Stereo Image Acquisition Research Articles

A novel three-dimensional surface reconstruction method for fabric appearance evaluation

Traditional fabric appearance evaluation method mainly relies on subjective and manual operation, which is not uniform and time-consuming. In this paper, one set of self-developed 3D reconstruction system and method based on photometric stereo is proposed for objective fabric appearance evaluation. A photometric stereo image acquisition system equipped with multi-directional lighting sources is developed for the 3D surface reconstruction. Lighting and camera calibration is conducted to obtain the position of light sources and the intrisic parameters of digital camera. Our experimental results show that 3D fabric surface could be reconstructed effectively based on photometric stereo vision method, it has the potential to be used for fabric appearance evaluation.

Modeling forest canopy surface retrievals using very high-resolution spaceborne stereogrammetry: (I) methods and comparisons with actual data

The capability of spaceborne stereogrammetry using very high-resolution (VHR, <2 m) imagery with various environmental, experimental, and sensor configurations for characterizing forest canopy surfaces has not been completely explored. Existing archives of VHR imagery include a limited subset of potential stereo image acquisition configurations and may therefore exclude optimal configurations for capturing critical structural features of forest canopy surface. By contrast, simulated VHR imagery from 3-D radiative transfer models (RTM) can explore the full range of spatial, spectral, and sun-sensor configurations to identify factors that contribute to uncertainties in stereo-derived estimates of forest canopy structure. We developed a novel method to simulate VHR stereopairs using the discrete anisotropic radiative transfer (DART) model and then derive surface elevations from the simulated images. We reconstructed one open-canopy and one closed-canopy forest scene and created a reference digital surface model/digital terrain model (DSM/DTM) using airborne small-footprint lidar points over the study sites. The VHR simulations were configured to match three independent WorldView stereopairs. The results showed that, compared to the reference DSM, the surface elevations derived using simulated and WorldView image data were consistent, with differences of <1.6 m in vertical bias, < 1 m in root mean square error (RMSE), and < 0.07 in correlation coefficient (R). We demonstrated that realistic 3-D RTM simulations could be georeferenced with a camera model for DSM generation from simulated stereopairs. This work will support a follow-up investigation that examines stereo-derived DSM quality over a broad range of surface types and acquisition parameters to suggest optimal configurations for actual VHR stereo data acquisition of vegetation canopy surfaces.

Pre-landslide topographic reconstruction in Baetis Chaos, mars using a CaSSIS Digital Elevation Model

Planview detailed morphological analysis of martian landslides is usually performed using orbital imagery such as from the ConTeXt camera (CTX) at 6 ​m/pix, the Colour and Stereo Surface Imaging System (CaSSIS) at 4.5 ​m/pix or the High-Resolution Imaging Science Experiment (HiRISE) at 0.25–0.5 ​m/pix. However, topographic information is key to fully understand a landslide's formation mechanism and its mobility, by estimating the material volumes mobilised and the spatial distribution of erosion and deposition. Digital Elevation Models (DEM) are required to carry out these analyses; nevertheless, there is currently a gap in landslide-volume studies between those using Mars Orbiter Laser Altimeter (MOLA) dataset at ∼450 ​m/pix or HRSC at 50–200 m/pix and those using HiRISE data at 1–2 m/pix, which is only partially filled by CTX elevation data at ∼20 ​m/pix. The CaSSIS camera on board the ESA/Trace Gas Obiter (TGO) can be used to produce DEMs, but so far, such data have not yet been used to conduct a landslide volume analysis. Here, we use three reconstruction methods (semi-automatic, morphology-based and tilted) on a CaSSIS DEM to estimate the initial topography and hence the volume and the distribution of erosion and deposition of a 6 ​km long landslide in Baetis Chaos. Despite the complex topography of the surrounding area due to the presence of an ejecta deposit beneath the landslide, we were able to estimate the landslide's volume and mass distribution. Using a tilted plane as part of estimating the initial topography produced the best results. We evaluated the success by considering the quantifiable balance between erosion and deposition (given the uncertainties) and more subjectively by considering whether the volume distribution matched with what was expected based on the morphology in images alone. Therefore, we recommend the use of this method for individual landslide studies in complex topography where detailed knowledge of the deposit-thickness distribution is required. The semi-automatic reconstruction method produces satisfactory volume estimates and would be better suited to studies where hundreds of landslides are present. We found that CaSSIS data can be used to successfully conduct such analyses, providing additional DEM coverage to study martian medium-scale landslides or other landforms of similar scale (5–15 ​km) with the notable benefit that it provides single-pass stereo image acquisition. • Digital Elevation Model are needed to estimates landslide's material volumes and distribution in order to fully understand their mobility. • CaSSIS (Colour and Stereo Surface Imaging System) DEM have not yet been used to conduct such landslide analysis. • Three reconstruction on a CaSSIS DEM have been used to estimate the volume and the material distribution of a landslide in Baetis Chaos on Mars. • CaSSIS data can be used to conduct analysis and provide additional coverage to study medium-scale landslides or other landforms (scale 5–15 km).

