Reconstruction of 3D Planar Objects with Partial Occlusion

Kolmiulotteisten kappaleiden rekonstruktio on yksi konenäön haastavimmista ongelmista, koska kappaleiden kolmiulotteisia etäisyyksiä ei voida selvittää yhdestä kaksiulotteisesta kuvasta. Ongelma voidaan ratkaista stereonäön avulla, jossa näkymän kolmiulotteinen rakenne päätellään usean kuvan perusteella. Tämä lähestymistapa mahdollistaa kuitenkin vain rekonstruktion niille kappaleiden osille, jotka näkyvät vähintään kahdessa kuvassa. Piilossa olevien osien rekonstruktio ei ole mahdollista pelkästään stereonäön avulla. Tässä työssä on kehitetty uusi menetelmä osittain piilossa olevien kolmiulotteisten tasomaisten kappaleiden rekonstruktioon. Menetelmän avulla voidaan selvittää hyvällä tarkkuudella tasomaisista pinnoista koostuvan kappaleen muoto ja paikka käyttäen kahta kuvaa kappaleesta. Menetelmä perustuu epipolaarigeometriaan, jonka avulla selvitetään molemmissa kuvissa näkyvät kappaleiden osat. Osittain piilossa olevien piirteiden rekonstruointi suoritetaan käyttämäen stereonäköä sekä tietoa kappaleen rakenteesta. Esitettyä ratkaisua voitaisiin käyttää esimerkiksi kolmiulotteisten kappaleiden visualisointiin, robotin navigointiin tai esineentunnistukseen.

The magma budget of Volcan Arenal, Costa Rica from 1980 to 2004

Using topographic data collected by radar interferometry, stereo-photogrammetry, and field survey we have measured the changing surface of Volcan Arenal in Costa Rica over the period from 1980 to 2004. During this time this young volcano has mainly effused basaltic andesite lava, continuing the activity that began in 1968. Explosive products form only a few percent of the volumetric output. We have calculated digital elevation models for the years 1961, 1988 and 1997 and modified existing models for 2000 and 2004. From these we have estimated the volume of lava effused and coupled this with the data presented by an earlier study for 1968-1980. We find that a dense rock equivalent volume of 551 M m(3) was effused from 1968 to 2004. The dense rock equivalent effusion rate fell from about 2 m(3) s(-1) to about 0.1-0.2 m(3) s(-1) over the same period, with an average rate of about 0.5 m(3) s(-1). Between 1980 and 2004, the average effusion rate was 0.36 m(3) s(-1), a similar rate to that measured between 1974 and 1980. There have been two significant deviations from this long-term rate. The effusion rate increased from 1984 to 1991, at the same time as explosivity increased. After a period of moderate effusion rates in the 1990s, the rate fell to lower levels around 1999. (c) 2006 Elsevier B.V. All rights reserved.

Construção de mosaicos georreferenciados usando imagens aéreas de pequeno formato

In this work we propose a technique that uses uncontrolled small format aerial images, or SFAI, and stereohotogrammetry techniques to construct georeferenced mosaics. Images are obtained using a simple digital camera coupled with a radio controlled (RC) helicopter. Techniques for removing common distortions are applied and the relative orientation of the models are recovered using projective geometry. Ground truth points are used to get absolute orientation, plus a definition of scale and a coordinate system which relates image measures to the ground. The mosaic is read into a GIS system, providing useful information to different types of users, such as researchers, governmental agencies, employees, fishermen and tourism enterprises. Results are reported, illustrating the applicability of the system. The main contribution is the generation of georeferenced mosaics using SFAIs, which have not yet broadly explored in cartography projects. The proposed architecture presents a viable and much less expensive solution, when compared to systems using controlled pictures

Gravitational slopes, geomorphology, and material strengths of the nucleus of comet 67P/Churyumov-Gerasimenko from OSIRIS observations

