Baseline and triangulation geometry in a standard plenoptic camera

In this paper, we demonstrate light field triangulation to determine depth distances and baselines in a plenoptic camera. The advancement of micro lenses and image sensors enabled plenoptic cameras to capture a scene from different viewpoints with sufficient spatial resolution. While object distances can be inferred from disparities in a stereo viewpoint pair using triangulation, this concept remains ambiguous when applied in case of plenoptic cameras. We present a geometrical light field model allowing the triangulation to be applied to a plenoptic camera in order to predict object distances or to specify baselines as desired. It is shown that distance estimates from our novel method match those of real objects placed in front of the camera. Additional benchmark tests with an optical design software further validate the model’s accuracy with deviations of less than 0:33 % for several main lens types and focus settings. A variety of applications in the automotive and robotics field can benefit from this estimation model

Digital representation of historical globes : methods to make 3D and pseudo-3D models of sixteenth century Mercator globes

In this paper, the construction of digital representations of a terrestrial and celestial globe will be discussed. Virtual digital (3D) models play an important role in recent research and publications on cultural heritage. The globes discussed in this paper were made by Gerardus Mercator (1512-1594) in 1541 and 1551. Four techniques for the digital representation are discussed and analysed, all using high-resolution photographs of the globes. These photographs were taken under studio conditions in order to get equal lighting and to avoid unwanted light spots. These lighting conditions are important, since the globes have a highly reflective varnish covering. Processing these images using structure from motion, georeferencing of separate scenes and the combination of the photographs with terrestrial laser scanning data results in true 3D representations of the globes. Besides, pseudo-3D models of these globes were generated using dynamic imaging, which is an extensively used technique for visualisations over the Internet. The four techniques and the consequent results are compared on geometric and radiometric quality, with a special focus on their usefulness for distribution and visualisation during an exhibition in honour of the five hundredth birthday of Gerardus Mercator

MScMS-II: an innovative IR-based indoor coordinate measuring system for large-scale metrology applications

According to the current great interest concerning large-scale metrology applications in many different fields of manufacturing industry, technologies and techniques for dimensional measurement have recently shown a substantial improvement. Ease-of-use, logistic and economic issues, as well as metrological performance are assuming a more and more important role among system requirements. This paper describes the architecture and the working principles of a novel infrared (IR) optical-based system, designed to perform low-cost and easy indoor coordinate measurements of large-size objects. The system consists of a distributed network-based layout, whose modularity allows fitting differently sized and shaped working volumes by adequately increasing the number of sensing units. Differently from existing spatially distributed metrological instruments, the remote sensor devices are intended to provide embedded data elaboration capabilities, in order to share the overall computational load. The overall system functionalities, including distributed layout configuration, network self-calibration, 3D point localization, and measurement data elaboration, are discussed. A preliminary metrological characterization of system performance, based on experimental testing, is also presente

The Fluorescence Detector of the Pierre Auger Observatory

The Pierre Auger Observatory is a hybrid detector for ultra-high energy cosmic rays. It combines a surface array to measure secondary particles at ground level together with a fluorescence detector to measure the development of air showers in the atmosphere above the array. The fluorescence detector comprises 24 large telescopes specialized for measuring the nitrogen fluorescence caused by charged particles of cosmic ray air showers. In this paper we describe the components of the fluorescence detector including its optical system, the design of the camera, the electronics, and the systems for relative and absolute calibration. We also discuss the operation and the monitoring of the detector. Finally, we evaluate the detector performance and precision of shower reconstructions.Comment: 53 pages. Submitted to Nuclear Instruments and Methods in Physics Research Section

Close range mini Uavs photogrammetry for architecture survey

The survey of historical façades contains several bottlenecks, mainly related to the geometrical structure, the decorative framework, the presence of natural or artificial obstacles, the environment limitations. Urban context presents additional restrictions, binding by ground acquisition activity and leading to building data loss. The integration of TLS and close-range photogrammetry allows to go over such stuff, not overcoming the shadows effect due to the ground point of view. In the last year the massive use of UAVs in survey activity has permitted to enlarge survey capabilities, reaching a deeper knowledge in the architecture analysis. In the meanwhile, several behaviour rules have been introduced in different countries, regulating the UAVs use in different field, strongly restricting their application in urban areas. Recently very small and light platforms have been presented, which can partially overcome these rules restrictions, opening to very interesting future scenarios. This article presents the application of one of these very small RPAS (less than 300 g), equipped with a low-cost camera, in a close range photogrammetric survey of an historical building façade in Bologna (Italy). The suggested analysis tries to point out the system accuracy and details acquisition capacity. The final aim of the paper is to validate the application of this new platform in an architectonic survey pipeline, widening the future application of close-range photogrammetry in the architecture acquisition process

