HCU. 3D Point Clouds through Image-Based Low-Cost Systems HCU. HAMBURG S NEW UNIVERSITY Europe s first University for the Built Environment
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1 University for the Built Environment and Metropolitan Development HAMBURG S NEW UNIVERSITY Europe s first University for the Built Environment Thomas P. Kersten 3D Point Clouds through Image-Based Low-Cost Systems
2 General Assembly of the Council of European Geodetic Surveyors, October 13th, 2012, Hannover Outline of Presentation Introduction Workflow Software Used Examples & 3D Comparison Conclusions & Outlook
3 Introduction Today, 3D recording of objects by standard techniques Alternative solution camera based low-cost systems Different requirements for 3D models reliable, precise, detailed, complete geometric & visual quality, efficiency, data volume Photogrammetry & Computer Vision model the world Automation in 3D modelling the dream comes alive?
4 Workflow Terrestrial laser scanner ~ 80,000 Digital SLR camera ~ 1,000
5 Workflow Photogrammetric Object Recording Image Orientation & Camera Calibration Status Manual Semi-auto Automatic Dense Image Matching, 3D Meshing & Texture Mapping 3D Point Clouds by Dense Image Matching 3D Meshing & Texture Mapping 3D Transformation / Scaling 3D CAD Modelling Texture Mapping Interactive Visualisation Video Sequences Video Sequences Interactive Visualisation
6 Software used Open-source Software Bundler & PMVS2 Open-source Software VisualSFM Webservice Microsoft Photosynth Webservice Autodesk Photofly 123D Catch (beta) Low-cost software Agisoft PhotoScan
7 Software used Bundler/PMVS2 (University of Washington, Seattle) Command-line based open-source software Automatic workflow with graphical user interface Structure from Motion Algorithm (SIFT / RANSAC) & Dense Image Matching
8 Software used Visual SFM (University of Washington, Seattle) Structure from Motion on Graphics Processing Unit Multicore bundle block adjustment Dense Image Matching by CMVS/PMVS2 Bundler processing using GPU
9 Software used Webservice Microsoft Photosynth Capture your world in 3D Photosynth is a powerful set of tools for capturing and viewing the world in 3D. You can share these views with your friends on Facebook, publish them to Bing Maps, or embed them in your own Web site
10 Software used Webservice Autodesk Photofly 123D Catch (beta)
11 Software used Agisoft PhotoScan (Standard / Professional edition) Agisoft PhotoScan is an advanced image-based 3D modeling solution for creating professional quality 3D content from still images. Based on the latest multi-view 3D reconstruction technology, it operates on arbitrary images and is efficient in both controlled and uncontrolled conditions. 3D reconstruction software automatically builds textured 3D models using digital photos of the scene. Allows for precise textured mesh models reconstruction.
12 Software used Image acquisition configuration (example) "Photo Scene Editor" of the town house in Bad Segeberg (Camera Nikon D90 with 18mm lens)
13 Object Town house Bad Segeberg (front façade) from 1539/ images with Nikon D90 (4288 x 2848) using 20mm lens 3D comparison with laser scanning data from IMAGER 5006h
14 Object Town house Bad Segeberg (front façade) Automatic generated point clouds & 3D meshes Photosynth points Bundler/PMVS points Photofly points
15 Object Town house Bad Segeberg (front façade) Automatic generated point clouds & 3D meshes VisualSFM points PhotoScan meshes
16 Object Town house Bad Segeberg Automatic generated point clouds & 3D meshes VisualSFM meshes
17 Object Town house Bad Segeberg (front façade) from 1539/ images with Nikon D90 (4288 x 2848) using 20mm lens 3D comparison with laser scanning data from IMAGER 5006h Bundler/PMVS triangles 5mm grid spacing Photofly triangles IMAGER 5006h 2 Million triangles
18 Object Town house Bad Segeberg Scaling of image-based data using distances in Geomagic Registration with ICP Image-based data vs. range-based data