Aims. We study the link between gravitational slopes and the surface morphology on the nucleus of comet 67P/Churyumov-Gerasimenko and provide constraints on the mechanical properties of the cometary material (tensile, shear, and compressive strengths). Methods. We computed the gravitational slopes for five regions on the nucleus that are representative of the different morphologies observed on the surface (Imhotep, Ash, Seth, Hathor, and Agilkia), using two shape models computed from OSIRIS images by the stereo-photoclinometry (SPC) and stereo-photogrammetry (SPG) techniques. We estimated the tensile, shear, and compressive strengths using different surface morphologies (overhangs, collapsed structures, boulders, cliffs, and Philae's footprint) and mechanical considerations. Results. The different regions show a similar general pattern in terms of the relation between gravitational slopes and terrain morphology: i) low-slope terrains (0-20 degrees) are covered by a fine material and contain a few large (>10 m) and isolated boulders; ii) intermediate-slope terrains (20-45 degrees) are mainly fallen consolidated materials and debris fields, with numerous intermediate-size boulders from <1m to 10m for the majority of them; and iii) high-slope terrains (45-90 degrees) are cliffs that expose a consolidated material and do not show boulders or fine materials. The best range for the tensile strength of overhangs is 3-15 Pa (upper limit of 150 Pa), 4-30 Pa for the shear strength of fine surface materials and boulders, and 30-150 Pa for the compressive strength of overhangs (upper limit of 1500 Pa). The strength-to-gravity ratio is similar for 67P and weak rocks on Earth. As a result of the low compressive strength, the interior of the nucleus may have been compressed sufficiently to initiate diagenesis, which could have contributed to the formation of layers. Our value for the tensile strength is comparable to that of dust aggregates formed by gravitational instability and tends to favor a formation of comets by the accrection of pebbles at low velocities.

Geomorphology and spectrophotometry of Philae's landing site on comet 67P/Churyumov-Gerasimenko

Context. On 12 November 2014 the European mission Rosetta succeeded in delivering a lander, named Philae, on the surface of one of the smallest, low-gravity and most primitive bodies of the solar system, the comet 67P/Churyumov-Gerasimenko (67P). Aims. The aim of this paper is to provide a comprehensive geomorphological and spectrophotometric analysis of Philae's landing site (Agilkia) to give an essential framework for the interpretation of its in situ measurements. Methods. OSIRIS images, coupled with gravitational slopes derived from the 3D shape model based on stereo-photogrammetry were used to interpret the geomorphology of the site. We adopted the Hapke model, using previously derived parameters, to photometrically correct the images in orange filter (649.2 nm). The best approximation to the Hapke model, given by the Akimov parameter-less function, was used to correct the reflectance for the effects of viewing and illumination conditions in the other filters. Spectral analyses on coregistered color cubes were used to retrieve spectrophotometric properties. Results. The landing site shows an average normal albedo of 6.7% in the orange filter with variations of similar to 15% and a global featureless spectrum with an average red spectral slope of 15.2%/100 nm between 480.7 nm (blue filter) and 882.1 nm (near-IR filter). The spatial analysis shows a well-established correlation between the geomorphological units and the photometric characteristics of the surface. In particular, smooth deposits have the highest reflectance a bluer spectrum than the outcropping material across the area. Conclusions. The featureless spectrum and the redness of the material are compatible with the results by other instruments that have suggested an organic composition. The observed small spectral variegation could be due to grain size effects. However, the combination of photometric and spectral variegation suggests that a compositional differentiation is more likely. This might be tentatively interpreted as the effect of the efficient dust-transport processes acting on 67P. High-activity regions might be the original sources for smooth fine-grained materials that then covered Agilkia as a consequence of airfall of residual material. More observations performed by OSIRIS as the comet approaches the Sun would help interpreting the processes that work at shaping the landing site and the overall nucleus.

Topographic model of Greenland (elevation lines in PanMap and ASCII format)

In this paper, a new high-resolution elevation model of Greenland, including the ice sheet as well as the ice free regions, is presented. It is the first published full coverage model, computed with an average resolution of 2 km and providing an unprecedented degree of detail. The topography is modeled from a wide selection of data sources, including satellite radar altimetry from Geosat and ERS 1, airborne radar altimetry and airborne laser altimetry over the ice sheet, and photogrammetric and manual map scannings in the ice free region. The ice sheet model accuracy is evaluated by omitting airborne laser data from the analysis and treating them as ground truth observations. The mean accuracy of the ice sheet elevations is estimated to be 12-13 m, and it is found that on surfaces of a slope between 0.2° and 0.8°, corresponding to approximately 50% of the ice sheet, the model presents a 40% improvement over models based on satellite altimetry alone. On coastal bedrock, the model is compared with stereo triangulated reference points, and it is found that the model accuracy is of the order of 25-35 m in areas covered by stereo photogrammetry scannings and between 200 and 250 m elsewhere.

