different territorial units: municipality, sub-prefecture and district.
Contrasting the cumulative ISF curves from the original 30-m against the resampled 300-m
A detailed analysis of ISF variation is useful in a variety of applications. As already mentioned,
pixel-size model reveals a good accommodation of the data for different territorial units (Figure 7).
an increase in constructed impervious surface strongly affects runoff, thus, an adequate
Four relevant aspects were noted when analyzing the cumulative curves. First, an underestimation
measurement of ISF is a prerequisite for strategies aiming to attenuate damage due to episodes of
error of the ISF model was observed, so all curves reached 100% in the cumulative frequency at values
flooding in urban areas. For studies related to urban morphology characterization, it is interesting to
of consider
ISF nearin0.7–0.8. Second,
the analysis the differences information
the complementary between thederived
curvesfrom
suggest
LSMM some
(ISFform
+ GVof systematic
+ Dark) in
behavior
order toinobtain
whicha the
moredepletion of pixelbiophysical
comprehensive resolution characterization
tends to underestimate theenvironment.
of the built lower fractions Thisand
overestimate
complementary the higher
analysisones. Third, the
is analogous tohighest discrepancy
the conceptual observed in the district of Vila(V–I–S)
vegetation–impervious-surface–soil Andrade
likely
modelresulted
proposed frombythe
Riddzoom-in onwith
[56], but the the
scale of analysis.
advantage Finally, the
of including the general behavior
Dark spectrum of the
in the curves
mixing
also suggests that
composition. imperviousness
Dark imagery is usefulestimates generated
for urban from satellitebecause
characterization, imageryit with
addscoarser spatial
land-cover
resolution
informationcanrelated
be complementarily
to water/wetland used toexplained
not analyze the by ISF
the distribution
V–I–S modelwith [15].aAnother
minimum loss in the
interesting
quality of theisfinal
possibility results.
to insert temperature information into the analysis. Dark ISA is confused with water in
spectral signatures; is
ISA distribution however,
a functiontheir
of land-surface temperatures
the population, vary [57],
the availability so expert
of surfaces rules for
suitable could be
building
established to distinguish them automatically with no need for a mask.
and the level of economic development. According to [11], high levels of ISA per capita calculated at
Contrasting
nationally aggregated thelevels
cumulative ISF identify
generally curves from the countries
wealthy original 30-m against
(e.g., high the resampled
per-capita 300-m
GDP). Although
pixel-size model reveals a good accommodation of the data for different territorial units (Figure 7).
Four relevant aspects were noted when analyzing the cumulative curves. First, an underestimation
error of the ISF model was observed, so all curves reached 100% in the cumulative frequency at
values of ISF near 0.7–0.8. Second, the differences between the curves suggest some form of
Remote Sens. 2019, 11, 944 13 of 18

there may be some degree of correlation, we found no conspicuous relationship between the ISF values
on the municipality scale and GDP. Apart from Biritiba Mirim, where the economy is heavily dependent
on primary activities (60% of the GDP), the largest share of the economy in all other municipalities
is in the secondary and tertiary sectors. As can be seen in Figure 8, the primary sector contributes
to less than 5% of the economy for most municipalities, whereas the secondary and tertiary sectors
contribute values varying in the ranges of ~5–50% and ~50–95%, respectively. Even considering
Group 1, which has the lowest imperviousness rates, the economy related to the primary sector is
still of little
Remote prominence
Sens. 2019, 11, x FOR for
PEERthe GDP, with values slightly greater than those observed in
REVIEW 14 Groups
of 19 2,
3 and 4. These results therefore revealed that, in the context of the MRSP, economic performance
systematic behavior in which the depletion of pixel resolution tends to underestimate the lower
related to the primary, secondary and tertiary sectors has little potential for explaining the distribution
fractions and overestimate the higher ones. Third, the highest discrepancy observed in the district of
of impervious areas on the municipality scale. In contrast, we believe that GDP may be used for
Vila Andrade likely resulted from the zoom-in on the scale of analysis. Finally, the general behavior
moreofgeneric
the curvesapplications withthat
also suggests reasonable success estimates
imperviousness to describe modulation
generated fromconcerning the impervious
satellite imagery with
area.coarser
In order spatial resolution can be complementarily used to analyze the ISF distributionmay
to know exactly what these generic applications would be, further studies withbe a done
relating ISA and
minimum lossGDP,
in theshifting thethe
quality of analysis up to the national level.
final results.

