ABSTRACT 1. INTRODUCTION
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1 Published in SPIE Proceedings, Vol.3084, 1997, p Computer 3-d site model generation based on aerial images Sergei Y. Zheltov, Yuri B. Blokhinov, Alexander A. Stepanov, Sergei V. Skryabin, Alexander V. Sibiryakov State Research Institute of Aviation Systems (GosNIIAS) 7, Victorenko str., Moscow, , Russia tel. 7 (095) , fax. 7 (095) zhl@fenix.niias.msk.su ABSTRACT The technology for three-dimensional model design of real world scenes and its photorealistic rendering are current topic of investigation. Development of such technology is very attractive to implement in vast variety of applications: military mission planning, crew training, civil engineering, architecture, virtual reality entertainments- just a few was mentioned. 3D photorealistic models of urban areas are often discussed now as upgrade from existing two-dimensional geographic information systems. Possibility of site model generation with small details depends on two main factors: available source dataset and computer power resources. In this paper PC based technology is presented, so the scenes of middle resolution (scale of 1:1000) be constructed. Types of datasets are the gray level aerial stereo pairs of photographs (scale of 1:14000) and true color on ground photographs of buildings (scale ca.1:1000). True color terrestrial photographs are also necessary for photorealistic rendering, that in high extent improves human perception of the scene. Keywords: digital photogrammetry, 3D computer graphics, site modeling, orthoimage, digital terrain model, feature extraction, texture mapping 1. INTRODUCTION Photorealistic visualization of the terrain and features by means of 3D computer graphics is very attractive to use in various applications such as civil engineering, mission rehearsal, mission planning, urban architecture, animation movie etc. All the problems mentioned above require considerable computer resources so the best choice to solve them are the powerful graphical workstations 1,2. Such instrumentation, excellent though from the point of view of high data processing speed and huge disk memory, is not available to every user or organization who really needs it because of extremely high price. On the other hand, modern personal computers with their fast processors and large volume external devices are capable of supporting most of image based applications: extract data from the imagery, analyze data, create products, create ruster and vector databases. The process of 3D realistic scenes generation on PC, however, implies specific features: all basic computational algorithms should be extremely effective and computer resources optimized. To achieve high accuracy in geometric and radiometric modeling a considerable amount of processing time is required; analogous is the case of very detailed rendering all over the picture field. Every time some reasonable simplification are necessary according to the main goal the programming product should achieve. If photorealistic visualization in real time is of primary importance it can be achieved using precalculated views 3.
2 The paper outlines a typical system product workflow for programming application Pisoft-3DL realized on PC with Pentium-133, 16Mb of RAM and 1Gb of disk space. It contains a short description of the principal steps in obtaining data from stereo image pair, methods of PC based digital photogrammetry and machine vision algorithms and software for scene object extraction. We present algorithms and software for automatic and semi-automatic extraction and geometric reconstruction of digital terrain model, buildings, one-dimensional object structures (roads, rivers, lake coasts etc.). Special attention is given to the original functional features of the system under consideration. Some problems of phototextures patches mapping onto not exactly suitable geometric constructions are solved. Two examples of real site modeling are examined. One of them is the village Litvinovo near Moscow, another- mountainous region in Caucasus. The results in the manner of wireframe site model and orthophoto as it required on input of virtual reality system are represented. 2. INPUT/OUTPUT DATA Pisoft-3DL uses digital stereo image pairs as input for photogrammetric workflow. Both geometry and textures of terrain and features can be taken from here. As alternative means of input the system can take scene elements (terrain, roads, woods, lakes and houses) in vector format. It gives to operator the opportunity to break the process of feature extraction with saving data already obtained in file and to begin next session with broken point. Such opportunity exists even in automatic terrain extraction mode: if the user breaks the procedure, intermediate results are saved in file and later he may continue the process. The size of images the Pisoft-3DL is able to process depends on available disk space only and achieved up to 2 300Mb for stereo pair. Examples presented in the current paper for stereo pair of village Litvinovo near Moscow occupy 2 9Mb and mountainous region in Caucasus 2 2Mb. Each image should have some sort of fiducial marks to relate digitized frame image to its original film coordinates. Another parts of input data are film digitizing precision, camera calibration parameters and distortions. These can be taken either from files or in dialog mode. Output is also subdivided in raster (orthophoto) and vector (Digital Terrain Model (DTM), roads, woods, lakes and houses). Raster format used is BMP and vector data can be exported either in DXF or internal Pisoft-3DL format. 3. BASIC FUNCTIONS The main possible data source for systems similar to Pisoft-3DL are aerial photographs, so usual photogrammetric procedures can give both geometry and texture of extracted objects 3. Data acquisition must be done separately for each graphical layer. Automatic and semi-automatic data capturing with methods of machine vision and digital photogrammetry is increasingly practicable for this purpose. In this chapter the basic items of digital site modeling technology are presented in brief. A typical system product flow is represented in fig.1. Internal Orientation requires on input digitized frame images with fiducials. It allows to compute the transformation relating image pixels of digitized film imagery to the original photo coordinate system. This transformation provides an accurate mapping from ground space to image space for geo-positioning.
