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PKS: A photogrammetric key-frame selection method for visual-inertial systems built on ORB-SLAM3 / Arash Azimi in ISPRS Journal of photogrammetry and remote sensing, vol 191 (September 2022)  

Public [article]  inISPRS Journal of photogrammetry and remote sensing > vol 191 (September 2022) . - pp 18 - 32 Titre : PKS: A photogrammetric key-frame selection method for visual-inertial systems built on ORB-SLAM3 Type de document : Article/Communication Auteurs : Arash Azimi, Auteur ; Ali Hosseininaveh Ahmadabadian, Auteur ; Fabio Remondino, Auteur Année de publication : 2022 Article en page(s) : pp 18 - 32 Note générale : bibliographie Langues : Anglais (eng) Descripteur : [Vedettes matières IGN] Photogrammétrie [Termes IGN] alignement [Termes IGN] cartographie et localisation simultanées [Termes IGN] centrale inertielle [Termes IGN] centre de gravité [Termes IGN] déformation d'image [Termes IGN] géoréférencement direct [Termes IGN] méthode heuristique [Termes IGN] semis de points [Termes IGN] seuillage d'image [Termes IGN] structure-from-motion [Termes IGN] vision par ordinateur Résumé : (auteur) Key-frame selection methods were developed in the past years to reduce the complexity of frame processing in visual odometry (VO) and visual simultaneous localization and mapping (VSLAM) algorithms. Key-frames help increasing algorithm's performances by sparsifying frames while maintaining its accuracy and robustness. Unlike current selection methods that rely on many heuristic thresholds to decide which key-frame should be selected, this paper proposes a photogrammetric-based key-frame selection method built upon ORB-SLAM3. The proposed algorithm, named Photogrammetric Key-frame Selection (PKS), replaces static heuristic thresholds with photogrammetric principles, ensuring algorithm’s robustness and better point cloud quality. A key-frame is chosen based on adaptive thresholds and the Equilibrium Of Center Of Gravity (ECOG) criteria as well as Inertial Measurement Unit (IMU) observations. To evaluate the proposed PKS method, the European Robotics Challenge (EuRoC) and an in-house datasets are used. Quantitative and qualitative evaluations are made by comparing trajectories, point clouds quality and completeness and Absolute Trajectory Error (ATE) in mono-inertial and stereo-inertial modes. Moreover, for the generated dense point clouds, extensive evaluations, including plane-fitting error, model deformation, model alignment error, and model density and quality, are performed. The results show that the proposed algorithm improves ORB-SLAM3 positioning accuracy by 18% in stereo-inertial mode and 20% in mono-inertial mode without the use of heuristic thresholds, as well as producing a more complete and accurate point cloud up to 50%. The open-source code of the presented method is available at https://github.com/arashazimi0032/PKS. Numéro de notice : A2022-664 Affiliation des auteurs : non IGN Thématique : IMAGERIE Nature : Article nature-HAL : ArtAvecCL-RevueIntern DOI : 10.1016/j.isprsjprs.2022.07.003 Date de publication en ligne : 12/07/2022 En ligne : https://doi.org/10.1016/j.isprsjprs.2022.07.003 Format de la ressource électronique : URL article Permalink : https://documentation.ensg.eu/index.php?lvl=notice_display&id=101525 [article]

Benefiting from local rigidity in 3D point cloud processing / Zan Gojcic (2021)  

