https://pure.aber.ac.uk/portal/files/4916016/Westoby_et_al._GEOMORPH_2012_Accepted.pdf

‘Structure-from-Motion’ photogrammetry: A low-cost, effective tool for geoscience applications

We describe a hardware and software system for digitizing the shape and color of large fragile objects under non-laboratory conditions Our system employs laser triangulation rangefinders, laser time-of-flight rangefinders, digital still cameras, and a suite of software for acquiring, aligning, merging, and viewing scanned data As a demonstration of this system, we digitized 10 statues by Michelangelo, including the well-known figure of David, two building interiors, and all 1,163 extant fragments of the Forma Urbis Romae, a giant marble map of ancient Rome Our largest single dataset is of the David - 2 billion polygons and 7,000 color images In this paper, we discuss the challenges we faced in building this system, the solutions we employed, and the lessons we learned We focus in particular on the unusual design of our laser triangulation scanner and on the algorithms and software we developed for handling very large scanned models

/pdf/the-digital-michelangelo-project-3d-scanning-of-large-36ear7sqje.pdf

The digital Michelangelo project: 3D scanning of large statues

This article provides a comprehensive introduction into the field of robotic mapping, with a focus on indoor mapping. It describes and compares various probabilistic techniques, as they are presently being applied to a vast array of mobile robot mapping problems. The history of robotic mapping is also detailed, along with an extensive list of open research problems.

/pdf/robotic-mapping-a-survey-4m18o2pjhn.pdf

Robotic mapping: a survey

https://publikationen.bibliothek.kit.edu/1000039918/3024499

Building Information Modeling (BIM) for existing buildings — Literature review and future needs

An image guided catheter navigation system for navigating a region of a patient includes an imaging device, a tracking device, a controller, and a display. The imaging device generates images of the region of the patient. The tracking device tracks the location of the catheter in the region of the patient. The controller superimposes an icon representing the catheter onto the images generated from the imaging device based upon the location of the catheter. The display displays the image of the region with the catheter superimposed onto the image at the current location of the catheter.

Navigation system for cardiac therapies

Turning Images into 3-D Models ( Developments and performance analysis of image matching for detailed surface reconstruction of heritage objects )

The use of 3D digitization and modeling in documenting heritage sites has increased significantly over the past few years. This is mainly due to advances in laser scanning techniques, 3D modeling software, image-based-modeling techniques, computer power, and virtual reality. There are many approaches currently available. The most common remains based on surveying and CAD tools and/or traditional photogrammetry with control points and a human operator. This is very time consuming and can be tedious and sustained effort. Lately, modeling methods based on scanners data and more automated image-based technique are becoming available. We will discuss each approach and point out its advantages and disadvantages. We will then present our approach, which is a combination of several technologies. The approach presented in this paper uses both interactive and automatic techniques, each where it is best suited, to accurately and completely model heritage objects and sites. A highly detailed structure or site can be modeled at various levels of detail. Image-based modeling may be used for the basic shape and main structural elements, and laser scanning for fine details and sculpted surfaces. The results of applying this approach were very encouraging and several models were created from sites all over the world. Modeling of the Abbey of Pomposa near Ferrara, Italy, will be presented as an example.

1 detailed 3d reconstruction of monuments using multiple techniques

A system for automatic measurement of three-dimensional coordinates of object points is described. Data acquisition, image enhancement, feature extraction, target recognition, and target image-coordinate measurement to sub-pixel accuracy are carried out in 10 to 20 ms per point. Image matching and computation of object coordinates of the targets are then performed in 50 to 60 ms per point. The accuracy achievable with this system is compared to that of a metric camera and a direct coordinate-measuring machine. Preliminary evaluation of the performance of charge-coupled device (CCD) cameras for image metrology purposes is also presented. have attempted to tackle the above mentioned areas of research. Real-time or near real-time systems, with features designed to overcome some of the problems, have been proposed by Lemmer (1982), Haggren (1984), Burner et al. (1985), El-Hakim (1985), and Wong and Ho (1986), to name a few. Algorithms for measurement with sub-pixel accuracy have been developed, for example, by Mikhail et at. (1984) and Havelock (1984) while digital correlation techniques have been investigated by Foerstner (1982), Ackerman (1984), Pertl (1984), and Gruen (1985). Calibration of solid-state cameras for photogrammetric applications has been attempted by Guelch (1984) and Curry et at. (1985). In this paper, a short overview of charge-coupled device (CCO) cameras and some terminology related to real time are presented, followed by a description of the hardware and software of the system as employed in photogrammetric applications. Test results, showing the achievable accuracy and comparing it with some other measuring techniques, are also presented along with some preliminary evaluation of the performance of the solidstate cameras used in the tests. 0099-1112/86/5211-1757$02.25/0 ©1986 American Society for Photogrammetry and Remote Sensing BACKGROUND AND TERMINOLOGY

Real-time image metrology with CCD cameras

This paper presents a summary of the 3D modeling work that was accomplished in preparing multimedia products for cultural heritage interpretation and entertainment. The three cases presented are the Byzantine Crypt of Santa Cristina, Apulia, temple C of Selinunte, Sicily, and a bronze sculpture from the 6th century BC found in Ugento, Apulia. The core of the approach is based upon high-resolution photo-realistic texture mapping onto 3D models generated from range images. It is shown that three-dimensional modeling from range imaging is an effective way to present the spatial information for environments and artifacts. Spatial sampling and range measurement uncertainty considerations are addressed by giving the results of a number of tests on different range cameras. The integration of both photogrammetric and CAD modeling complements this approach. Results on a CDROM, a DVD, virtual 3D theatre, holograms, video animations and web pages have been prepared for these projects.

/pdf/combining-3d-technologies-for-cultural-heritage-xytmrqbgme.pdf

Combining 3D technologies for cultural heritage interpretation and entertainment

The key to navigate in a 3D environment or designing autonomous vehicles that can successfully maneuver and manipulate objects in their environment is the ability to create, maintain, and use effectively a 3D digital model that accurately represents its physical counterpart. Virtual exploring of real places and environments, either for leisure, engineering design, training and simulation, or tasks in remote or hazardous environments, is more effective and useful if geometrical relationships and dimensions in the virtual model are accurate. A system which can rapidly, reliably, remotely and accurately perform measurements in the 3D space for the mapping of indoor environments is needed for many applications. In this paper we present a mobile mapping system that is designed to generate a geometrically precise 3D model of an unknown indoor environment. The same general design concept can be used for environments ranging from simple office hallways to long winding underground mine tunnels. Surfaces and features can be accurately mapped from images acquired by a unique configuration of different types of optical imaging sensor and dead reckoning positioning device. This configuration guarantees that all the information required to create the 3D model of the environment is included in the collected data. Sufficient overlaps between 2D intensity images, in combination with information from 3D range images, insure that the complete environment can be accurately reconstructed when all the data is simultaneously processed. The system, the data collection and processing procedure, test results, the modeling and display at our virtual environment facility are described.© (1997) COPYRIGHT SPIE--The International Society for Optical Engineering. Downloading of the abstract is permitted for personal use only.

Sabry F. El-Hakim

Papers

Turning Images into 3-D Models ( Developments and performance analysis of image matching for detailed surface reconstruction of heritage objects )

1 detailed 3d reconstruction of monuments using multiple techniques

Real-time image metrology with CCD cameras

Combining 3D technologies for cultural heritage interpretation and entertainment

System for indoor 3D mapping and virtual environments