Image-based object reconstruction and visualization for inventory of cultural heritage

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1 Research Collection Conference Paper Image-based object reconstruction and visualization for inventory of cultural heritage Author(s): Niederöst, Jana; Zhang, Li; Grün, Armin Publication Date: 2001 Permanent Link: Rights / License: In Copyright - Non-Commercial Use Permitted This page was generated automatically upon download from the ETH Zurich Research Collection. For more information please consult the Terms of use. ETH Library

2 IMAGE-BASED OBJECT RECONSTRUCTION AND VISUALIZATION FOR INVENTORY OF CULTURAL HERITAGE Jana Visnovcova, Armin Gruen, Li Zhang Institute of Geodesy and Photogrammetry, Swiss Federal Institute of Technology Zurich ETH Hönggerberg CH-8093 Zurich, Switzerland Tel.: , Fax: <jana> ABSTRACT The paper reports about two projects for derivation of photorealistic 3D models using modern techniques of analytical and digital photogrammetry. The first project aims at documentation of the oldest preserved large relief model of Switzerland requiring a high quality object reconstruction. The second application presents modeling and visualization of one of the complex towers of the famous Bayon temple of the ancient city of Angkor Thom, Cambodia based on the use of small format tourist-type photography. Described photogrammetric procedures include phototriangulation, digital surface model generation in manual or automated mode and automated techniques of texture mapping. 1. INTRODUCTION The preservation and inventory of cultural heritage has become a task of great concern nowadays. In a rapidly developing world a need for the documentation of the present state of historical artefacts arises. Object reconstruction based on terrestrial and aerial imagery has been widely adopted in the recording of architectural monuments, historical urban centers and archaeological sites. However, in the field of museum inventory, there is still a high potential of these procedures not yet fully discovered and utilized. Photogrammetric approaches to modeling and visualization of the cultural heritage offer accurate methods for 3D object reconstruction including quantitative evaluation of the results. Acquired data sets can be integrated in Cultural Heritage Information Systems with the possibility of spatial analyses and future update. We present two applications for image-based modeling and visualization of cultural heritage items: The evaluation of a historical relief model of Central Switzerland and a reconstruction of a Buddhist tower of the Bayon Temple of Angkor Thom, Cambodia. The first application is a contribution to the use of new information technologies for historical cartography. The second one aims at a lowcost image-based procedure for the modeling of large irregular objects and as such it represents an interesting alternative to laser scanning. 2. PFYFFER S RELIEF ( ) At the Gletschergarten Museum in Lucerne, Switzerland the oldest preserved large relief model of the country is on display since 1873 (Figure 1). Constructed between 1762 and 1786 by Franz Ludwig Pfyffer von Wyher, the 6,6 x 4 m 2 relief shows the Lake Lucerne and neighboring areas. At a scale of about 1: for the horizontal and 1: for the vertical direction it represents an area of km 2 and as such about 1/10 of Switzerland. The model is constructed from pieces of timber, bricks, charcoal and cardboard with a mixture of gypsum, sand and beewax as a top layer. The relief s topography is based on field measurements performed by Pfyffer after his discharge from the French army services by king Louis XV. with the rank of lieutenant general. The relief

3 model of Franz Ludwig Pfyffer served as a basis of several printed maps issued at the end of 18 th century (Bürgi 1998, Cavelti Hammer 1998). The cultural-historical masterpiece of Franz Ludwig Pfyffer is nowadays a subject of scientific evaluation concerned with two main goals: Image-based 3D reconstruction of the relief for the documentation of the cultural heritage, Comparison of the virtual Pfyffer relief with current map information for the purpose of research in the history of cartography. France Germany Austria Italy This paper reports on the generation of the texture-mapped 3D model of the historical relief. The development of procedures for the analysis of the relief s accuracy is not within the scope of this paper and will be published elsewhere. Figure 1: The 26 m 2 large Pfyffer relief and the related part of Switzerland 2.1 Procedures and results The project objectives require a high quality 3D model of Pfyffer s relief. Therefore great attention has to be paid to the selection of optimal procedures and instruments. Within a pilot project we processed a 220 x 150 cm 2 large part of the relief from the area of Lake Lucerne and Mt. Pilatus and gathered experience for the reconstruction of the complete 3D model. The procedures as well as achieved results are described in the following. (1) Data acquisition The relief is situated in a cellar of the Gletschergarten Museum in Lucerne in a special temperature and humidity controled room. Due to ongoing complex relief restoration it was possible to separate and slightly replace the related relief part for image acquisition (Figure 2). We acquired two blocks of colored images with the analog metric camera Rolleiflex 6006 (image format 6 x 6 cm 2, Table 1). In order to enable the stereoscopic processing the images have an overlap of 60% within a strip and 20% between neighbouring strips. To achieve a good illumination and to avoid the disturbing specular reflection of the shiny relief surface spotlights in combination with the dispersion umbrellas were used. Number of images Acquisition height Image scale Block1 8 (4 images in 2 strips) 120 cm 1:24 Block2 5 (1 single strip) 150 cm 1:30 Table 1: Parameters of acquired images Figure 2: Image acquisition Before image acquisition, about 20 circular targets of 3 mm diameter were temporarily pasted onto the relief surface. The three-dimensional position of these control points in a local coordinate

