Improving Completeness of Geometric Models from Terrestrial Laser Scanning Data

The application of terrestrial laser scanning for the documentation of cultural heritage assets is becoming increasingly common. While the point cloud by itself is sufficient for satisfying many documentation needs, it is often desirable to use this data for applications other than documentation. For these purposes a triangulated model is usually required. The generation of topologically correct triangulated models from terrestrial laser scans, however, still requires much interactive editing. This is especially true when reconstructing models from medium range panoramic scanners and many scan positions. Because of residual errors in the instrument calibration and the limited spatial resolution due to the laser footprint, the point clouds from different scan positions never match perfectly. Under these circumstances many of the software packages commonly used for generating triangulated models produce models which have topological errors such as surface intersecting triangles, holes or triangles which violate the manifold property. We present an algorithm which significantly reduces the number of topological errors in the models from such data. The algorithm is a modification of the Poisson surface reconstruction algorithm. Poisson surfaces are resilient to noise in the data and the algorithm always produces a closed manifold surface. Our modified algorithm partitions the data into tiles and can thus be easily parallelized. Furthermore, it avoids introducing topological errors in occluded areas, albeit at the cost of producing models which are no longer guaranteed to be closed. The algorithm is applied to scan data of sculptures of the UNESCO World Heritage Site Schönbrunn Palace and data of a petrified oyster reef in Stetten, Austria. The results of the method’s application are discussed and compared with those of alternative methods

MODELLING FROM THE PAST: THE LEANING SOUTWEST TOWER OF CAERPHILLY CASTLE 1539-2015

Caerphilly Castle (1268-70) is the first concentric castle in Britain and the second largest in the UK. The dramatic inclination of its ruinous south west tower has been noted since 1539. Comparing data from historical surveys and a terrestrial laser scan undertaken in 2015, this paper seeks to review evidence for the long-term stability of the tower. Digital documentation and archival research by architects is collated to provide data for structural analysis by engineers. A terrestrial laser scan was used to create a detailed three dimensional finite element model to enable structural analysis of the current shape of the tower made by tetrahedral elements. An automated strategy has been implemented for the transformation of the complex three dimensional point cloud into a three dimensional finite element model. Numerical analysis has been carried out aiming at understanding the main structural weaknesses of the tower in its present condition. Comparisons of four sets of data: 1539, 1830, 1870 and 2015 enabled us to determine change albeit between very different methods of measurement

Stochastic surface mesh reconstruction

This research was funded by TUBITAK – The Scientific and Technological Research Council of Turkey (Project ID: 115Y239) and by the Scientific Research Projects of Bülent Ecevit University (Project ID: 2015-47912266-01)A generic and practical methodology is presented for 3D surface mesh reconstruction from the terrestrial laser scanner (TLS) derived point clouds. It has two main steps. The first step deals with developing an anisotropic point error model, which is capable of computing the theoretical precisions of 3D coordinates of each individual point in the point cloud. The magnitude and direction of the errors are represented in the form of error ellipsoids. The following second step is focused on the stochastic surface mesh reconstruction. It exploits the previously determined error ellipsoids by computing a point-wise quality measure, which takes into account the semi-diagonal axis length of the error ellipsoid. The points only with the least errors are used in the surface triangulation. The remaining ones are automatically discarded.Publisher's Versio

3D MODELING OF THE MICHIGAN TECH HUSKY STATUE USING A CLOSE-RANGE PHOTOGRAMMETRIC APPROACH

In fall of 2014 a three meter tall statue of a Husky was erected on the campus of Michigan Technological University. The Husky is Michigan Tech’s mascot and a symbol of the snowy frozen north woods in which the campus is located. The statue was conceived and funded by the universities alumni association and by donors who paid to have bricks engraved around the statue. A team of graduate students in the Integrated Geospatial Technology program came up with the idea of using photogrammetry to model the statue in order to perform accurate measurements of area and volume. This initial idea was taken another step by the need for a course project in close-range photogrammetry and a desire by the alumni association to publish a 3D model of the statue online. This study tests two software packages that can be used to create a photogrammetric model of the statue. A final data set has yet to be collected; however initial attempts have been successful in creating a highly detailed digital model. With the weather clearing and the snow melting work will continue on this project

Fast Algorithms for Surface Reconstruction from Point Cloud

We consider constructing a surface from a given set of point cloud data. We explore two fast algorithms to minimize the weighted minimum surface energy in [Zhao, Osher, Merriman and Kang, Comp.Vision and Image Under., 80(3):295-319, 2000]. An approach using Semi-Implicit Method (SIM) improves the computational efficiency through relaxation on the time-step constraint. An approach based on Augmented Lagrangian Method (ALM) reduces the run-time via an Alternating Direction Method of Multipliers-type algorithm, where each sub-problem is solved efficiently. We analyze the effects of the parameters on the level-set evolution and explore the connection between these two approaches. We present numerical examples to validate our algorithms in terms of their accuracy and efficiency

Modelling from the past: the leaning southwest tower of Caerphilly Castle 1539-2015

Caerphilly Castle (1268-70) is the first concentric castle in Britain and the second largest in the UK. The dramatic inclination of its ruinous south west tower has been noted since 1539. Comparing data from historical surveys and a terrestrial laser scan undertaken in 2015, this paper seeks to review evidence for the long-term stability of the tower. Digital documentation and archival research by architects is collated to provide data for structural analysis by engineers. A terrestrial laser scan was used to create a detailed three dimensional finite element model to enable structural analysis of the current shape of the tower made by tetrahedral elements. An automated strategy has been implemented for the transformation of the complex three dimensional point cloud into a three dimensional finite element model. Numerical analysis has been carried out aiming at understanding the main structural weaknesses of the tower in its present condition. Comparisons of four sets of data: 1539, 1830, 1870 and 2015 enabled us to determine change albeit between very different methods of measurement

User-guided free-form asset modelling

In this paper a new system for piecewise primitive surface recovery on point clouds is presented, which allows a novice user to sketch areas of interest in order to guide the fitting process. The algorithm is demonstrated against a benchmark technique for autonomous surface fitting, and, contrasted against existing literature in user guided surface recovery, with empirical evidence. It is concluded that the system is an improvement to the current documented literature for its visual quality when modelling objects which are composed of piecewise primitive shapes, and, in its ability to fill large holes on occluded surfaces using free-form input