Control of an over-actuated spacecraft using a combination of a fluid actuator and reaction wheels

In 2017, Technische Universität Berlin (TU Berlin) has launched the first space-rated fluid-dynamic actuator (FDA) on the TechnoSat mission. This type of actuator is unique with respect to its dynamic properties, as it offers a very high torque but limited angular momentum storage capabilities in comparison to reaction wheels (RWs). In combination with the tetrahedron RW assembly featured on the spacecraft, a unique combination of attitude control actuators has been formed. The spacecraft axis parallel to the FDA is over-actuated, featuring control actuators of contrasting nature which offers novel options in terms of spacecraft operations. However, with the camera axis on TechnoSat being aligned parallel to the actuator’s axis of rotation, there is limited operational use to this setup.In July 2019, TU Berlin launched Berlin Experimental and Educational Satellite 9 (BEESAT-9) – the first CubeSat featuring a set of three orthogonal RWs and a single picosatellite fluid-dynamic actuator (pFDA) for attitude control. The camera axis of BEESAT-9 is perpendicular to the actuator axis, and therefore allows the demonstration of the proposed novel modes of operation. Among the proposed modes is an artificial increase of the swath and the acquisition of stereo images of multiple, successive targets on the ground. Crucial to these operation scenarios is the control allocation between the RW assembly and the single pFDA.This paper first introduces the spacecraft and describes the proposed novel modes of operation that are enabled by the actuator combination realized on BEESAT-9, followed by a review of the state of the art of control allocation for over-actuated spacecraft. The main part of the paper comprises a description of the implementation of the dynamics models of the attitude control actuators and spacecraft, followed by a description of the implemented high-level control laws and control allocation methods. Finally, simulation results for the artificial swath increase and the single spacecraft stereo imaging mode are appended and discussed.

MVS-Pheno: A Portable and Low-Cost Phenotyping Platform for Maize Shoots Using Multiview Stereo 3D Reconstruction.

Plant phenotyping technologies play important roles in plant research and agriculture. Detailed phenotypes of individual plants can guide the optimization of shoot architecture for plant breeding and are useful to analyze the morphological differences in response to environments for crop cultivation. Accordingly, high-throughput phenotyping technologies for individual plants grown in field conditions are urgently needed, and MVS-Pheno, a portable and low-cost phenotyping platform for individual plants, was developed. The platform is composed of four major components: a semiautomatic multiview stereo (MVS) image acquisition device, a data acquisition console, data processing and phenotype extraction software for maize shoots, and a data management system. The platform's device is detachable and adjustable according to the size of the target shoot. Image sequences for each maize shoot can be captured within 60-120 seconds, yielding 3D point clouds of shoots are reconstructed using MVS-based commercial software, and the phenotypic traits at the organ and individual plant levels are then extracted by the software. The correlation coefficient (R2) between the extracted and manually measured plant height, leaf width, and leaf area values are 0.99, 0.87, and 0.93, respectively. A data management system has also been developed to store and manage the acquired raw data, reconstructed point clouds, agronomic information, and resulting phenotypic traits. The platform offers an optional solution for high-throughput phenotyping of field-grown plants, which is especially useful for large populations or experiments across many different ecological regions.

39.2: Invited Paper: Ultra‐high Definition Remote Stereo Real‐time Broadcasting Monitoring System

Under the guidance of the non‐paraxial optical theory, the purpose of this paper is to study the acquisition of stereo images and the real‐time transmission to VR of UHD bilateral screen under 5G condition to realize the real‐time 3D broadcasting and monitoring of UHD. Real‐time transmission and observation with UHD (5K ˜ 8K) is especially suitable for telemedicine due to its full color, high brightness and gray level non‐destructive properties. It can also be used in culture, sports, military, intelligent city, and sudden emergencies, etc.

Reconstruction of Cylindrical Surfaces Using Digital Image Correlation.

