Comparison of Camera Motion Estimation Methods for 3D Reconstruction of Infrastructure

Camera motion estimation is one of the most significant steps for structure-from-motion (SFM) with a monocular camera. The normalized 8-point, the 7-point, and the 5-point algorithms are normally adopted to perform the estimation, each of which has distinct performance characteristics. Given unique needs and challenges associated to civil infrastructure SFM scenarios, selection of the proper algorithm directly impacts the structure reconstruction results. In this paper, a comparison study of the aforementioned algorithms is conducted to identify the most suitable algorithm, in terms of accuracy and reliability, for reconstructing civil infrastructure. The free variables tested are baseline, depth, and motion. A concrete girder bridge was selected as the "test-bed" to reconstruct using an off-the-shelf camera capturing imagery from all possible positions that maximally the bridge's features and geometry. The feature points in the images were extracted and matched via the SURF descriptor. Finally, camera motions are estimated based on the corresponding image points by applying the aforementioned algorithms, and the results evaluated.

Automated 3D Structure Inference of Civil Infrastructure Using a Stereo Camera Set

The commercial far-range (>10m) infrastructure spatial data collection methods are not completely automated. They need significant amount of manual post-processing work and in some cases, the equipment costs are significant. This paper presents a method that is the first step of a stereo videogrammetric framework and holds the promise to address these issues. Under this method, video streams are initially collected from a calibrated set of two video cameras. For each pair of simultaneous video frames, visual feature points are detected and their spatial coordinates are then computed. The result, in the form of a sparse 3D point cloud, is the basis for the next steps in the framework (i.e., camera motion estimation and dense 3D reconstruction). A set of data, collected from an ongoing infrastructure project, is used to show the merits of the method. Comparison with existing tools is also shown, to indicate the performance differences of the proposed method in the level of automation and the accuracy of results.

Generating the Sparse Point Cloud of a Civil Infrastructure Scene Using a Single Video Camera under Practical Constraints

Automating the model generation process of infrastructure can substantially reduce the modeling time and cost. This paper presents a method to generate a sparse point cloud of an infrastructure scene using a single video camera under practical constraints. It is the first step towards establishing an automatic framework for object-oriented as-built modeling. Motion blur and key frame selection criteria are considered. Structure from motion and bundle adjustment are explored. The method is demonstrated in a case study where the scene of a reinforced concrete bridge is videotaped, reconstructed, and metrically validated. The result indicates the applicability, efficiency, and accuracy of the proposed method.

Three-Dimensional Tracking of Construction Resources using an On-Site Camera System

Vision trackers have been proposed as a promising alternative for tracking at large-scale, congested construction sites. They provide the location of a large number of entities in a camera view across frames. However, vision trackers provide only two-dimensional (2D) pixel coordinates, which are not adequate for construction applications. This paper proposes and validates a method that overcomes this limitation by employing stereo cameras and converting 2D pixel coordinates to three-dimensional (3D) metric coordinates. The proposed method consists of four steps: camera calibration, camera pose estimation, 2D tracking, and triangulation. Given that the method employs fixed, calibrated stereo cameras with a long baseline, appropriate algorithms are selected for each step. Once the first two steps reveal camera system parameters, the third step determines 2D pixel coordinates of entities in subsequent frames. The 2D coordinates are triangulated on the basis of the camera system parameters to obtain 3D coordinates. The methodology presented in this paper has been implemented and tested with data collected from a construction site. The results demonstrate the suitability of this method for on-site tracking purposes.

Impact of heterogeneous link qualities and network connectivity on binary consensus

In this paper we consider a network that is trying to reach consensus over the occurrence of an event while communicating over Additive White Gaussian Noise (AWGN) channels. We characterize the impact of different link qualities and network connectivity on consensus performance by analyzing both the asymptotic and transient behaviors. More specifically, we derive a tight approximation for the second largest eigenvalue of the probability transition matrix. We furthermore characterize the dynamics of each individual node. © 2009 AACC.

Augmenting depth camera output using photometric stereo

We present a system for augmenting depth camera output using multispectral photometric stereo. The technique is demonstrated using a Kinect sensor and is able to produce geometry independently for each frame. Improved reconstruction is demonstrated using the Kinect's inbuilt RGB camera and further improvements are achieved by introducing an additional high resolution camera. As well as qualitative improvements in reconstruction a quantitative reduction in temporal noise is shown. As part of the system an approach is presented for relaxing the assumption of multispectral photometric stereo that scenes are of constant chromaticity to the assumption that scenes contain multiple piecewise constant chromaticities.

Investigating the link between well-being and energy use; an explorative case study between passive and active domestic energy management systems

The aim of this study was to explore how the remote control of appliances/lights (active energy management system) affected household well-being, compared to in-home displays (passive energy management system). A six-week exploratory study was conducted with 14 participants divided into the following three groups: active; passive; and no equipment. The effect on well-being was measured through thematic analysis of two semi-structured interviews for each participant, administered at the start and end of the study. The well-being themes were based on existing measures of Satisfaction and Affect. The energy demand for each participant was also measured for two weeks without intervention, and then compared after four weeks with either the passive or active energy management systems. These measurements were used to complement the well-being analysis. Overall, the measure of Affect increased in the passive group but Satisfaction decreased; however, all three measures on average decreased in the active group. The measured energy demand also highlighted a disconnect between well-being and domestic energy consumption. The results point to a need for further investigation in this field; otherwise, there is a risk that nationally implemented energy management solutions may negatively affect our happiness and well-being. © 2013 Elsevier Ltd.

3 Gbit/s LED-based step index plastic optical fiber link using multilevel pulse amplitude modulation

Multilevel PAM is investigated for a LED-based SI-POF link. Using PAM-8, transmission at a record 3 Gbit/s is demonstrated for a maximum length of 25 m step index POF with offline post-receiver processing. © 2013 OSA.

FEC-free 50 m 1.5 Gb/s plastic optical fibre link using CAP modulation for home networks

LED-based carrierless amplitude and phase modulation is investigated for a multi-gigabit plastic optical fibre link. An FPGA-based 1.5 Gbit/s error free transmission over 50 m standard SI-POF using CAP64 is achieved, providing 2.9 dB power margin without forward error correction. © 2012 OSA.

3 Gbit/s LED-based step index plastic optical fiber link using multilevel pulse amplitude modulation

Multilevel PAM is investigated for a LED-based SI-POF link. Using PAM-8, transmission at a record 3 Gbit/s is demonstrated for a maximum length of 25 m step index POF with offline post-receiver processing. © 2013 OSA.