Public Titre : Benefiting from local rigidity in 3D point cloud processing Type de document : Thèse/HDR Auteurs : Zan Gojcic, Auteur Editeur : Zurich : Eidgenossische Technische Hochschule ETH - Ecole Polytechnique Fédérale de Zurich EPFZ Année de publication : 2021 Importance : 141 p. Format : 21 x 30 cm Note générale : bibliographie A thesis submitted to attain the degree of Doctor of Sciences of ETH Zurich Langues : Français (fre) Descripteur : [Vedettes matières IGN] Lasergrammétrie [Termes IGN] apprentissage profond [Termes IGN] capteur actif [Termes IGN] champ vectoriel [Termes IGN] déformation d'image [Termes IGN] données lidar [Termes IGN] effondrement de terrain [Termes IGN] enregistrement de données [Termes IGN] filtrage du bruit [Termes IGN] flux [Termes IGN] image 3D [Termes IGN] navigation autonome [Termes IGN] orientation du capteur [Termes IGN] segmentation [Termes IGN] semis de points [Termes IGN] téléphone intelligent [Termes IGN] traitement de semis de points [Termes IGN] voxel Index. décimale : THESE Thèses et HDR Résumé : (auteur) Incorporating 3D understanding and spatial reasoning into (intelligent) algorithms is crucial for solving several tasks in fields such as engineering geodesy, risk assessment, and autonomous driving. Humans are capable of reasoning about 3D spatial relations even from a single 2D image. However, making the priors that we rely on explicit and integrating them into computer programs is very challenging. Operating directly on 3D input data, such as 3D point clouds, alleviates the need to lift 2D data into a 3D representation within the task-specific algorithm and hence reduces the complexity of the problem. The 3D point clouds are not only a better-suited input data representation, but they are also becoming increasingly easier to acquire. Indeed, nowadays, LiDAR sensors are even integrated into consumer devices such as mobile phones. However, these sensors often have a limited field of view, and hence multiple acquisitions are required to cover the whole area of interest. Between these acquisitions, the sensor has to be moved and pointed in a different direction. Moreover, the world that surrounds us is also dynamic and might change as well. Reasoning about the motion of both the sensor and the environment, based on point clouds acquired in two-time steps, is therfore an integral part of point cloud processing. This thesis focuses on incorporating rigidity priors into novel deep learning based approaches for dynamic 3D perception from point cloud data. Specifically, the tasks of point cloud registration, deformation analysis, and scene flow estimation are studied. At first, these tasks are incorporated into a common framework where the main difference is in the level of rigidity assumptions that are imposed on the motion of the scene or the acquisition sensor. Then, the tasks specific priors are proposed and incorporated into novel deep learning architectures. While the global rigidity can be assumed in point cloud registration, the motion patterns in deformation analysis and scene flow estimation are more complex. Therefore, the global rigidity prior has to be relaxed to local or instancelevel rigidity, respectively. Rigidity priors not only add structure to the aforementioned tasks, which prevents physically implausible estimates and improves the generalization of the algorithms, but in some cases also reduce the supervision requirements. The proposed approaches were quantitatively and qualitatively evaluated on several datasets, and they yield favorable performance compared to the state-of-the-art. Numéro de notice : 28660 Affiliation des auteurs : non IGN Thématique : IMAGERIE Nature : Thèse étrangère Note de thèse : PhD : Sciences : ETH Zurich : 2021 DOI : sans En ligne : https://www.research-collection.ethz.ch/handle/20.500.11850/523368 Format de la ressource électronique : URL Permalink : https://documentation.ensg.eu/index.php?lvl=notice_display&id=99817

Optical Coherence Tomography and Its Non-medical Applications / Michael R. Wang (2020)  