A technique for the reconstruction of cylindrical surfaces using optical images with an extension of least squares matching is presented. This technique is based on stereo-image acquisition of a cylindrical object, and it involves displacing the camera following the object length. The basic concept behind this technique is that variations in the camera viewpoint over a cylindrical object produce perspective effects similar to a conic section in an image sequence. Such parallax changes are continuous and can be modelled by a second-order function, which is combined with an adaptive least squares matching (ALSM) for the 3D object reconstruction. Using this concept, a photogrammetric intersection with only two image patches can be used to model a cylindrical object with high accuracy. Experiments were conducted with a cylinder on a panel with coded targets to assess the 3D reconstruction accuracy. The accuracy assessment was based on a comparison between the estimated diameter and the diameter directly measured over the cylinder. The difference between the diameters indicated an accuracy of 1/10 mm, and the cylindrical surface was entirely reconstructed.

Low-cost, portable, robust and high-resolution single-camera stereo-DIC system and its application in high-temperature deformation measurements

A low-cost, portable, robust and high-resolution single-camera stereo-digital image correlation (stereo-DIC) system for accurate surface three-dimensional (3D) shape and deformation measurements is described. This system adopts a single consumer-grade high-resolution digital Single Lens Reflex (SLR) camera and a four-mirror adaptor, rather than two synchronized industrial digital cameras, for stereo image acquisition. In addition, monochromatic blue light illumination and coupled bandpass filter imaging are integrated to ensure the robustness of the system against ambient light variations. In contrast to conventional binocular stereo-DIC systems, the developed pseudo-stereo-DIC system offers the advantages of low cost, portability, robustness against ambient light variations, and high resolution. The accuracy and precision of the developed single SLR camera-based stereo-DIC system were validated by measuring the 3D shape of a stationary sphere along with in-plane and out-of-plane displacements of a translated planar plate. Application of the established system to thermal deformation measurement of an alumina ceramic plate and a stainless-steel plate subjected to radiation heating was also demonstrated.

THREE-DIMENSIONAL MAPPING OF AN ANCIENT CAVE PAINTINGS USING CLOSE-RANGE PHOTOGRAMMETRY AND TERRESTRIAL LASER SCANNING TECHNOLOGIES

Abstract. The paper describes the used of close-range photogrammetry and terrestrial laser scanning technologies as an innovative technology for acquiring the three-dimensional data of an ancient cave paintings. The close-range photogrammetry technology used in the research was divided in two categories which are the UAV-based close-range photogrammetry and the terrestrialbased close-range photogrammetry. The UAV-based technology involved with the used of calibrated Phantom 4 System while the terrestrial-based technology involved with the calibrated Sony F828 digital camera and pPhotoModeler software. Both stereo and convergent image acquisition techniques were used to acquire the images of the paintings. The ancient cave paintings were also recorded using terrestrial laser scanning technology. In the research, the FARO Focus 3D terrestrial laser scanner was used to capture the three-dimensional point clouds and images of the paintings. The finding shows that both close-range photogrammetry and laser scanning technologies provide excellent solutions to map and to record the ancient paintings. As compared to the conventional method, both close-range photogrammetry and terrestrial laser scanning technology provide a noncontact solution for data acquisition and the data was recorded in digital format for better protection and security.

Depth map generation using a single image sensor with phase masks.

Conventional stereo matching systems generate a depth map using two or more digital imaging sensors. It is difficult to use the small camera system because of their high costs and bulky sizes. In order to solve this problem, this paper presents a stereo matching system using a single image sensor with phase masks for the phase difference auto-focusing. A novel pattern of phase mask array is proposed to simultaneously acquire two pairs of stereo images. Furthermore, a noise-invariant depth map is generated from the raw format sensor output. The proposed method consists of four steps to compute the depth map: (i) acquisition of stereo images using the proposed mask array, (ii) variational segmentation using merging criteria to simplify the input image, (iii) disparity map generation using the hierarchical block matching for disparity measurement, and (iv) image matting to fill holes to generate the dense depth map. The proposed system can be used in small digital cameras without additional lenses or sensors.

Influence of the Surface Structure on the Anode Boundary of High Current Moving Arcs in Atmosphere

In this study the influence of the surface structure on the anode boundary of high intensity arcs in atmosphere is investigated. It was found that the surface structure of an anode has a significant influence on the anode fall voltage, which we claim can be caused by field enhancements. The tested anode material is copper. In order to produce different field enhancing surface structures induced by micro peaks, the samples are sandblasted with different grain sizes. For the determination of the field a new method is proposed and a field enhancement factor is defined. This is done by approximating the sample surfaces with ideal peaks, whose height is calculated using the roughness and whose base is calculated based on SEM-images. Knowing the geometry of the peaks it is possible to simulate the electric field and then calculate the field enhancement factor. The prepared samples are tested with TIG-like plasmas applying different parameters. While moving the arc across a prepared sample, voltage and current measurements take place with parallel high speed stereo image acquisition. Using the measured arc voltages, the calculated fields and a modified form of the Child-Langmuir law, it is possible to calculate the anode drop voltage. To verify the innovative method, Langmuir-probe measurements are performed. The results are in good agreement and are evidence that the method used for the determination of the field enhancement and the physical model based on the Child-Langmuir law are useful approximations.

