Scalable Surface Reconstruction from Point Clouds with Extreme Scale and Density Diversity

In this paper we present a scalable approach for robustly computing a 3D surface mesh from multi-scale multi-view stereo point clouds that can handle extreme jumps of point density (in our experiments three orders of magnitude). The backbone of our approach is a combination of octree data partitioning, local Delaunay tetrahedralization and graph cut optimization. Graph cut optimization is used twice, once to extract surface hypotheses from local Delaunay tetrahedralizations and once to merge overlapping surface hypotheses even when the local tetrahedralizations do not share the same topology.This formulation allows us to obtain a constant memory consumption per sub-problem while at the same time retaining the density independent interpolation properties of the Delaunay-based optimization. On multiple public datasets, we demonstrate that our approach is highly competitive with the state-of-the-art in terms of accuracy, completeness and outlier resilience. Further, we demonstrate the multi-scale potential of our approach by processing a newly recorded dataset with 2 billion points and a point density variation of more than four orders of magnitude - requiring less than 9GB of RAM per process.Comment: This paper was accepted to the IEEE Conference on Computer Vision and Pattern Recognition (CVPR), 2017. The copyright was transfered to IEEE (ieee.org). The official version of the paper will be made available on IEEE Xplore (R) (ieeexplore.ieee.org). This version of the paper also contains the supplementary material, which will not appear IEEE Xplore (R

WxBS: Wide Baseline Stereo Generalizations

We have presented a new problem -- the wide multiple baseline stereo (WxBS) -- which considers matching of images that simultaneously differ in more than one image acquisition factor such as viewpoint, illumination, sensor type or where object appearance changes significantly, e.g. over time. A new dataset with the ground truth for evaluation of matching algorithms has been introduced and will be made public. We have extensively tested a large set of popular and recent detectors and descriptors and show than the combination of RootSIFT and HalfRootSIFT as descriptors with MSER and Hessian-Affine detectors works best for many different nuisance factors. We show that simple adaptive thresholding improves Hessian-Affine, DoG, MSER (and possibly other) detectors and allows to use them on infrared and low contrast images. A novel matching algorithm for addressing the WxBS problem has been introduced. We have shown experimentally that the WxBS-M matcher dominantes the state-of-the-art methods both on both the new and existing datasets.Comment: Descriptor and detector evaluation expande

3D object reconstruction using computer vision : reconstruction and characterization applications for external human anatomical structures

Tese de doutoramento. Engenharia Informática. Faculdade de Engenharia. Universidade do Porto. 201

Towards change detection in urban area by SAR interferometry and radargrammetry

Change detection in urban area is an active topic in remote sensing. However, well-dealt subject in optical remote sensing, this research topic is still at an early stage and needs deeper investigations and improvement in what concerns SAR and InSAR remote sensing. Due to their weather and daylight-independency, SAR sensors allow an all-time observation of the earth. This is determining in cases where rapid change detection is required after a natural - or technological - disaster. Due to the high resolution that can be achieved, the new generation of space-borne radar sensors opens up new perspectives for analysing buildings in urban areas. Moreover, due to their short revisiting cycle, they give rise to monitoring and change detection applications. In this paper, we present a concept for change detection in urban area at building level, relying only on SAR- and InSAR data. In this approach, interferometric and radargrammetric SAR data are merged in order to detect changes. Here, we present the overall workflow, the test area, the required data as well as first findings on the best-suited stereo-configurations for change detection

Sedimentological characterization of Antarctic moraines using UAVs and Structure-from-Motion photogrammetry

In glacial environments particle-size analysis of moraines provides insights into clast origin, transport history, depositional mechanism and processes of reworking. Traditional methods for grain-size classification are labour-intensive, physically intrusive and are limited to patch-scale (1m2) observation. We develop emerging, high-resolution ground- and unmanned aerial vehicle-based ‘Structure-from-Motion’ (UAV-SfM) photogrammetry to recover grain-size information across an moraine surface in the Heritage Range, Antarctica. SfM data products were benchmarked against equivalent datasets acquired using terrestrial laser scanning, and were found to be accurate to within 1.7 and 50mm for patch- and site-scale modelling, respectively. Grain-size distributions were obtained through digital grain classification, or ‘photo-sieving’, of patch-scale SfM orthoimagery. Photo-sieved distributions were accurate to <2mm compared to control distributions derived from dry sieving. A relationship between patch-scale median grain size and the standard deviation of local surface elevations was applied to a site-scale UAV-SfM model to facilitate upscaling and the production of a spatially continuous map of the median grain size across a 0.3 km2 area of moraine. This highly automated workflow for site scale sedimentological characterization eliminates much of the subjectivity associated with traditional methods and forms a sound basis for subsequent glaciological process interpretation and analysis

Development of inventory datasets through remote sensing and direct observation data for earthquake loss estimation

This report summarizes the lessons learnt in extracting exposure information for the three study sites, Thessaloniki, Vienna and Messina that were addressed in SYNER-G. Fine scale information on exposed elements that for SYNER-G include buildings, civil engineering works and population, is one of the variables used to quantify risk. Collecting data and creating exposure inventories is a very time-demanding job and all possible data-gathering techniques should be used to address the data shortcoming problem. This report focuses on combining direct observation and remote sensing data for the development of exposure models for seismic risk assessment. In this report a summary of the methods for collecting, processing and archiving inventory datasets is provided in Chapter 2. Chapter 3 deals with the integration of different data sources for optimum inventory datasets, whilst Chapters 4, 5 and 6 provide some case studies where combinations between direct observation and remote sensing have been used. The cities of Vienna (Austria), Thessaloniki (Greece) and Messina (Italy) have been chosen to test the proposed approaches.JRC.G.5-European laboratory for structural assessmen