3d point clouds through image-based low-cost systems - clge
TRANSCRIPT
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HCU HafenCity UniversityHamburgHCU Hamburg
HafenCity University University for the Built Environmentand Metropolitan Development
HAMBURG‘S NEW UNIVERSITYEurope‘s first University for the Built Environment
3D Point Clouds through Image-Based Low-Cost Systems
Thomas P. Kersten
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HCU HafenCity UniversityHamburg
Outline of Presentation
Introduction
Workflow
Software Used
Examples & 3D Comparison
Conclusions & Outlook
General Assembly of the Council of European Geodetic Surveyors, October 13th, 2012, Hannover
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HCU HafenCity UniversityHamburg
Introduction
Different requirements for 3D modelsreliable, precise, detailed, completegeometric & visual quality, efficiency, data volume
Today, 3D recording of objects by standard techniques
Photogrammetry & Computer Vision – model the world
Automation in 3D modelling – the dream comes alive?
Alternative solution – camera based low-cost systems
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HCU HafenCity UniversityHamburg
Digital SLR cameraTerrestrial laser scanner~ € 1,000~ € 80,000
Workflow
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HCU HafenCity UniversityHamburg
Status
VideoSequences
InteractiveVisualisation
TextureMapping
3D CADModelling
PhotogrammetricObject Recording
Image Orientation &Camera Calibration
3D Point Clouds byDense Image Matching
Workflow
Dense Image Matching, 3D Meshing & Texture Mapping
Manual
Semi-auto
Automatic
3D Transformation /Scaling
VideoSequences
InteractiveVisualisation
3D Meshing & Texture Mapping
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HCU HafenCity UniversityHamburg
Software used
Open-source Software – Bundler & PMVS2
Webservice – Autodesk Photofly | 123D Catch (beta)
Webservice – Microsoft Photosynth
Low-cost software – Agisoft PhotoScan
Open-source Software – VisualSFM
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HCU HafenCity UniversityHamburg
Command-line based open-source software
Structure from Motion Algorithm (SIFT / RANSAC)& Dense Image Matching
Automatic workflow with HCU graphical user interface
Bundler/PMVS2 (University of Washington, Seattle)
Software used
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Software used
Bundler processing using GPU
Structure from Motion on Graphics Processing UnitMulticore bundle block adjustment
Visual SFM (University of Washington, Seattle)
Dense Image Matching by CMVS/PMVS2
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HCU HafenCity UniversityHamburg
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
http://photosynth.netWebservice – Microsoft PhotosynthSoftware used
Capture your world in 3D
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Software usedWebservice – Autodesk Photofly | 123D Catch (beta)
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HCU HafenCity UniversityHamburg
Agisoft PhotoScan (Standard / Professional edition)
3D reconstruction software automatically builds textured 3D models using digital photos of the scene. Allows for precise textured mesh models reconstruction.
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.
Software used
http://www.agisoft.ru/
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"Photo Scene Editor" of the town house in Bad Segeberg (Camera Nikon D90 with 18mm lens)
Software used
Image acquisition configuration (example)
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Object – Town house Bad Segeberg (front façade) from 1539/160619 images with Nikon D90 (4288 x 2848) using 20mm lens3D comparison with laser scanning data from IMAGER 5006h
Examples & 3D Comparison
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Object – Town house Bad Segeberg (front façade)Automatic generated point clouds & 3D meshes
Photosynth20.237 points
Bundler/PMVS21.016.874 points
Photofly272.350 points
Examples & 3D Comparison
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Examples & 3D ComparisonObject – Town house Bad Segeberg (front façade)Automatic generated point clouds & 3D meshes
VisualSFM500.694 points
PhotoScan4.750.456 meshes
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HCU HafenCity UniversityHamburg
VisualSFM10.005.361 meshes
Examples & 3D ComparisonObject – Town house Bad Segeberg Automatic generated point clouds & 3D meshes
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Object – Town house Bad Segeberg (front façade) from 1539/160619 images with Nikon D90 (4288 x 2848) using 20mm lens3D comparison with laser scanning data from IMAGER 5006h
IMAGER 5006h2 Million triangles
Bundler/PMVS2900.000 triangles5mm grid spacing
Photofly500.000 triangles
Examples & 3D Comparison
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Object – Town house Bad Segeberg
Examples & 3D ComparisonHCU HafenCity University
Hamburg
Registration with ICP – Image-based data vs. range-based dataScaling of image-based data using distances in Geomagic
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Examples & 3D ComparisonObject – Town house Bad Segeberg 3D comparison – Bundler/PMVS2 vs. IMAGER 5006h
Green object parts < 3mm
3D deviation [m]Max. dev. -0.517 / +0.323Av. dev. -0.007 / +0.004Std. dev. 0.018
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Examples & 3D ComparisonObject – Town house Bad Segeberg 3D comparison – VisualSFM vs. IMAGER 5006h