Spatiotemporal inferences for use in building detection using series of very-high-resolution space-borne stereo images

Automatic building detection from very-high-resolution (VHR) satellite images is a difficult task. The detection accuracy is usually limited by spectral ambiguities and the uncertainties of the available height information. Feature extraction and training sampling collection for supervised methods are other sources of uncertainty. Most widely used VHR sensors have shorter revisit cycles (IKONOS/GeoEye-1/2, 3 days; WorldView 1/2, 1.1 days) due to large off-nadir viewing angles and hence are able to perform consistent acquisition of mono or stereo images. In this article, we investigate the possibility of using high-temporal stereo VHR images to enhance remote-sensing image interpretation under the context of building detection. Digital surface models, which contain the height information, are generated for each date using semi-global matching. Pre-classification is performed combining the height and spectral information to obtain an initial building probability map. With a reference land cover map available for one date, the training samples of the other dates are automatically derived using a rule-based validating procedure. A spatiotemporal inference filter is developed considering the spectral, spatial, and temporal aspects to enhance the building probability maps. This aims at homogenizing the building probability values of spectrally similar pixels in the spatial domain and geometrically similar pixels in the temporal domain, while being robust to the silhouette of the images and geometric discrepancies of the multitemporal data. The effectiveness and robustness of the proposed method are evaluated by performing three experiments on six stereo pairs of the same region over a time period of five years (2006–2011). The area under curve (AUC) of the receiver operating characteristic and kappa statistic (κ) are employed to assess the results. These experiments show that spatiotemporal inference filtering largely improves the accuracy of the building probability map (average AUC = 0.95) while facilitating building extraction in snow-covered images. The resulting building probability maps can be further used for other applications (e.g. building footprint updating).

광량 변화에 강건한 가중치 국부 기술자 기반의 스테레오 정합

In a real scenario, radiometric change has frequently occurred in the stereo image acquisition process using multiple cameras with geometric characteristics or moving a single camera because it has different camera parameters and illumination change. Conventional stereo matching algorithms have a difficulty in finding correct corresponding points because it is assumed that corresponding pixels have similar color values. In this paper, we present a new method based on the local descriptor reflecting intensity, gradient and texture information. Furthermore, an adaptive weight for local descriptor based on the entropy is applied to estimate correct corresponding points under radiometric variation. The proposed method is tested on Middlebury datasets with radiometric changes, and compared with state-of-the-art algorithms. Experimental result shows that the proposed scheme outperforms other comparison algorithms around 5% less matching error on average.

Research on Stereo Image Acquisition Technology of 3D Printing

In the process of 3D printing, stereo image acquisition is the basis and premise of 3D modeling so that it’s important to study the acquisition methods and techniques. This paper will study the process of point cloud data acquisition of a hand model by using handheld laser scanner REVscan, and processed by the reverse engineering software Geomagic Studio. Using the object model captured, we can greatly improve the efficiency and accuracy, as well as reduce the cycle of the 3D printing. This will help achieve the transmission of 3D printing data without geographical restrictions, in which truly realize the concept "What You See Is What You Get".

볼륨기반 X-선 스캔영상의 3차원 형상화 연구

As the existing radiation scanning systems use 2-dimensional radiation scanned images, the low accuracy has been pointed out as a problem of it. This research analyzes the applicability of the stereo image processing technique to X-ray scanned images. Two 2-dimensional radiation images which have different disparity values are acquired from a newly designed stereo image acquisition system which has one additional line sensor to the conventional system. Using a matching algorithm the 3D reconstruction process which find the correspondence between the images is progressed. As the radiation image is just a density information of the scanned object, the direct application of the general stereo image processing techniques to it is inefficient. To overcome this limitation of a stereo image processing in radiation area, we reconstruct 3-D shapes of the edges of the objects. Also, we proposed a new volume based 3D reconstruction algorithm. Experimental results show the proposed new volume based reconstruction technique can provide more efficient visualization for cargo inspection. The proposed technique can be used for such objects which CT or MRI cannot inspect due to restricted scan environment.

