Search results for "Structure from Motion"
showing 10 items of 44 documents
Application of 3D Photo-reconstruction techniques in Geomorphology: Examples through different landforms and scales
2014
Recent developments made in tri-dimensional photo-reconstruction techniques (3D-PR), such as the use of Structure from Motion (SfM) and MultiView Stereo (MVS) techniques together, have allowed obtaining high resolution 3D point clouds. In order to achieve final point clouds with these techniques, only oblique images from consumer un-calibrated and non-metric cameras are needed. Here, these techniques are used in order to measure, monitor and quantify geomorphological features and processes. Three different applications through a range of scales and landforms are presented here. Firstly, five small gully headcuts located in a small catchment in SW Spain were monitored with the aim of estimat…
Heritage and technology: novel approaches to 3D documentation and communication of architectural heritage
2015
In the past few years we have seen a drastic increasing of image-based modeling (IBM) techniques to get high quality reality-based 3D models. The low costs of these techniques as well as their attractive visual quality have lead many researchers and professionals to invest their energies and resources in several tests. The use of IMB in the field of cultural heritage is mostly exploited in applications such as documentation, digital restoration, visualization, inspection, planning, AR/VR, conservation and design. One of the strengthen of multi-view stereo techniques is the possibility to capture millions of points in a very short time and to get a 3D textured polygonal model that can be eas…
Structure from motion using a hybrid stereo-vision system
2015
International audience; This paper is dedicated to robotic navigation using an original hybrid-vision setup combining the advantages offered by two different types of camera. This couple of cameras is composed of one perspective camera associated with one fisheye camera. This kind of configuration , is also known under the name of foveated vision system since it is inspired by the human vision system and allows both a wide field of view and a detail front view of the scene. Here, we propose a generic and robust approach for SFM, which is compatible with a very broad spectrum of multi-camera vision systems, suitable for perspective and om-nidirectional cameras, with or without overlapping fi…
Plot rill erosion measurements by close-range photogrammetry using natural events at Sparacia experimental area
2018
Recently, many investigations were carried out in order to check the applicability of both close-range and UAV (Unmanned Aerial Vehicle) photogrammetry to measure soil erosion processes. For measuring rill erosion occurring on a 22 m long and 26% sloped plot occurred on 24 October 2016 at the Sparacia experimental area, a terrestrial photographic relief and a low altitude aerial relief were carried out by no-professional quadricopter and camera. The three-dimensional (3D) DTM and the quasi-tridimensional (DEM) models were obtained. An extraction method of the rill network using DEM and convergence index was applied and a subsequent separation of rills into contributing and non-contributing …
A new probe concept for internal pipework inspection
2017
The interior visual inspection of nuclear pipework is a critical inspection activity required to ensure the continued safe, reliable operation of plant and thus avoid costly outages. Typically, the video output from a manually deployed probe is viewed by an operator online with the task of identifying and estimating the location of surface defects such as cracks, corrosion and pitting. However, it is very difficult to estimate the nature and spatial extent of defects from the often disorientating small field of view video of a relatively large structure. This work describes a new visual inspection system incorporating a wide field of view machine vision camera and additional sensors designe…
Systèmes imageurs 3D pour des applications agricoles : caractérisation de cultures et phénotypage de racines
2016
The development of the concepts of precision agriculture and viticulture since the last three decades has shown the need to use first 2D image acquisition techniques and dedicated image processing. More and more needs concern now 3D images and information. The main ideas of this chapter is thus to present some innovations of the 3D tools and methods in the agronomic domain. This chapter will particularly focus on two main subjects such as the 3D characterization of crop using Shape from Focus or Structure from Motion techniques and the 3D use for root phenotyping using rhizotron system. Results presented show that 3D information allows to better characterize crucial crop morphometric parame…
New metric products, movies, and 3D models from old stereopairs and their application to the in situ palaeontological site of Ambrona
2020
3D modelling tools from photographic pictures have experienced significant improvements in the last years. One of the most outstanding changes is the spread of the photogrammetric systems based on algorithms referred to as Structure from Motion (SfM) in contrast with the traditional stereoscopic pairs. Nevertheless, the availability of important collections of stereoscopic registers collected during past decades invites us to explore the possibilities for re-using these photographs in order to generate new multimedia products, especially due to the fact that many of the documented elements have been largely altered or even disappeared. This article analyses an example of application to the …
2D-3D Camera Fusion for Visual Odometry in Outdoor Environments
2014
International audience; Accurate estimation of camera motion is very important for many robotics applications involving SfM and visual SLAM. Such accuracy is attempted by refining the estimated motion through nonlinear optimization. As many modern robots are equipped with both 2D and 3D cameras, it is both highly desirable and challenging to exploit data acquired from both modalities to achieve a better localization. Existing refinement methods, such as Bundle adjustment and loop closing, may be employed only when precise 2D-to-3D correspondences across frames are available. In this paper, we propose a framework for robot localization that benefits from both 2D and 3D information without re…
Rilievo integrato per la conoscenza e documentazione del complesso termale dell'area archeologica di Tindari (ME)
2018
The aim of this study is to survey the Roman baths integrated in the so-called Insula IV of the archaeological area of Tindari (ME) for a better understanding of the site and for its enhancement. It is a structure that represents one of the oldest and best preserved thermal buildings with retrograde path in Sicily. Taking into account the typological, structural and decorative peculiarities that characterize the site, it was necessary to operate through integrated digital survey methods (laser scanning and SFM), obtaining a 3D model which describes the building in its entirety. The thermal building was inserted in the first century AD in a residential block dating back to the Hellenistic pe…
Robust Selective Stereo SLAM without Loop Closure and Bundle Adjustment
2013
This paper presents a novel stereo SLAM framework, where a robust loop chain matching scheme for tracking keypoints is combined with an effective frame selection strategy. The proposed approach, referred to as selective SLAM (SSLAM), relies on the observation that the error in the pose estimation propagates from the uncertainty of the three-dimensional points. This is higher for distant points, corresponding to matches with low temporal flow disparity in the images. Comparative results based on the reference KITTI evaluation framework show that SSLAM is effective and can be implemented efficiently, as it does not require any loop closure or bundle adjustment.