G. Karras

Generation of Orthoimages and Perspective Views with Automatic Visibility Checking and Texture Blending

Conventional orthorectification software cannot handle surface occlusions and image visibility. The approach presented here synthesizes related work in photogrammetry and computer graphics/vision to automatically produce orthographic and perspective views based on fully 3D surface data (supplied by laser scanning). Surface occlusions in the direction of projection are detected to create the depth map of the new image. This information allows identifying, by visibility checking through back-projection of surface triangles, all source images which are entitled to contribute color to each pixel of the novel image. Weighted texture blending allows regulating the local radiometric contribution of each source image involved, while outlying color values are automatically discarded with a basic statistical test. Experimental results from a close-range project indicate that this fusion of laser scanning with multiview photogrammetry could indeed combine geometric accuracy with high visual quality and speed. A discussion of intended improvements of the algorithm is also included.

Stereo matching based on census transformation of image gradients

Although multiple-view matching provides certain significant advantages regarding accuracy, occlusion handling and radiometric fidelity, stereo-matching remains indispensable for a variety of applications; these involve cases when image acquisition requires fixed geometry and limited number of images or speed. Such instances include robotics, autonomous navigation, reconstruction from a limited number of aerial/satellite images, industrial inspection and augmented reality through smart-phones. As a consequence, stereo-matching is a continuously evolving research field with growing variety of applicable scenarios. In this work a novel multi-purpose cost for stereo-matching is proposed, based on census transformation on image gradients and evaluated within a local matching scheme. It is demonstrated that when the census transformation is applied on gradients the invariance of the cost function to changes in illumination (non-linear) is significantly strengthened. The calculated cost values are aggregated through adaptive support regions, based both on cross-skeletons and basic rectangular windows. The matching algorithm is tuned for the parameters in each case. The described matching cost has been evaluated on the Middlebury stereo-vision 2006 datasets, which include changes in illumination and exposure. The tests verify that the census transformation on image gradients indeed results in a more robust cost function, regardless of aggregation strategy.

Photo-Textured Rendering of Developable Surfaces in Architectural Photogrammetry

New techniques constantly seek to meet a growing demand for realistic photo- textured 3D models in architecture and archaeology. When only visualisation is required, the emphasis lies on visual quality rather than accuracy. But in architectural photogrammetry the primary requirement is mostly to produce accurate mappings under strict specifications. Hence, accuracy comes first; yet visual products can benefit from precise modeling. In this context, a treatment of cylindrical and conic surfaces is presented. The process for develop- ing them onto the plane (the basic way to represent such surfaces) is outlined and illumina- ted at the example of two large ancient towers in the framework of projects prepared for the Greek Ministry of Culture. But besides their metric utility, these products represent ideal photo-textures for draping the mathematical surface to generate virtual reality effects. The results of such successful photorealistic visualisations are presented and discussed.

Studying Abdomen Size And Shape Variations During Pregnancy: An Application Of Moire Topography

The biostereometric study of body changes can lead to valuable information regarding the metabolism and the physiological development of pregnancy as well as the well-being of the fetus. In this contribution a technique for the calculation of abdomen volume variations from measurements on moire photographs is outlined and experimental results are presented.

The PANDORA project: A success story in AUV autonomy

This paper presents some of the results of the EU-funded project PANDORA - Persistent Autonomy Through Learning Adaptation Observation and Re-planning. The project was three and a half years long and involved several organisations across Europe. The application domain is underwater inspection and intervention, a topic particularly interesting for the oil and gas sector, whose representatives constituted the Industrial Advisory Board. Field trials were performed at The Underwater Centre, in Loch Linnhe, Scotland, and in harbour conditions close to Girona, Spain.