The standard plenoptic camera: applications of a geometrical light field model

A thesis submitted to the University of Bedfordshire, in partial fulfilment of the requirements for the degree of Doctor of PhilosophyThe plenoptic camera is an emerging technology in computer vision able to capture a light field image from a single exposure which allows a computational change of the perspective view just as the optical focus, known as refocusing. Until now there was no general method to pinpoint object planes that have been brought to focus or stereo baselines of perspective views posed by a plenoptic camera. Previous research has presented simplified ray models to prove the concept of refocusing and to enhance image and depth map qualities, but lacked promising distance estimates and an efficient refocusing hardware implementation. In this thesis, a pair of light rays is treated as a system of linear functions whose solution yields ray intersections indicating distances to refocused object planes or positions of virtual cameras that project perspective views. A refocusing image synthesis is derived from the proposed ray model and further developed to an array of switch-controlled semi-systolic FIR convolution filters. Their real-time performance is verified through simulation and implementation by means of an FPGA using VHDL programming. A series of experiments is carried out with different lenses and focus settings, where prediction results are compared with those of a real ray simulation tool and processed light field photographs for which a blur metric has been considered. Predictions accurately match measurements in light field photographs and signify deviations of less than 0.35 % in real ray simulation. A benchmark assessment of the proposed refocusing hardware implementation suggests a computation time speed-up of 99.91 % in comparison with a state-of-the-art technique. It is expected that this research supports in the prototyping stage of plenoptic cameras and microscopes as it helps specifying depth sampling planes, thus localising objects and provides a power-efficient refocusing hardware design for full-video applications as in broadcasting or motion picture arts

Cavlectometry: Towards Holistic Reconstruction of Large Mirror Objects

We introduce a method based on the deflectometry principle for the reconstruction of specular objects exhibiting significant size and geometric complexity. A key feature of our approach is the deployment of an Automatic Virtual Environment (CAVE) as pattern generator. To unfold the full power of this extraordinary experimental setup, an optical encoding scheme is developed which accounts for the distinctive topology of the CAVE. Furthermore, we devise an algorithm for detecting the object of interest in raw deflectometric images. The segmented foreground is used for single-view reconstruction, the background for estimation of the camera pose, necessary for calibrating the sensor system. Experiments suggest a significant gain of coverage in single measurements compared to previous methods. To facilitate research on specular surface reconstruction, we will make our data set publicly available

On the popularization of digital close-range photogrammetry: a handbook for new users.

Εθνικό Μετσόβιο Πολυτεχνείο--Μεταπτυχιακή Εργασία. Διεπιστημονικό-Διατμηματικό Πρόγραμμα Μεταπτυχιακών Σπουδών (Δ.Π.Μ.Σ.) “Γεωπληροφορική

Absolute depth using low-cost light field cameras

Digital cameras are increasingly used for measurement tasks within engineering scenarios, often being part of metrology platforms. Existing cameras are well equipped to provide 2D information about the fields of view (FOV) they observe, the objects within the FOV, and the accompanying environments. But for some applications these 2D results are not sufficient, specifically applications that require Z dimensional data (depth data) along with the X and Y dimensional data. New designs of camera systems have previously been developed by integrating multiple cameras to provide 3D data, ranging from 2 camera photogrammetry to multiple camera stereo systems. Many earlier attempts to record 3D data on 2D sensors have been completed, and likewise many research groups around the world are currently working on camera technology but from different perspectives; computer vision, algorithm development, metrology, etc. Plenoptic or Lightfield camera technology was defined as a technique over 100 years ago but has remained dormant as a potential metrology instrument. Lightfield cameras utilize an additional Micro Lens Array (MLA) in front of the imaging sensor, to create multiple viewpoints of the same scene and allow encoding of depth information. A small number of companies have explored the potential of lightfield cameras, but in the majority, these have been aimed at domestic consumer photography, only ever recording scenes as relative scale greyscale images. This research considers the potential for lightfield cameras to be used for world scene metrology applications, specifically to record absolute coordinate data. Specific interest has been paid to a range of low cost lightfield cameras to; understand the functional/behavioural characteristics of the optics, identify potential need for optical and/or algorithm development, define sensitivity, repeatability and accuracy characteristics and limiting thresholds of use, and allow quantified 3D absolute scale coordinate data to be extracted from the images. The novel output of this work is; an analysis of lightfield camera system sensitivity leading to the definition of Active Zones (linear data generation good data) and In-active Zones (non-linear data generation poor data), development of bespoke calibration algorithms that remove radial/tangential distortion from the data captured using any MLA based camera, and, a light field camera independent algorithm that allows the delivery of 3D coordinate data in absolute units within a well-defined measurable range from a given camera

3D scanning of cultural heritage with consumer depth cameras

Three dimensional reconstruction of cultural heritage objects is an expensive and time-consuming process. Recent consumer real-time depth acquisition devices, like Microsoft Kinect, allow very fast and simple acquisition of 3D views. However 3D scanning with such devices is a challenging task due to the limited accuracy and reliability of the acquired data. This paper introduces a 3D reconstruction pipeline suited to use consumer depth cameras as hand-held scanners for cultural heritage objects. Several new contributions have been made to achieve this result. They include an ad-hoc filtering scheme that exploits the model of the error on the acquired data and a novel algorithm for the extraction of salient points exploiting both depth and color data. Then the salient points are used within a modified version of the ICP algorithm that exploits both geometry and color distances to precisely align the views even when geometry information is not sufficient to constrain the registration. The proposed method, although applicable to generic scenes, has been tuned to the acquisition of sculptures and in this connection its performance is rather interesting as the experimental results indicate