Soil fragmentation study applying different tillage systems

Runoff generation depends on rainfall, infiltration, interception, and surface depressional storage. Surface depressional storage depends on surface microtopography, usually quantified trough soil surface roughness (SSR). SSR is subject to spatial and temporal changes that create a high variability. In an agricultural environment, tillage operations produce abrupt changes in roughness. Subsequent rainfall gradually decreases roughness. Beside it, local variation in soil properties and hydrology cause its SSR to vary spatially at different scales. The methods commonly used to measure it involve collecting point elevations in regular grids using laser profilers or scanners, digital close range stereo-photogrammetry and terrestrial laser scanning or LIDAR systems. In this case, a laser-scanning instrument was used to obtain representative digital elevation models (DEMs) at a grid resolution of 7.2x7.2mm that cover an area of 0.9x0.9m. The DEMs were obtained from two study sites with different soils. The first study site was an experimental field on which five conventional tillage methods were applied. The second study site was a large olive orchard with trees planted at 7.5x5.0m and bare soils between rows. Here, three tillage treatments were applied. In this work we have evaluated the spatial variability of SSR at several scales studying differences in height calculated from points separated by incremental distances h were raised to power values q (from 0 to 4 in steps of 0.1). The q = 2 data were studied as a semivariogram model. The logarithm of average differences plotted vs. log h were characterized by their slope, ?(q). Structure functions [?(q) vs. q] were fitted showing that data had nonlinear structure functions typical of multiscale phenomena. Comparisson of the two types of soil in their respective structure functions are shown.

Registration And Visualisation Of Deformation Maps From Terrestrial Radar Interferometry Using Photogrammetry And Structure From Motion

This paper describes a general workflow for the registration of terrestrial radar interferometric data with 3D point clouds derived from terrestrial photogrammetry and structure from motion. After the determination of intrinsic and extrinsic orientation parameters, data obtained by terrestrial radar interferometry were projected on point clouds and then on the initial photographs. Visualisation of slope deformation measurements on photographs provides an easily understandable and distributable information product, especially of inaccessible target areas such as steep rock walls or in rockfall run-out zones. The suitability and error propagation of the referencing steps and final visualisation of four approaches are compared: (a) the classic approach using a metric camera and stereo-image photogrammetry; (b) images acquired with a metric camera, automatically processed using structure from motion; (c) images acquired with a digital compact camera, processed with structure from motion; and (d) a markerless approach, using images acquired with a digital compact camera using structure from motion without artificial ground control points. The usability of the completely markerless approach for the visualisation of high-resolution radar interferometry assists the production of visualisation products for interpretation.

'Tetol': a stereo-rigid four-strand motif for alkali and alkaline earth metal ion coordination

The tetraalcohol 2,3,5,6-endo,endo,endo,endo-tetrakis(hydroxymethyl]bicyclo[2.2.1]heptane (tetol, 1) has been prepared and crystallises readily as the lithium(I) complex [Li(1)(2)]Cl, forming an oligomeric multi-chain structure in which pairs of alcohols from two crystallographically independent tetol molecules bind lithium ions tetrahedrally. However, formation of monomeric structures in solution is inferred from electrospray mass spectroscopy, which has also shown evidence of exchange of lithium ion in the complexed species by added alkaline earth ions. (C) 2000 Elsevier Science S.A. All rights reserved.

RELIABILITY AND VALIDITY OF THE PHOTOGRAMMETRY FOR SCOLIOSIS EVALUATION: A CROSS-SECTIONAL PROSPECTIVE STUDY

Objective: The purpose of this study was to investigate the reliability and validity of photogrammetry in measuring the lateral spinal inclination angles. Methods: Forty subjects (32 female and 8 males) with a mean age of 23.4 +/- 11.2 years had their scoliosis evaluated by radiographs of their trunk, determined by the Cobb angle method, and by photogrammetry. The statistical methods used included Cronbach alpha, Pearson/Spearman correlation coefficients, and regression analyses. Results: The Cronbach a values showed that the photogrammetric measures showed high internal consistency, which indicated that the sample was bias free. The radiograph method showed to be more precise with intrarater reliabilities of 0.936, 0.975, and 0.945 for the thoracic, lumbar, and thoracolumbar curves, respectively, and interrater reliabilities of 0.942 and 0.879 for the angular measures of the thoracic and thoracolumbar segments, respectively. The regression analyses revealed a high determination coefficient although limited to the adjusted linear model between the radiographic and photographic measures. It was found that with more severe scoliosis, the lateral curve measures obtained with the photogrammetry were for the thoracic and lumbar regions (R = 0.619 and 0.551). Conclusions: The photogrammetric measures were found to be reproducible in this study and could be used as Supplementary information to decrease the number of radiographs necessary for the monitoring of scoliosis. (J Manipulative Physiol Ther 2009;32:423-430)