Green object parts < 3mm
3D deviation [m]Max. dev. -0.529 / +0.519Av. dev. -0.014 / +0.011Std. dev. 0.039
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Examples & 3D ComparisonObject – Town house Bad Segeberg 3D comparison – Autodesk Photofly vs. IMAGER 5006h
Green object parts < 3mm
3D deviation [m]Max. dev. -0.530 / +0.530Av. dev. -0.037 / +0.018Std. dev. 0.077
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Examples & 3D ComparisonObject – Town house Bad Segeberg 3D comparison – Agisoft PhotoScan vs. IMAGER 5006h
Green object parts < 3mm
3D deviation [m]Max. dev. -0.530 / +0.530Av. dev. -0.075 / +0.080Std. dev. 0.134
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Examples & 3D ComparisonObject – Town houseBad Segeberg3D comparison – Photofly vs. IMAGER 5006hGreen object parts < 5mmBlue or yellow parts < 10cm
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Fotos – Helicopter Nikon D3 (85 mm) | 94 imagesFotos – Ground Nikon D40 (18 mm) | 24 images
123D Catch VisualSFM TLS
Examples & 3D ComparisonObject – Lighthouse Neuwerk (Hamburg)
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3D comparison – meshes vs. reference data (Trimble GS101) –Bundler/PMVS2, VisualSFM, 123D Catch Beta
Examples & 3D ComparisonObject – Lighthouse Neuwerk (Hamburg)
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10 Mio. meshes (reduced number) in Geomagic
Examples & 3D ComparisonObject – Fort Al Zubarah in QatarScanner Z+F IMAGER 5006h – Scan resolution High
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ICP-registration inside/outside (VisualSFM)& inside (Bundler/PMVS2) – average deviation 1.6 cm
Scaling using reference distances
Examples & 3D ComparisonObject – Fort Al Zubarah in Qatar
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3D model (IMAGER 5006h)vs. point cloud (VisualSFM/Bundler)
Examples & 3D ComparisonObject – Fort Al Zubarah in Qatar
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Autodesk 123D CatchBundler/PMVS2Visual SFM
Visual SFM
27 min
Bundler/PMVS2
11 h
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Autodesk Photofly Bundler/PMVS2 Microsoft Photosynth
Figure in the Zwinger Palace Dresden15 images with camera Nikon D90 with 28mm lens
Examples & 3D Comparison
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Small moai from Poike (Easter Island)27 images with Nikon D70 (3008 x 2000) using 35mm lens
Points from 123D Catch Meshed model Textured model
Bundler/PMVS2629644 points RGB
Examples & 3D Comparison
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123D Catch Beta (2011)445.000 meshes
IMAGER 5006 (2009)700.000 meshes
Bundler/PMVS2 (2011)1.6 Million meshes
Moai Vaihu – 3D comparisonterrestrial laser scanning system vs. image-based system51 photos – Nikon D70 (1458 x 2193) with 35mm lensGeneration of 3D meshes with Geomagic
Examples & 3D Comparison
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123D Catch Beta (2011)Bundler/PMVS2 (2011)
Moai Vaihu – 3D comparison range-based vs. image-based systems
Average deviation 0.8mm Average deviation 1.4mmMaximum deviation 44.5mm Maximum deviation 44.5mm
Examples & 3D Comparison
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HCU HafenCity UniversityHamburg
Bundler/PMVS2 123D Catch
IMAGER 5006Eye of a moai (Easter Island) – material obsidianCameras – Pentax Optio X (2560 x 1920) & Nikon D80 (3872 x 2592) / 50mm lens
95820 points
214940 points
291613 triangles
Laser scanning & bundler/PMVS2failed – noisy point cloud
Examples & 3D Comparison
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Camera Nikon D40 (3008 x 2000) with 34mm lens
Pottery (ceramic) from Yeha (Ethiopia),ca. 20cm height & 15cm diameter
Bundler/PMVS2 – two parts (top 54 images & bottom 30 images)
Examples & 3D Comparison
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Pottery (ceramic) from Yeha (Ethiopia)9 scans with IMAGER 5006h (Z+F)160.000 triangles in Geomagic
3D comparison Bundler/PMVS2 – IMAGER 5006hAverage distance: 0.4mm
Examples & 3D Comparison
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Architectural fragments from Yeha (Ethiopia) Nikon D90 (Nikkor 24mm lens) – 33 photos front | 25 photos rearVisualSFM – ca. 110 min + ca. 90 min ≈ 3.5 min/photo
Examples & 3D Comparison
Results from matching show more details – scanned data is more smoothed
VisualSFM VisualSFMIMAGER IMAGER
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Architectural fragments from Yeha (Ethiopia) 3D comparison – VisualSFM vs. IMAGER 5010Most parts better < 1mm
Examples & 3D Comparison
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Conclusions & outlook
Quality of points clouds from dense matching comparable to TLS
Camera based object recording – fast & flexible & low cost
Quality of points clouds from dense matching for CAD modelling
Quality factors – photo scale, illumination & object texture
Web services save user´s resources – but data privacy?
High computer performance necessary for desktop processingData processing using GPU necessary for fast results future
Further investigations in quality control with reference dataIncreasingly more software packages available on the market
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Thank youfor your attention!
[email protected] | www.hcu-hamburg.de/geomatics/kersten
Lighthouse of Neuwerk (1310 A.D.)Oldest existing building of Hamburg