RPC를 기반으로 한 아리랑 2호 에피폴라 영상제작

As high-resolution satellite images have enabled large scale topographic mapping and monitoring on global scale with short revisit time, agile sensor orientation, and large swath width, many countries make effort to secure the satellite image information. In Korea, KOMPSAT-2 (KOrea Multi-Purpose SATellite-2) was launched in July 28 2006 with high specification. These satellites have stereo image acquisition capability for 3D mapping and monitoring. To efficiently handle stereo images such as stereo display and monitoring, the accurate epipolar image generation process is prerequisite. However, the process was highly limited due to complexity in epipolar geometry of pushbroom sensor. Recently, the piecewise approach to generate epipolar images using RPC was developed and tested for in-track IKONOS stereo images. In this paper, the piecewise approach was tested for KOMPSAT-2 across-track stereo images to see how accurately KOMPSAT-2 epipolar images can be generated for 3D geospatial applications. In the experiment, two across-track stereo sets from three KOMPSAT-2 images of different dates were tested using RPC as the sensor model. The test results showed that one-pixel level of y-parallax was achieved for manually measured tie points.

Flow Velocity Vector Fields by Ultrasound Particle Imaging Velocimetry

We performed an in vitro study to assess the precision and accuracy of particle imaging velocimetry (PIV) data acquired using a clinically available portable ultrasound system via comparison with stereo optical PIV. The performance of ultrasound PIV was compared with optical PIV on a benchmark problem involving vortical flow with a substantial out-of-plane velocity component. Optical PIV is capable of stereo image acquisition, thus measuring out-of-plane velocity components. This allowed us to quantify the accuracy of ultrasound PIV, which is limited to in-plane acquisition. The system performance was assessed by considering the instantaneous velocity fields without extracting velocity profiles by spatial averaging. Within the 2-dimensional correlation window, using 7 time-averaged frames, the vector fields were found to have correlations of 0.867 in the direction along the ultrasound beam and 0.738 in the perpendicular direction. Out-of-plane motion of greater than 20% of the in-plane vector magnitude was found to increase the SD by 11% for the vectors parallel to the ultrasound beam direction and 8.6% for the vectors perpendicular to the beam. The results show a close correlation and agreement of individual velocity vectors generated by ultrasound PIV compared with optical PIV. Most of the measurement distortions were caused by out-of-plane velocity components.

Development of 3D measurement system by using walking direction images

In Japan, There are some nature parks in the mountain area around the country. These parks are valuable as walking and hiking place for many people who are not only keeping health but also enjoying the own view and landscape. In order to experience such situation easily, landscape simulation on a PC is convenient tool. Therefore, 3D data acquisition for the spatial of nature park are needed for achievement of the landscape simulation. However, there are some issues for 3D measurement for the spatial of nature, e.g. without GCPs, difficult to acquisition of stereo images, and so on.In these circumstances, 3D measurement method by using walking direction images is developed. Accuracy evaluation for the method and 3D modeling for a part of Oze national park are investigated in this paper.

Melt Densification of Polymeric Powder Beds Filled with Natural Fibres

An experimental study of the melt densification of polyethylene powders filled with natural fibres is presented. The aim was to understand the underlying principles applicable to the consolidation of thermoplastic polymer-natural fibre systems processed by rotational moulding. This process has been developed at POLYCOM and has been reported previously in the literature. A sintering oven with PID-controlled temperature was equipped with a stereo microscope and image acquisition facilities. Sintering sequences were studied using image analysis procedures. Initial studies with two kinds of polymer particle and one type of fibre were carried out in order to identify some of the governing processes. Other studies included the use of multi-particle beds with many fibres having different concentrations, and the measurement of powder permeability and density. The influence of sintering temperature and time on the sintered specimens' density is also reported. Natural fibres induce voids in the sintered specimens and retard coalescence between the polymer particles. The experimental results were in good agreement with previous data obtained from the rotational and compression moulding of natural fibre reinforced thermoplastics.

A Study on the Relative Orientation of 3-Line Scanner Image.

A method for modelling the orientation parameters of Three Line Scanner (TLS) has been developed. The scanner is an airborne system for the acquisition of digital stereo images of terrain. It has three CCD linear sensors mounted on the focal plane of the camera, and images the earth surface in forward, nadir and backward directions based on the push-broom mode. The principle and experiment of data acquisition of digital three-line imagery were briefly described and the mathematical model used for the computation was presented. In this study, the behaviors of exterior orientation parameters of the camera were modeled by a set of cubic spline functions and then reconstructed by a least-square adjustment based on the collinearity equations established for every corresponding image point. Initial values of exterior orientation parameters were provided by an inertia navigation system (INS) . In this paper the results of a computation with real data were reported and discussed.