Sistema de Visão Stereo Ativo aplicado aos robôs do ISePorto

A presente dissertação endereça o desenvolvimento de um sistema de visão stereo ativo para os robôs de futebol robótico da equipa ISePorto do ISEP, de modo a que estes tirem o máximo partido das câmaras rotativas neles existentes. Este trabalho surge da necessidade de melhorar a capacidade de perceção do ambiente por parte dos robôs, principalmente da perceção da bola quando não está no plano do campo e dos robôs adversários. Esta necessidade surge devido ao aumento da dinâmica que se tem vindo a veri car ultimamente nas competições. Para tal, foram estudados algumas trabalhos relacionados no que diz respeito a sistemas de visão stereo com baselines variáveis e eixos de rotação em ambas as câmaras, bem como fundamentos de visão stereo. Foi proposta uma arquitetura para o sistema de visão ativo de modo a ser aplicado em qualquer robô da equipa MSL (Middle Size League). Para tornar possível a implementação desta arquitetura foi desenvolvido um procedimento para a calibração e determinação em tempo real dos parâmetros extrínsecos do par stereo em função da posição angular dos eixos rotativos do robô. O sistema de visão foi também dotado de capacidade de sincronismo e foram implementadas funcionalidades ao nível de software que possibilitam a deteção de objetos na imagem, a correspondência de objetos presentes nas imagens de ambas as câmaras e consequentemente a determinação das posições tridimensionais desses objetos relativamente ao robô. O sistema desenvolvido foi testado e validado em cenário MSL ao nível de perceção da bola, robôs adversários e linhas do campo. Os resultados obtidos apresentam uma melhoria signi cativa, face à implementação atual dos robôs, na perceção tridimensional da bola quando não está no plano do campo, e dos robôs adversários.

Estudo comparativo da estereopsia: testando a aplicação digital Stereo TAB em estudantes do ensino superior

A estereopsia é o 3º grau da visão binocular. Define-se pela perceção de profundidade e baseia-se na disparidade retiniana. Estereopsia global – estereograma de pontos aleatórios (perceção necessita de disparidade retiniana). Estereopsia local – estereogramas com contornos percebidos monocularmente (processo de fusão facilitado). Objectivos do estudo: 1) comparar valores de estereopsia obtidos em cada teste e analisar valores de estereopsia local e global; 2) estudar a correlação de valores de estereopsia nos testes (TNO goldstandard); 3) estudar a associação entre o resultado dos testes; 4) comparar exatidão entre FlyTeste StereoTAB; 5) estudar a sensibilidade e a especificidade do FlyTeste StereoTAB; 6) averiguar a aplicabilidade do SteroTABna prática clínica.

Utilização de técnicas de análise fotogramétricas em quebra-mares de taludes

Dissertação de Natureza Científica elaborada no Laboratório Nacional de Engenharia Civil (LNEC) para obtenção do grau de mestre em Engenharia Civil na Área de Especialização de Hidráulica no âmbito do protocolo de cooperação entre o ISEL e o LNEC

Multi-robot cooperative stereo for outdoor scenarios

13th International Conference on Autonomous Robot Systems (Robotica), 2013

Probabilistic Egomotion for Stereo Visual Odometry

We present a novel approach of Stereo Visual Odometry for vehicles equipped with calibrated stereo cameras. We combine a dense probabilistic 5D egomotion estimation method with a sparse keypoint based stereo approach to provide high quality estimates of vehicle’s angular and linear velocities. To validate our approach, we perform two sets of experiments with a well known benchmarking dataset. First, we assess the quality of the raw velocity estimates in comparison to classical pose estimation algorithms. Second, we added to our method’s instantaneous velocity estimates a Kalman Filter and compare its performance with a well known open source stereo Visual Odometry library. The presented results compare favorably with state-of-the-art approaches, mainly in the estimation of the angular velocities, where significant improvements are achieved.