Figure 7. Cumulative
Figure ISF ISF
7. Cumulative curves recorded
curves forfor
recorded pixel sizes
pixel of of
sizes 30 30
mm (solid lines)
(solid lines)and
and300
300mm(dashed
(dashedlines).
lines).
In recent years, a number of indices have been proposed for describing variations in impervious
surface. ISA distribution
Here, to make is a functionwith
a parallel of the
thepopulation,
sensitivitytheofavailability of surfaces
the ISF model, suitable for
we selected twobuilding
of the most
and the level of economic development. According to [11], high levels of
well-known indices used for mapping ISA: the Normalized Difference Built-up Index (NDBI) [58] ISA per capita calculated at and
nationally aggregated levels generally identify wealthy countries (e.g., high per-capita GDP).
the Normalized Difference Vegetation Index (NDVI) [59]. The NDBI is calculated using the NIR and
Although there may be some degree of correlation, we found no conspicuous relationship between
SWIR-1 channels, and the results range from −1 to 1. The higher the positive NDBI values, the greater the
the ISF values on the municipality scale and GDP. Apart from Biritiba Mirim, where the economy is
signal contribution for the built areas. The NDVI, on the other hand, is calculated using the Red and NIR
heavily dependent on primary activities (60% of the GDP), the largest share of the economy in all
channels,
other with values also
municipalities ranging
is in from −1and
the secondary to 1.tertiary
For ISA applications,
sectors. As can be NDVI hasFigure
seen in been 8,
used
the to explore the
primary
inverse relationship
sector contributesbetween the increase
to less than 5% of the in NDVI
economy values and built-up
for most areas [60].
municipalities, Taking
whereas the as an example a
secondary
subset
andoftertiary
the study areacontribute
sectors (Figure 9),valuescontrasting
varyingthe in NDBI (b) and
the ranges NDVI (c)
of ~5–50% andvalues against
~50–95%, the ISF model
respectively.
Evenaconsidering
revealed more prominentGroup sensitivity
1, which haswith the lowest
the model imperviousness
generated in rates,
thisthe economy
study. Thisrelated
can beto the more
seen
primary sector is still of little prominence for the GDP, with values slightly greater
clearly in the scatterplots; while the ISF values keep rising after 0.5, the NDVI values remain practically than those
observed
unchanged in Groups
after 2, 3 and
that value. The 4. These
same canresults therefore
be observed revealed
with NDVI, that,
butininversely,
the context of the MRSP,
reaching a stationary
economic performance related to the primary, secondary and tertiary sectors has little potential for
moment near zero. For both the NDBI and the NDVI, the saturations highlighted the superiority of the
explaining the distribution of impervious areas on the municipality scale. In contrast, we believe that
ISF model for registering the continuous response of soil imperviousness in the urban area.
GDP may be used for more generic applications with reasonable success to describe modulation
concerning the impervious area. In order to know exactly what these generic applications would be,
further studies may be done relating ISA and GDP, shifting the analysis up to the national level.
Remote Sens. 2019, 11, 944 14 of 18
Remote Sens. 2019, 11, x FOR PEER REVIEW 15 of 19

Figure 8. Contributions
Figure 8. Contributions ofofthe
theprimary,
primary,secondary andtertiary
secondary and tertiary sectors
sectors to the
to the grossgross domestic
domestic product
product
(GDP) of theofmunicipalities
(GDP) of the
the municipalities ofMRSP (according
the MRSP to Emplasa).
(according Groups
to Emplasa). 1 to 14 were
Groups defined
to 4 were according
defined
Remote Sens. 2019, 11, to
according x FOR PEER REVIEW
the cumulative-frequency curves shown 5.
in Figure 5. 16 of 19
to the cumulative-frequency curves shown in Figure