Public Titre : Optical Coherence Tomography and Its Non-medical Applications Type de document : Monographie Auteurs : Michael R. Wang, Éditeur scientifique Editeur : London [UK] : IntechOpen Année de publication : 2020 Importance : 226 p. Format : 17 x 23 cm ISBN/ISSN/EAN : 978-1-83880-801-3 Note générale : bibliographie Langues : Anglais (eng) Descripteur : [Vedettes matières IGN] Traitement d'image optique [Termes IGN] chatoiement [Termes IGN] contraste de couleurs [Termes IGN] déformation d'image [Termes IGN] empreinte [Termes IGN] image 3D [Termes IGN] image à haute résolution [Termes IGN] métrologie [Termes IGN] tomographie Résumé : (éditeur) Optical coherence tomography (OCT) is a promising non-invasive non-contact 3D imaging technique that can be used to evaluate and inspect material surfaces, multilayer polymer films, fiber coils, and coatings. OCT can be used for the examination of cultural heritage objects and 3D imaging of microstructures. With subsurface 3D fingerprint imaging capability, OCT could be a valuable tool for enhancing security in biometric applications. OCT can also be used for the evaluation of fastener flushness for improving aerodynamic performance of high-speed aircraft. More and more OCT non-medical applications are emerging. In this book, we present some recent advancements in OCT technology and non-medical applications. Note de contenu : 1- Dynamic Range Enhancement in Swept-Source Optical Coherence Tomography 2- Multi-Frame Super resolution Optical Coherence Tomography for High Lateral Resolution 3D Imaging 3- OCT in Applications That Involve the Measurement of Large Dimensions 4- Low Cost Open-Source OCT Using Undergraduate Lab Components 5- Optical Coherence Tomography for Polymer Film Evaluation 6- Fouling Monitoring in Membrane Filtration Systems 7- Non destructive Characterization of Drying Processes of Colloidal Droplets and Latex Coats Using Optical Coherence Tomography 8- OCT for Examination of Cultural Heritage Objects 9- Quantitative Mapping of Strainsand Young Modulus Based on Phase-Sensitive OCT 10- OCT with a Visible Broadband Light Source Applied to High-Resolution Non destructive Inspection for Semiconductor Optical Devices 11- Optical Coherence Tomography for Non-Contact Evaluation of Fastener Flushness Numéro de notice : 28530 Affiliation des auteurs : non IGN Thématique : IMAGERIE Nature : Recueil / ouvrage collectif DOI : 10.5772/intechopen.81767 En ligne : http://doi.org/10.5772/intechopen.81767 Format de la ressource électronique : URL Permalink : https://documentation.ensg.eu/index.php?lvl=notice_display&id=97350

Improvement of photogrammetric accuracy by modeling and correcting the thermal effect on camera calibration / Mehdi Daakir in ISPRS Journal of photogrammetry and remote sensing, vol 148 (February 2019)  

Public [article]  inISPRS Journal of photogrammetry and remote sensing > vol 148 (February 2019) . - pp 142 - 156 Titre : Improvement of photogrammetric accuracy by modeling and correcting the thermal effect on camera calibration Type de document : Article/Communication Auteurs : Mehdi Daakir , Auteur ; Yilin Zhou , Auteur ; Marc Pierrot-Deseilligny , Auteur ; Christian Thom , Auteur ; Olivier Martin , Auteur ; Ewelina Rupnik , Auteur Année de publication : 2019 Projets : 1-Pas de projet / Article en page(s) : pp 142 - 156 Note générale : Bibliographie Langues : Anglais (eng) Descripteur : [Vedettes matières IGN] Acquisition d'image(s) et de donnée(s) [Termes IGN] CamLight [Termes IGN] déformation d'image [Termes IGN] détecteur CMOS [Termes IGN] effet thermique [Termes IGN] étalonnage de capteur (imagerie) [Termes IGN] image captée par drone [Termes IGN] modèle géométrique de prise de vue [Termes IGN] photogrammétrie métrologique Résumé : (Auteur) This paper presents a new method for improving the geometric accuracy of photogrammetric reconstruction by modeling and correcting the thermal effect on camera image sensor. The objective is to verify that when the temperature of image sensor varies during the acquisition, image deformation induced by the temperature change is quantifiable, modelisable and correctable. A temperature sensor integrated in the camera enables the measurement of image sensor temperature at exposure. It is therefore natural and appropriate to take this effect into account and to finally model and correct it after a calibration step. Nowadays, in cartography applications performed with UAV, the frame rate of acquisitions is continuously increasing. A high frame rate over a long acquisition time can result in an important temperature increase of the image sensor and thus introduces image deformations. The correction of the above-mentioned effect can improve the measurement accuracy. We present three methods to calibrate the thermal effect and experiments on two datasets are carried out to verify the improvement in terms of the photogrammetric accuracy. Numéro de notice : A2019-072 Affiliation des auteurs : LASTIG LOEMI+Ext (2012-2019) Autre URL associée : vers HAL Thématique : IMAGERIE Nature : Article nature-HAL : ArtAvecCL-RevueIntern DOI : 10.1016/j.isprsjprs.2018.12.012 Date de publication en ligne : 04/01/2019 En ligne : https://doi.org/10.1016/j.isprsjprs.2018.12.012 Format de la ressource électronique : URL Article Permalink : https://documentation.ensg.eu/index.php?lvl=notice_display&id=92159 [article]

