Pre- and Self-calibration of underwater cameras for photogrammetric documentation of archaeological sites

Underwater photogrammetry has become one of the most affordable and adopted methods for the documentation and the 3D reconstruction of submerged archaeological assets. In digital photogrammetry, images are captured to exploit (using computer vision-based procedures) their intrinsic metric contents. To preserve the metric consistency and to obtain reliable 3D metric products, this process must be followed according to photogrammetric principles that are even more important in underwater photogrammetry. The wide diffusion of low-cost and non-metric sensors requires that some attention be given to proper geometric calibration of the employed cameras. Via calibration, it is possible to opportunely describe geometric distortions that are observable on final images due to lens shapes and construction characteristics of the cameras and the optics used in the survey operations. This research addresses the importance of pre-calibration in underwater cameras, and for this purpose, three calibration datasets are acquired and compared: the first (A) where the camera is pre-calibrated without any addition (flat or dome ports); the second (B) in which the camera is used in combination with a dome port; and the third (C) where the camera setup has been employed in an underwater environment. For both scenarios (dry and wet), self-calibration and pre-calibration procedures are compared. Moreover, is possible to notice how the use of the right camera and lens combinations, specifically designed for underwater survey purposes, are functional to lower the distortion of the images and consequently improve the accuracy of the final 3D products. Different tests have been performed, and preliminary results are presented and discussed in this work-in-progress paper

New instruments and technologies for Cultural Heritage survey: full integration between point clouds and digital photogrammetry

In the last years the Geomatic Research Group of the Politecnico di Torino faced some new research topics about new instruments for point cloud generation (e.g. Time of Flight cameras) and strong integration between multi-image matching techniques and 3D Point Cloud information in order to solve the ambiguities of the already known matching algorithms. ToF cameras can be a good low cost alternative to LiDAR instruments for the generation of precise and accurate point clouds: up to now the application range is still limited but in a near future they will be able to satisfy the most part of the Cultural Heritage metric survey requirements. On the other hand multi-image matching techniques with a correct and deep integration of the point cloud information can give the correct solution for an "intelligent" survey of the geometric object break-lines, which are the correct starting point for a complete survey. These two research topics are strictly connected to a modern Cultural Heritage 3D survey approach. In this paper after a short analysis of the achieved results, an alternative possible scenario for the development of the metric survey approach inside the wider topic of Cultural Heritage Documentation is reporte

SKA Weak Lensing III: Added Value of Multi-Wavelength Synergies for the Mitigation of Systematics

In this third paper of a series on radio weak lensing for cosmology with the Square Kilometre Array, we scrutinise synergies between cosmic shear measurements in the radio and optical/near-IR bands for mitigating systematic effects. We focus on three main classes of systematics: (i) experimental systematic errors in the observed shear; (ii) signal contamination by intrinsic alignments; and (iii) systematic effects due to an incorrect modelling of non-linear scales. First, we show that a comprehensive, multi-wavelength analysis provides a self-calibration method for experimental systematic effects, only implying <50% increment on the errors on cosmological parameters. We also illustrate how the cross-correlation between radio and optical/near-IR surveys alone is able to remove residual systematics with variance as large as 0.00001, i.e. the same order of magnitude of the cosmological signal. This also opens the possibility of using such a cross-correlation as a means to detect unknown experimental systematics. Secondly, we demonstrate that, thanks to polarisation information, radio weak lensing surveys will be able to mitigate contamination by intrinsic alignments, in a way similar but fully complementary to available self-calibration methods based on position-shear correlations. Lastly, we illustrate how radio weak lensing experiments, reaching higher redshifts than those accessible to optical surveys, will probe dark energy and the growth of cosmic structures in regimes less contaminated by non-linearities in the matter perturbations. For instance, the higher-redshift bins of radio catalogues peak at z~0.8-1, whereas their optical/near-IR counterparts are limited to z<0.5-0.7. This translates into having a cosmological signal 2 to 5 times less contaminated by non-linear perturbations.Comment: 16 pages, 10 figures, 2 tables; improved discussion of experimental systematics in Sec. 2; updated to match published versio

Fisheye Photogrammetry to Survey Narrow Spaces in Architecture and a Hypogea Environment

Nowadays, the increasing computation power of commercial grade processors has actively led to a vast spreading of image-based reconstruction software as well as its application in different disciplines. As a result, new frontiers regarding the use of photogrammetry in a vast range of investigation activities are being explored. This paper investigates the implementation of fisheye lenses in non-classical survey activities along with the related problematics. Fisheye lenses are outstanding because of their large field of view. This characteristic alone can be a game changer in reducing the amount of data required, thus speeding up the photogrammetric process when needed. Although they come at a cost, field of view (FOV), speed and manoeuvrability are key to the success of those optics as shown by two of the presented case studies: the survey of a very narrow spiral staircase located in the Duomo di Milano and the survey of a very narrow hypogea structure in Rome. A third case study, which deals with low-cost sensors, shows the metric evaluation of a commercial spherical camera equipped with fisheye lenses

COMPARISON OF LOW COST PHOTOGRAMMETRIC SURVEY WITH TLS AND LEICA PEGASUS BACKPACK 3D MODELS

This paper considers Leica backpack and photogrammetric surveys of a mediaeval bastion in Padua, Italy. Furhtermore, terrestrial laser scanning (TLS) survey is considered in order to provide a state of the art reconstruction of the bastion. Despite control points are typically used to avoid deformations in photogrammetric surveys and ensure correct scaling of the reconstruction, in this paper a different approach is considered: this work is part of a project aiming at the development of a system exploiting ultra-wide band (UWB) devices to provide correct scaling of the reconstruction. In particular, low cost Pozyx UWB devices are used to estimate camera positions during image acquisitions. Then, in order to obtain a metric reconstruction, scale factor in the photogrammetric survey is estimated by comparing camera positions obtained from UWB measurements with those obtained from photogrammetric reconstruction. Compared with the TLS survey, the considered photogrammetric model of the bastion results in a RMSE of 21.9cm, average error 13.4cm, and standard deviation 13.5cm. Excluding the final part of the bastion left wing, where the presence of several poles make reconstruction more difficult, (RMSE) fitting error is 17.3cm, average error 11.5cm, and standard deviation 9.5cm. Instead, comparison of Leica backpack and TLS surveys leads to an average error of 4.7cm and standard deviation 0.6cm (4.2 cm and 0.3 cm, respectively, by excluding the final part of the left wing)

Monitoring wild animal communities with arrays of motion sensitive camera traps

Studying animal movement and distribution is of critical importance to addressing environmental challenges including invasive species, infectious diseases, climate and land-use change. Motion sensitive camera traps offer a visual sensor to record the presence of a broad range of species providing location -specific information on movement and behavior. Modern digital camera traps that record video present new analytical opportunities, but also new data management challenges. This paper describes our experience with a terrestrial animal monitoring system at Barro Colorado Island, Panama. Our camera network captured the spatio-temporal dynamics of terrestrial bird and mammal activity at the site - data relevant to immediate science questions, and long-term conservation issues. We believe that the experience gained and lessons learned during our year long deployment and testing of the camera traps as well as the developed solutions are applicable to broader sensor network applications and are valuable for the advancement of the sensor network research. We suggest that the continued development of these hardware, software, and analytical tools, in concert, offer an exciting sensor-network solution to monitoring of animal populations which could realistically scale over larger areas and time spans