19 Object Town house Bad Segeberg 3D comparison Bundler/PMVS2 vs. IMAGER 5006h Green object parts < 3mm 3D deviation [m] Max. dev / Av. dev / Std. dev
20 Object Town house Bad Segeberg 3D comparison VisualSFM vs. IMAGER 5006h Green object parts < 3mm 3D deviation [m] Max. dev / Av. dev / Std. dev
21 Object Town house Bad Segeberg 3D comparison Autodesk Photofly vs. IMAGER 5006h Green object parts < 3mm 3D deviation [m] Max. dev / Av. dev / Std. dev
22 Object Town house Bad Segeberg 3D comparison Agisoft PhotoScan vs. IMAGER 5006h Green object parts < 3mm 3D deviation [m] Max. dev / Av. dev / Std. dev
23 Object Town housebad Segeberg 3D comparison Photofly vs. IMAGER 5006h Green object parts < 5mm Blue or yellow parts < 10cm
24 Object Lighthouse Neuwerk () Fotos Helicopter Nikon D3 (85 mm) 94 images Fotos Ground Nikon D40 (18 mm) 24 images 123D Catch VisualSFM TLS
25 Object Lighthouse Neuwerk () 3D comparison meshes vs. reference data (Trimble GS101) Bundler/PMVS2, VisualSFM, 123D Catch Beta
26 Object Fort Al Zubarah in Qatar Scanner Z+F IMAGER 5006h Scan resolution High 10 Mio. meshes (reduced number) in Geomagic
27 Object Fort Al Zubarah in Qatar ICP-registration inside/outside (VisualSFM) & inside (Bundler/PMVS2) average deviation 1.6 cm Scaling using reference distances
28 Object Fort Al Zubarah in Qatar 3D model (IMAGER 5006h) vs. point cloud (VisualSFM/Bundler)
29 Visual SFM Bundler/PMVS2 Autodesk 123D Catch 2711 min h Visual SFM Bundler/PMVS2
30 Autodesk Photofly Bundler/PMVS2 Microsoft Photosynth Figure in the Zwinger Palace Dresden 15 images with camera Nikon D90 with 28mm lens
31 Small moai from Poike (Easter Island) 27 images with Nikon D70 (3008 x 2000) using 35mm lens Bundler/PMVS points RGB Points from 123D Catch Meshed model Textured model
32 Moai Vaihu 3D comparison terrestrial laser scanning system vs. image-based system 51 photos Nikon D70 (1458 x 2193) with 35mm lens Generation of 3D meshes with Geomagic IMAGER 5006 (2009) meshes Bundler/PMVS2 (2011) 1.6 Million meshes 123D Catch Beta (2011) meshes
33 Bundler/PMVS2 (2011) 123D Catch Beta (2011) Examples & 3D Comparison Moai Vaihu 3D comparison range-based vs. image-based systems Average deviation 0.8mm Maximum deviation 44.5mm Average deviation 1.4mm Maximum deviation 44.5mm
34 Eye of a moai (Easter Island) material obsidian Cameras Pentax Optio X (2560 x 1920) & Nikon D80 (3872 x 2592) / 50mm lens Laser scanning & bundler/pmvs2 failed noisy point cloud IMAGER points triangles Bundler/PMVS points 123D Catch
35 Pottery (ceramic) from Yeha (Ethiopia), ca. 20cm height & 15cm diameter Camera Nikon D40 (3008 x 2000) with 34mm lens Bundler/PMVS2 two parts (top 54 images & bottom 30 images)
36 Pottery (ceramic) from Yeha (Ethiopia) 9 scans with IMAGER 5006h (Z+F) triangles in Geomagic 3D comparison Bundler/PMVS2 IMAGER 5006h Average distance: 0.4mm
37 Architectural fragments from Yeha (Ethiopia) Nikon D90 (Nikkor 24mm lens) 33 photos front 25 photos rear VisualSFM ca. 110 min + ca. 90 min 3.5 min/photo Results from matching show more details scanned data is more smoothed VisualSFM IMAGER VisualSFM IMAGER
38 Architectural fragments from Yeha (Ethiopia) 3D comparison VisualSFM vs. IMAGER 5010 Most parts better < 1mm
39 Conclusions & outlook Camera based object recording fast & flexible & low cost Quality factors photo scale, illumination & object texture Quality of points clouds from dense matching comparable to TLS Quality of points clouds from dense matching for CAD modelling High computer performance necessary for desktop processing Data processing using GPU necessary for fast results future Web services save user s resources but data privacy? Increasingly more software packages available on the market Further investigations in quality control with reference data
40 Lighthouse of Neuwerk (1310 A.D.) Oldest existing building of Thank you for your attention!
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