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Analysis on the dynamic deformations of the images from digital film sequences / Tomasz Markowski in Geodesy and cartography, vol 64 n° 1 (June 2015)  

Public [article]  inGeodesy and cartography > vol 64 n° 1 (June 2015) . - pp 43 - 64 Titre : Analysis on the dynamic deformations of the images from digital film sequences Type de document : Article/Communication Auteurs : Tomasz Markowski, Auteur Année de publication : 2015 Article en page(s) : pp 43 - 64 Langues : Anglais (eng) Descripteur : [Vedettes matières IGN] Traitement d'image optique [Termes IGN] caméra vidéo numérique [Termes IGN] chambre non métrique [Termes IGN] déformation d'image [Termes IGN] distorsion d'image [Termes IGN] étalonnage de capteur (imagerie) [Termes IGN] image vidéo [Termes IGN] séquence d'images Résumé : (auteur) Image sequences, in particular digital video sequences, are characterised by the features which result in their high potential as measurement data. However, as early as at the stage of visual assessment of digital film images, originating, in particular, from amateur cameras, occurrence of some deformations may be observed, which may highly influence the results of measurements performed using these images; such deformations differ from deformations occurred in the case of static photographic images. It results both, by the method of image recording, using an electronic shutter and interlaced or progressive scanning, as well as the method of file recording and compression. It is worth to notice the systematic nature of such deformations, which highly depend on mutual motions of a camera and recorded objects. The objective of presented research works was to develop the mathematical description of image deformations, as a function of motion parameters. This would allow for adaptation of the camera calibration process to the demands of sequential imaging, as well as for modification of algorithms of measurements using self-calibration, and, as a result, minimisation of deformations. Another objective was to analyse the influence of deformations, typical for digital film images, on the results of measurements performed using these images, by means of series of experiments, which were based on multiple calibration of static and a moving camera, also with the use of a spatial test field. The first part was made by developing formulas based on some geometric relations, using some simplifications. On the stage of experimental research a certain degree of compatibility of experimental results and theoretical assumptions were confirmed. Numéro de notice : A2015-262 Affiliation des auteurs : non IGN Thématique : IMAGERIE Nature : Article DOI : 10.1515/geocart-2015-0005 En ligne : http://dx.doi.org/10.1515/geocart-2015-0005 Format de la ressource électronique : URL article Permalink : https://documentation.ensg.eu/index.php?lvl=notice_display&id=76310 [article]

Registration and visualisation of deformation maps from terrestrial radar interferometry using photogrammetry and structure from motion / Rafael Caduff in Photogrammetric record, vol 29 n° 146 (June - August 2014)  

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Correlation analysis of camera self-calibration in close range photogrammetry / Rongfu Tang in Photogrammetric record, vol 28 n° 141 (March - May 2013)  

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Review of geometric and radiometric analyses of paintings / Fabio Remondino in Photogrammetric record, vol 26 n° 136 (December 2011 - February 2012)  

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Persistent scatterer interferometry : potential, limits and initial C- and X-band comparison / M. Crosetto in Photogrammetric Engineering & Remote Sensing, PERS, vol 76 n° 9 (September 2010)  

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Adjustability and error propagation for true replacement sensor models / C. Puatanachokchai in ISPRS Journal of photogrammetry and remote sensing, vol 63 n° 3 (May - June 2008)  

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Wavelet based image fusion techniques: an introduction, review and comparison / Krista Amolins in ISPRS Journal of photogrammetry and remote sensing, vol 62 n° 4 (September 2007)  

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Warping techniques: a new tool for cartographic generalisation ? / Eric Grosso (2005)

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True ortho-image production for forested areas from large-scale aerial photographs / Y. Sheng in Photogrammetric Engineering & Remote Sensing, PERS, vol 69 n° 3 (March 2003)  

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Updating solutions of the rational function model using additional control information / Y. Hu in Photogrammetric Engineering & Remote Sensing, PERS, vol 68 n° 7 (July 2002)

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Modélisation fonctionnelle et topologique pour la vision par ordinateur / Jocelyn Marchadier (2002) 

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