In recent years, a number of indices have been proposed for describing variations in impervious
surface. Here, to make a parallel with the sensitivity of the ISF model, we selected two of the most
well-known indices used for mapping ISA: the Normalized Difference Built-up Index (NDBI) [58]
and the Normalized Difference Vegetation Index (NDVI) [59]. The NDBI is calculated using the NIR
and SWIR-1 channels, and the results range from –1 to 1. The higher the positive NDBI values, the
greater the signal contribution for the built areas. The NDVI, on the other hand, is calculated using
the Red and NIR channels, with values also ranging from –1 to 1. For ISA applications, NDVI has
been used to explore the inverse relationship between the increase in NDVI values and built-up
areas [60]. Taking as an example a subset of the study area (Figure 9), contrasting the NDBI (b) and
NDVI (c) values against the ISF model revealed a more prominent sensitivity with the model
generated in this study. This can be seen more clearly in the scatterplots; while the ISF values keep
rising after 0.5, the NDVI values remain practically unchanged after that value. The same can be
observed with NDVI, but inversely, reaching a stationary moment near zero. For both the NDBI and
the NDVI, the saturations highlighted the superiority of the ISF model for registering the continuous
response of soil imperviousness in the urban area.
Finally, ISA is the most remarkable footprint of anthropogenic activities on the environment. A
step closer to achieving a better understanding of the impact caused by the advance of
anthropogenic surface in the physical and biological environment is to describe its occurrence
precisely in terms of areal extent and distribution pattern. Comparing the ISF with distinct territorial
units is an excellent asset for sharpening our perception of how the phenomenon is imbricated in
geographical space. Furthermore, approaches highlighting a multi-scalar dimension in their
analyses have great opportunities for providing knowledge of patterns and processes still little
explored in the scientific literature.

Figure 9. Subset
Figure9. of the
Subset of the study
studyarea:
area:(a)
(a)ISF
ISFmodel;
model;(b)(b) NDBI;
NDBI; (c)(c) NDVI
NDVI index;
index; (d) (d) color
color composition
composition ISF ISF
(R),
(R),NDVI
NDVI(G),
(G), NDBI
NDBI (B). The higher
(B). The higherthetheimage
imagevalues,
values,the
the brighter
brighter thethe grey
grey tones.
tones.

5. Conclusion
One of the biggest challenges of mapping ISA through moderated spatial-resolution optical
images is coping with the high spectral diversity and mixture components registered at the pixel
scale. ISAs feature a complex spectral behavior, ranging from low albedo to high albedo. The
spectral-mixture analysis constitutes an excellent asset for circumventing the difficulties in mapping
Remote Sens. 2019, 11, 944 15 of 18

Finally, ISA is the most remarkable footprint of anthropogenic activities on the environment.
A step closer to achieving a better understanding of the impact caused by the advance of anthropogenic
surface in the physical and biological environment is to describe its occurrence precisely in terms of areal
extent and distribution pattern. Comparing the ISF with distinct territorial units is an excellent asset for
sharpening our perception of how the phenomenon is imbricated in geographical space. Furthermore,
approaches highlighting a multi-scalar dimension in their analyses have great opportunities for
providing knowledge of patterns and processes still little explored in the scientific literature.

5. Conclusions
One of the biggest challenges of mapping ISA through moderated spatial-resolution optical
images is coping with the high spectral diversity and mixture components registered at the pixel scale.
ISAs feature a complex spectral behavior, ranging from low albedo to high albedo. The spectral-mixture
analysis constitutes an excellent asset for circumventing the difficulties in mapping impervious surfaces
in urban areas, so it entails a physical basis of either intra-spectral variability or the pixel-mixing
effect. Four endmembers—Dark, Substrate, Green Vegetation (GV) and Non-Photosynthetic Vegetation
(NPV)—proved to be efficient in revealing the spectral variability of the study site. Summing the
Dark and Substrate fraction components derived from the mixture analysis accurately reflected the
impervious surface fraction (ISF) abundance, and the results made it possible to quantify areal extent
as well as to analyze impervious areas across different scale units. Comparing the original 30-m
ISF model with an aggregated 300-m ISF model, the cumulative curves highlighted a good match
in their distribution, suggesting that imagery with different spatial configurations can be used in a
complementary and robust way to study impervious areas. Ultimately, the ISF model was found to
be more sensitive in describing impervious surface response than other well-known indices, such as
NDVI and NDBI.

Author Contributions: Conceptualization, F.K.; Formal analysis, R.M.; Funding acquisition, F.K.; Investigation,
F.K.; Methodology, F.K.; Project administration, F.K.; Validation, M.M.; Visualization, G.M. and M.M.;
Writing—original draft, F.K., R.M. and P.N.; Writing—review & editing, R.M., G.M., P.N. and M.M.
Funding: This research was funded by the Fundação de Amparo à Pesquisa do Estado de São Paulo (Fapesp),
grant number 2016/17698-9, and the APC was also funded by Fapesp.
Acknowledgments: We thank Glaucia Fernandes and Martin Clowes for revising the manuscript.
Conflicts of Interest: The authors declare no conflict of interest.

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