rapid 3d scene reconstruction from kite-based aerial imagery using open source structure from ...

110 Pages·2014·3.18 MB·English

by  Michael Roy Resig

RAPID 3D SCENE RECONSTRUCTION FROM KITE-BASED AERIAL IMAGERY
USING OPEN SOURCE STRUCTURE FROM MOTION
A Thesis Project submitted in partial fulfillment of the requirements for the degree of
Masters of Science at George Mason University
by
Michael Roy Resig
Bachelor of Arts
Wheaton College, IL 2009
Director: Arie Croitoru, Professor
Department of Geoinformatics and Geospatial Intelligence
Fall Semester 2014
George Mason University
Fairfax, VA
THIS WORK IS LICENSED UNDER A CREATIVE COMMONS
ATTRIBUTION-NODERIVS 3.0 UNPORTED LICENSE.

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DEDICATION
This is dedicated to my loving and wonderful wife Hannah. Your continual support has
motivated me throughout the years to keep chasing my passions and enjoy life. Also to
my family, who always taught me to pursue my interests with vigor and integrity and
supported me every step of the journey.
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ACKNOWLEDGEMENTS
I would like to thank the many friends, coworkers, and supporters who have helped make
my degree and thesis possible. Without them, I would not have had the opportunity to
pursue this degree. Dr. Matt Rice, Dr. Arie Croitoru, and Dr. Anthony Stefanidis were
pivotal in guiding and educating me during my Master program. Finally, I would like to
thank my past professors and mentors for guiding me to where I am today. Their
dedication to education and excellence gave me the tools to excel at life and learning.

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TABLE OF CONTENTS
Page
List of Tables .................................................................................................................... vii
List of Figures .................................................................................................................. viii
List of Abbreviations ......................................................................................................... ix
Abstract ............................................................................................................................... x
Chapter One: Introduction .................................................................................................. 1
1.1 Motivation ................................................................................................................. 1
1.2 Problem Definition .................................................................................................... 2
1.3 Thesis Objectives ...................................................................................................... 3
1.4 Thesis Organization................................................................................................... 4
Chapter Two: Related work ................................................................................................ 6
2.1 Relevant Fields .......................................................................................................... 6
2.2 Overall Methodology ................................................................................................ 9
2.3 Aerial Systems and Imagery ................................................................................... 11
2.4 Structure from Motion ............................................................................................. 12
2.5 3D Reconstruction ................................................................................................... 13
Chapter Three: Method Application ................................................................................. 16
3.1 Overview ................................................................................................................. 16
3.1.1 Location ............................................................................................................ 18
3.1.2 Schedule............................................................................................................ 20
3.1.3 Process Workflow............................................................................................. 23
3.2 Data Capture ............................................................................................................ 24
3.2.1 Equipment ......................................................................................................... 24
3.2.2 Setup and Planning ........................................................................................... 28
3.2.3 Capture Procedure ............................................................................................ 31
3.2.4 Upload and Conversion .................................................................................... 33
3.3 Structure from Motion ............................................................................................. 34
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3.3.1 Equipment ......................................................................................................... 34
3.3.2 Setup and Preparation ....................................................................................... 35
3.3.3 SfM Algorithm ................................................................................................. 38
3.3.4 Point Cloud Export ........................................................................................... 44
3.4 3D Reconstruction ................................................................................................... 45
3.4.1 Equipment ......................................................................................................... 46
3.4.2 Setup and Planning ........................................................................................... 47
3.4.3 Algorithm Application ...................................................................................... 51
3.4.4 Texture Application .......................................................................................... 54
Chapter Four: Results ....................................................................................................... 56
4.1 Overview ................................................................................................................. 56
4.2 Data ......................................................................................................................... 58
4.3 Structure from Motion ............................................................................................. 61
4.4 3D Reconstruction ................................................................................................... 65
4.5 Accuracy Comparison ............................................................................................. 69
4.6 Concept Applications .............................................................................................. 73
Chapter Five: Conclusion & Future Research .................................................................. 78
Appendix A ....................................................................................................................... 90
Appendix B ....................................................................................................................... 91
References ......................................................................................................................... 92

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LIST OF TABLES
Table Page
Table 1 - Workflow time................................................................................................... 56
Table 2 - Project Costs ...................................................................................................... 58
Table 3 - Data Table ......................................................................................................... 61
Table 4 - Output datasets .................................................................................................. 71

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LIST OF FIGURES
Figure Page
Figure 1 - Study Site: Green Acres Center facility and surrounding area ........................ 19
Figure 2 - Simple Workflow ............................................................................................. 23
Figure 3 - Complex Workflow .......................................................................................... 24
Figure 4 - Aerial platform: Delta performance kite .......................................................... 25
Figure 5 - GoPro Hero 3 Black Edition ............................................................................ 27
Figure 6 - GoPro wireless directory .................................................................................. 31
Figure 7 - VisualSfM Toolbar ........................................................................................... 36
Figure 8 - Step A ............................................................................................................... 37
Figure 9 – Image thumbnails and Log .............................................................................. 38
Figure 10 - VisualSfM: SIFT example ............................................................................. 39
Figure 11 - Step B ............................................................................................................. 40
Figure 12 - Step C ............................................................................................................. 41
Figure 13 – Step C: VisualSfM Sparse Reconstruction .................................................... 42
Figure 14 - Step D ............................................................................................................. 43
Figure 15 - Dense point cloud ........................................................................................... 44
Figure 16 - MeshLab Toolbar ........................................................................................... 47
Figure 17 - MeshLab UI ................................................................................................... 48
Figure 18 - MeshLab: Dense point cloud ......................................................................... 50
Figure 19 - MeshLab Poisson's parameters ...................................................................... 51
Figure 20 - Poisson results ................................................................................................ 52
Figure 21 - MeshLab Parameterization ............................................................................. 53
Figure 22 - MeshLab Project Texture ............................................................................... 54
Figure 23 - Final Model with Texture............................................................................... 55
Figure 24 - Camera view from 70 feet altitude ................................................................. 60
Figure 25 - Results: Step A ............................................................................................... 62
Figure 26 - Results: Spanning tree and Match matrix ...................................................... 63
Figure 27 - Results: Step C ............................................................................................... 64
Figure 28 - Results: Dense Point Cloud ............................................................................ 65
Figure 29 - Results: Dense Point Cloud 2 ......................................................................... 66
Figure 30 - Results: Steps H, I .......................................................................................... 67
Figure 31 - Step J: Textures .............................................................................................. 68
Figure 32 - Georeferencing Model ................................................................................... 70
Figure 33 - 500 ft kite altitude .......................................................................................... 83

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LIST OF ABBREVIATIONS
Three-dimensional ............................................................................................................ 3D
User Interface .................................................................................................................... UI
Area of Interest .............................................................................................................. AOI
Geographic Information System ..................................................................................... GIS
Digital Elevation Model ................................................................................................ DEM
Global Positioning System ............................................................................................. GPS
Root Mean Square......................................................................................................... RMS
Structure from Motion ................................................................................................... SfM
Scale Invariant Feature Transform................................................................................ SIFT
Clustering Views for Multi-view Stereo .................................................................... CMVS

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