3 Relative Orientation connects the left photo coordinate system to right one. Further it gives opportunity to fulfill exterior orientation when the number of ground points is not sufficient. Exterior Orientation is used to fix geoposition of left and right images. Coordinate systems supported are Gauss and Local Space Rectangular (LSR). Absolute orientation to ground or relative orientation capabilities are provided. Input Imagery Vector Format Data Internal Orientation Relative Orientation External Orientation Automatic Terrain Extraction DTM Correction Interactive DTM Editing DTM Feature Extraction Features Lists Ortophoto Generation Ortophoto Textures fig.1
4 Both Relative and Exterior Orientations are performed in user-friendly semi-automatic interactive modes. Automatic Terrain Extraction is a primary function of the system under consideration. Digital Terrain Model (DTM) is automatically generated over the intersection area using Hierarchical Subpixel Correlation, which is fully automatic. First, the image pyramid is created. At each pyramid level the usual cross-correlation matching is performed. The special original Signal Absence Criterion is used to accelerate the correlator processing. To correct outliers a robust filtering is performed every time after pyramid level matching. The matched points are used as initial approximation for the next level. At the last iteration over the full resolution image the original fast converged Subpixel Cross-Correlation Algorithm is performed to find locations of the conjugate points at right image with subpixel accuracy. DTM Correction. After automatic DTM generation, the operator can review the terrain obtained either in stereo or by means of 2-D viewer with 256 levels of gray to represent total elevation range. Although DTM postprocessing including interpolation and filtering is made automatically the operator has the opportunity to accept it after review, or elect some of predefined filters to correct it once more. Correction is considered here as automatic procedure. Interactive Terrain Editing tools are provided to correct the results of the automatic DTM generation process. The DTM coloring is used to visualize points with low value of Figure of Merit. These interactive tools allow efficient editing of single points and groups of points and include 1. Point-by-point static editing 2. Peaks and cavities cutting 3. Area smoothing 4. Constant/lake filling. Feature Extraction is the process of delineating and defining features located on the surface of the earth, such as buildings, roads, rivers, woods and lakes. Each feature belongs to a definite group of the scene objects called class or layer. When delineating a feature in stereo mode, the operator controls all three dimensions using mouse and special keys on keyboard. The delineations consist of individually sampled points which constitute frames of houses or curves of linear objects (roads, woods). Features can be smoothed by fitting splines. Extraction of all linear objects is semi-automatic, based on snake algorithm. Extraction of houses starts from automatical procedure, efficiency of the algorithms underlay depends on the input imagery quality in great extent. After the procedure is finished, operator can visualize outlines of the houses found successfully on the stereo pair images. The remaining part of true buildings extraction is fulfilled manually. Both DTM and features can be saved in file in vector Pisoft-3DL format or exported in DXF. Orthophoto Generation is one of the primary functions of the digital photogrammetric system and orthorectified image itself is a final output product. The standard input to the orthorectification process is a DTM file, the original digital image input, the exterior orientation parameters of the photo, and the desired pixel size of the output image. The output is an orthorectified image in BMP format. 4. SITE MODELING
5 Primary production of digital photogrammetric system such as Digital Terrain Model (DTM), Digital Model of Scene Objects (DMSO), and orthorectified image can be used as input for a system of virtual reality. fig.2
6 fig.3
7 fig.4
8 fig.5 First step in this way is a Site Model (SM) generation. Site Model comprises DTM and DMSO accurately fitted to DTM. A wireframe representation is commonly used to visualize site model. Two examples of real site modeling are presented here. First of them is the village Litvinovo near Moscow (fig.2), and the second is mountainous region in Caucasus (fig.3). The corresponding orthophotos are presented in fig.4 and fig.5. For 3D scene objects whose vertical sides are usually invisible in the aerial photographs the additional terrain photographs are required as a source of textures for rendering. In rural areas these are buildings, woods, hedges and trees. Digital imaged are received by scanning the photographs. The PC-based stereo visualization tools for virtual reality product generation are discussed in more details in the current volume 4.
9 5. CONCLUSION The system offering all the major photogrammetric functions is developed for PC-based implementation of site modeling process. The software includes both automatic and semi-automatic modules. The size of the input imagery is limited only by disk space of computer. According to peculiarity of realization such complicated system on PC all basic computational algorithms are constructed as extremely effective and computer resources optimized. Special attention was paid to automatic DTM extraction and feature extraction. All the original features of Pisoft-3DL are considered in brief. REFERENCES 1. A. Gruen, Digital photogrammetric stations revisited, International Archives of Photogrammetry and Remote Sensing, Volume XXXI, part B2, com. II, pp , A. S. Walker, and G. Petrie, Digital photogrammetric workstations , International Archives of Photogrammetry and Remote Sensing, Volume XXXI, part B2, com. II, pp , R. Würländer, M. Gruber, and H. Mayer, Photorealistic terrain visualisation using methods of 3-D computer graphics and digital Photogrammetry, International Archives of Photogrammetry and Remote Sensing, Volume XXXI, part B4, com. IV, pp , A. A. Stepanov, S. Y. Zheltov, K. R. Kiryakov, A. I. Invalev, and A. V. Boltunov, PC-based stereo visualization tools for aviation virtual reality projects, in current Volume.
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