4 system was determined using theodolite measurements with an accuracy of 0.04 mm. The purpose of control points is to establish a metric reference frame for the acquired images and the photographed object itself. (2) Photogrammetric processing Both blocks of acquired images were processed in manual as well as in automated mode. For the digital processing the images were scanned with a resolution of 1200 dpi. The procedures and products include: Phototriangulation. Each block of images was triangulated in order to determine exterior orientation of the images in a unique local object coordinate system. Generation of a Digital Surface Model (DSM) of 0.5 cm raster width. The comparison of a manually measured reference DSM and an automatically derived model shows that the automatic procedures do not work properly in this case. In particular, the matcher has problems with distinct height differences in the model. As this is concerning the project requirements not acceptable, we will resort to manual DSM measurements in the main project phase. Orthoimage generation, texture mapping and visualization. The original scanned images were transformed into so-called orthoimages using principles of digital image processing. For the derivation of 3D visualization products the orthoimages are texture-mapped onto the model surface (Figure 3). Figure 3: The 3D texture-mapped model of the part of the Pfyffer s relief In the meantime a complex relief restoration was successfully finished and the image acquisition of the whole 26 m 2 large relief was performed. Currently the photogrammetric processing is in work. 3. TOWER OF BAYON, CAMBODIA On the vast plane north of Tonle Sap, the Great Lake in Cambodia, one of the greatest archaeological and architectural sites of the world is situated the Angkor complex. Angkor, the ancient capital of the Khmer Empire dominated the region between AD, reaching its zenith in the 12 th century. The whole complex spreads over an area of more than 400 km 2 and consists of many temples and other buildings. It ranks among the most spectacular sites currently listed in the UNESCO World Heritage List. Within the antient city of Angkor Thom one can find the famous Bayon Temple built by Jayavarman VII in the twelfth century. A special feature of Bayon are its 54 towers with four large faces on each, pointing in all four geographical directions (Figure 4).

5 In this paper we present the 3D reconstruction of one of the very complex towers of Bayon. The goal of our project was to test the photogrammetric procedures for the photorealistic 3D modeling and visualization of complex objects based on tourist-type small format photographs. Figure 4: Aerial image of Bayon 3.1 Procedures and results (1) Data acquisition For the reconstruction of one of the Buddhist towers of Bayon 13 small-format images covering the whole horizon were acquired with a Minolta Dynax 500si camera (Figures 5 and 6). No theodolite measurement of control points was performed. For the determination of the object scale and the definition of the direction of the vertical served a scale bar situated right of the southern tower side. Since a 360 degree azimuth coverage was necessary and the light conditions were fairly extreme the production of good, evenly illuminated pictures was practically impossible without artificial lighting. As this was not available at the site the images suffer under strong variations of the illuminated and shadow areas. Also, the shadow and light parts vary from image to image, depending on the time of the day the images were taken. In order to achieve a photorealistic 3D model, this problem had to be thoroughfully handled during the photogrammetric processing Figure 5: Arrangement of images for the 3D object reconstruction Figure 6: One of 13 small-format images (2) Photogrammetric processing Phototriangulation. The image measurements for the phototriangulation were performed manually on an analytical plotter. Altogether about 170 orientation and tie points were recorded in 13 images around the tower. For the absolute orientation of the whole block 3 control points defining the local coordinate system were used (two of them selected as marks on a vertical scale-bar). In the self-calibrating bundle adjustment the interior orientation and the systematic errors of the used non-metric camera were modeled. Generation of a Digital Surface Model of 3 cm grid width. For the extraction of the 3D surface geometry the images were digitised with a resolution of 1200 dpi. The surface model was

6 generated automatically using the commercial software package MATCH-T. For technical reasons four image pairs taken from south, east, north and west (images number 2/3, 5/6, 8/9 and 11/12 in Figure 5) were selected and matching was performed in each pair separately. The visualization of matched points indicated that the image matching procedure in MATCH-T works reasonably well in this case. However, at the borders of each separately processed model outliers occurred because of sloping object faces. To achieve a good visualization result, these errors were eliminated automatically and the 3D point cloud was triangulated (Visnovcova et al., 2001). View-dependent texture mapping and visualization. We developed a new automated procedure of view-dependent texture mapping enabling generation of detailed photorealistic 3D models. Based on the selection of optimal image patches for each triangle of the 3D model, it solves two essential problems of texture mapping for close-range applications: lack of image information for sloped object parts and the problem of varying radiometry of the acquired images (Visnovcova et al, 2001). The results of the texture-mapped 3D model are shown in Figure 7. Figure 7: Reconstructed 3D model of the Bayon Tower (southern and eastern view) 4. CONCLUSIONS We have shown how image-based 3D object reconstruction can contribute to the inventory of cultural heritage for high precision applications (Pfyffer s relief) as well as for projects focusing on visualization, with lower requirements on geometric accuracy of the results but with high geometric complexity of the object (Tower of Bayon). REFERENCES [1] Bürgi, A., 1998: Der Blick auf die Alpen: Franz Ludwig Pfyffers Relief der Urschweiz (1762 bis 1786). Cartographica Helvetica, Nr. 18, July Pages 3 9. [2] Cavelti Hammer, M., 1998: Herstellung und Auswirkungen des Reliefs der Urschweiz von Franz Ludwig Pfyffer. Cartographica Helvetica, Nr. 18, July Pages [3] Visnovcova, J., Zhang, L., Gruen, A., 2001: Generating a 3D model of a Bayon tower using non-metric imagery. Proceedings of the International Workshop Recreating the PastVisualization and Animation of Cultural Heritage, Ayutthaya, Thailand,

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