A Novel Framework for Highlight Reflectance Transformation Imaging

We propose a novel pipeline and related software tools for processing the multi-light image collections (MLICs) acquired in different application contexts to obtain shape and appearance information of captured surfaces, as well as to derive compact relightable representations of them. Our pipeline extends the popular Highlight Reflectance Transformation Imaging (H-RTI) framework, which is widely used in the Cultural Heritage domain. We support, in particular, perspective camera modeling, per-pixel interpolated light direction estimation, as well as light normalization correcting vignetting and uneven non-directional illumination. Furthermore, we propose two novel easy-to-use software tools to simplify all processing steps. The tools, in addition to support easy processing and encoding of pixel data, implement a variety of visualizations, as well as multiple reflectance-model-fitting options. Experimental tests on synthetic and real-world MLICs demonstrate the usefulness of the novel algorithmic framework and the potential benefits of the proposed tools for end-user applications.Terms: "European Union (EU)" & "Horizon 2020" / Action: H2020-EU.3.6.3. - Reflective societies - cultural heritage and European identity / Acronym: Scan4Reco / Grant number: 665091DSURF project (PRIN 2015) funded by the Italian Ministry of University and ResearchSardinian Regional Authorities under projects VIGEC and Vis&VideoLa

A Low Cost UWB Based Solution for Direct Georeferencing UAV Photogrammetry

Thanks to their flexibility and availability at reduced costs, Unmanned Aerial Vehicles (UAVs) have been recently used on a wide range of applications and conditions. Among these, they can play an important role in monitoring critical events (e.g., disaster monitoring) when the presence of humans close to the scene shall be avoided for safety reasons, in precision farming and surveying. Despite the very large number of possible applications, their usage is mainly limited by the availability of the Global Navigation Satellite System (GNSS) in the considered environment: indeed, GNSS is of fundamental importance in order to reduce positioning error derived by the drift of (low-cost) Micro-Electro-Mechanical Systems (MEMS) internal sensors. In order to make the usage of UAVs possible even in critical environments (when GNSS is not available or not reliable, e.g., close to mountains or in city centers, close to high buildings), this paper considers the use of a low cost Ultra Wide-Band (UWB) system as the positioning method. Furthermore, assuming the use of a calibrated camera, UWB positioning is exploited to achieve metric reconstruction on a local coordinate system. Once the georeferenced position of at least three points (e.g., positions of three UWB devices) is known, then georeferencing can be obtained, as well. The proposed approach is validated on a specific case study, the reconstruction of the façade of a university building. Average error on 90 check points distributed over the building façade, obtained by georeferencing by means of the georeferenced positions of four UWB devices at fixed positions, is 0.29 m. For comparison, the average error obtained by using four ground control points is 0.18 m

A new method to determine multi-angular reflectance factor from lightweight multispectral cameras with sky sensor in a target-less workflow applicable to UAV

A new physically based method to estimate hemispheric-directional reflectance factor (HDRF) from lightweight multispectral cameras that have a downwelling irradiance sensor is presented. It combines radiometry with photogrammetric computer vision to derive geometrically and radiometrically accurate data purely from the images, without requiring reflectance targets or any other additional information apart from the imagery. The sky sensor orientation is initially computed using photogrammetric computer vision and revised with a non-linear regression comprising radiometric and photogrammetry-derived information. It works for both clear sky and overcast conditions. A ground-based test acquisition of a Spectralon target observed from different viewing directions and with different sun positions using a typical multispectral sensor configuration for clear sky and overcast showed that both the overall value and the directionality of the reflectance factor as reported in the literature were well retrieved. An RMSE of 3% for clear sky and up to 5% for overcast sky was observed

Airborne photogrammetry and LIDAR for DSM extraction and 3D change detection over an urban area : a comparative study

A digital surface model (DSM) extracted from stereoscopic aerial images, acquired in March 2000, is compared with a DSM derived from airborne light detection and ranging (lidar) data collected in July 2009. Three densely built-up study areas in the city centre of Ghent, Belgium, are selected, each covering approximately 0.4 km(2). The surface models, generated from the two different 3D acquisition methods, are compared qualitatively and quantitatively as to what extent they are suitable in modelling an urban environment, in particular for the 3D reconstruction of buildings. Then the data sets, which are acquired at two different epochs t(1) and t(2), are investigated as to what extent 3D (building) changes can be detected and modelled over the time interval. A difference model, generated by pixel-wise subtracting of both DSMs, indicates changes in elevation. Filters are proposed to differentiate 'real' building changes from false alarms provoked by model noise, outliers, vegetation, etc. A final 3D building change model maps all destructed and newly constructed buildings within the time interval t(2) - t(1). Based on the change model, the surface and volume of the building changes can be quantified

EchoFusion: Tracking and Reconstruction of Objects in 4D Freehand Ultrasound Imaging without External Trackers

Ultrasound (US) is the most widely used fetal imaging technique. However, US images have limited capture range, and suffer from view dependent artefacts such as acoustic shadows. Compounding of overlapping 3D US acquisitions into a high-resolution volume can extend the field of view and remove image artefacts, which is useful for retrospective analysis including population based studies. However, such volume reconstructions require information about relative transformations between probe positions from which the individual volumes were acquired. In prenatal US scans, the fetus can move independently from the mother, making external trackers such as electromagnetic or optical tracking unable to track the motion between probe position and the moving fetus. We provide a novel methodology for image-based tracking and volume reconstruction by combining recent advances in deep learning and simultaneous localisation and mapping (SLAM). Tracking semantics are established through the use of a Residual 3D U-Net and the output is fed to the SLAM algorithm. As a proof of concept, experiments are conducted on US volumes taken from a whole body fetal phantom, and from the heads of real fetuses. For the fetal head segmentation, we also introduce a novel weak annotation approach to minimise the required manual effort for ground truth annotation. We evaluate our method qualitatively, and quantitatively with respect to tissue discrimination accuracy and tracking robustness.Comment: MICCAI Workshop on Perinatal, Preterm and Paediatric Image analysis (PIPPI), 201

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

The survey of the Basilica di Collemaggio in L’Aquila with a system of terrestrial imaging and most proven techniques

The proposed job concerns the evaluation of a series of surveys carried out in the context of a campaign of studies begun in 2015 with the objective of comparing the accuracies obtainable with the systems of terrestrial imaging, compared to unmanned aerial vehicle imaging and laser scanner survey. In particular, the authors want to test the applicability of a system of imaging rover (IR), an innovative terrestrial imaging system, that consists of a multi-camera with integrated global positioning system (GPS)/global navigation satellite system (GNSS) receiver, that is very recently released technique, and only a few literature references exist on the specific subject. In detail, the IR consists of a total of 12 calibrated cameras – seven “panorama” and five downward-looking – providing complete site documentation that can potentially be used to make photogrammetric measurements. The data acquired in this experimentation were then elaborated with various software packages in order to obtain point clouds and a three-dimensional model in different cases, and a comparison of the various results obtained was carried out. Following, the case study of the Basilica di Santa Maria di Collemaggio in L’Aquila is reported; Collemaggio is an UNESCO world heritage site; it was damaged during the seismic event of 2009, and its restoration is still in progress