Scale Accuracy Evaluation of Image-Based 3D Reconstruction Strategies Using Laser Photogrammetry
Rapid developments in the field of underwater photogrammetry have given scientists the ability to produce accurate 3-dimensional (3D) models which are now increasingly used in the representation and study of local areas of interest. This paper addresses the lack of systematic analysis of 3D reconstr...
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| Format: | Article |
| Language: | English |
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MDPI AG
2019-09-01
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| Series: | Remote Sensing |
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| Online Access: | https://www.mdpi.com/2072-4292/11/18/2093 |
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| author | Klemen Istenič Nuno Gracias Aurélien Arnaubec Javier Escartín Rafael Garcia |
| author_facet | Klemen Istenič Nuno Gracias Aurélien Arnaubec Javier Escartín Rafael Garcia |
| author_sort | Klemen Istenič |
| collection | DOAJ |
| description | Rapid developments in the field of underwater photogrammetry have given scientists the ability to produce accurate 3-dimensional (3D) models which are now increasingly used in the representation and study of local areas of interest. This paper addresses the lack of systematic analysis of 3D reconstruction and navigation fusion strategies, as well as associated error evaluation of models produced at larger scales in GPS-denied environments using a monocular camera (often in deep sea scenarios). Based on our prior work on automatic scale estimation of Structure from Motion (SfM)-based 3D models using laser scalers, an automatic scale accuracy framework is presented. The confidence level for each of the scale error estimates is independently assessed through the propagation of the uncertainties associated with image features and laser spot detections using a Monte Carlo simulation. The number of iterations used in the simulation was validated through the analysis of the final estimate behavior. To facilitate the detection and uncertainty estimation of even greatly attenuated laser beams, an automatic laser spot detection method was developed, with the main novelty of estimating the uncertainties based on the recovered characteristic shapes of laser spots with radially decreasing intensities. The effects of four different reconstruction strategies resulting from the combinations of Incremental/Global SfM, and the a priori and a posteriori use of navigation data were analyzed using two distinct survey scenarios captured during the SUBSAINTES 2017 cruise (doi: 10.17600/17001000). The study demonstrates that surveys with multiple overlaps of nonsequential images result in a nearly identical solution regardless of the strategy (SfM or navigation fusion), while surveys with weakly connected sequentially acquired images are prone to produce broad-scale deformation (doming effect) when navigation is not included in the optimization. Thus the scenarios with complex survey patterns substantially benefit from using multiobjective BA navigation fusion. The errors in models, produced by the most appropriate strategy, were estimated at around <inline-formula> <math display="inline"> <semantics> <mrow> <mn>1</mn> <mo>%</mo> </mrow> </semantics> </math> </inline-formula> in the central parts and always inferior to <inline-formula> <math display="inline"> <semantics> <mrow> <mn>5</mn> <mo>%</mo> </mrow> </semantics> </math> </inline-formula> on the extremities. The effects of combining data from multiple surveys were also evaluated. The introduction of additional vectors in the optimization of multisurvey problems successfully accounted for offset changes present in the underwater USBL-based navigation data, and thus minimize the effect of contradicting navigation priors. Our results also illustrate the importance of collecting a multitude of evaluation data at different locations and moments during the survey. |
| first_indexed | 2024-04-11T19:59:46Z |
| format | Article |
| id | doaj.art-01375639e5d14d52b51aa3cb6d44a61c |
| institution | Directory Open Access Journal |
| issn | 2072-4292 |
| language | English |
| last_indexed | 2024-04-11T19:59:46Z |
| publishDate | 2019-09-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Remote Sensing |
| spelling | doaj.art-01375639e5d14d52b51aa3cb6d44a61c2022-12-22T04:05:38ZengMDPI AGRemote Sensing2072-42922019-09-011118209310.3390/rs11182093rs11182093Scale Accuracy Evaluation of Image-Based 3D Reconstruction Strategies Using Laser PhotogrammetryKlemen Istenič0Nuno Gracias1Aurélien Arnaubec2Javier Escartín3Rafael Garcia4Underwater Robotics Research Center (CIRS), Computer Vision and Robotics Institute (VICOROB), University of Girona, Edifici P-IV, Campus de Montilivi, 17071 Girona, SpainUnderwater Robotics Research Center (CIRS), Computer Vision and Robotics Institute (VICOROB), University of Girona, Edifici P-IV, Campus de Montilivi, 17071 Girona, SpainIFREMER, Centre Méditerranée, Unité Syst. Marins, CS 20330, F-83507 La Seyne Sur Mer, FranceUniversité de Paris, Institut de Physique du Globe de Paris, CNRS, F-75005 Paris, FranceUnderwater Robotics Research Center (CIRS), Computer Vision and Robotics Institute (VICOROB), University of Girona, Edifici P-IV, Campus de Montilivi, 17071 Girona, SpainRapid developments in the field of underwater photogrammetry have given scientists the ability to produce accurate 3-dimensional (3D) models which are now increasingly used in the representation and study of local areas of interest. This paper addresses the lack of systematic analysis of 3D reconstruction and navigation fusion strategies, as well as associated error evaluation of models produced at larger scales in GPS-denied environments using a monocular camera (often in deep sea scenarios). Based on our prior work on automatic scale estimation of Structure from Motion (SfM)-based 3D models using laser scalers, an automatic scale accuracy framework is presented. The confidence level for each of the scale error estimates is independently assessed through the propagation of the uncertainties associated with image features and laser spot detections using a Monte Carlo simulation. The number of iterations used in the simulation was validated through the analysis of the final estimate behavior. To facilitate the detection and uncertainty estimation of even greatly attenuated laser beams, an automatic laser spot detection method was developed, with the main novelty of estimating the uncertainties based on the recovered characteristic shapes of laser spots with radially decreasing intensities. The effects of four different reconstruction strategies resulting from the combinations of Incremental/Global SfM, and the a priori and a posteriori use of navigation data were analyzed using two distinct survey scenarios captured during the SUBSAINTES 2017 cruise (doi: 10.17600/17001000). The study demonstrates that surveys with multiple overlaps of nonsequential images result in a nearly identical solution regardless of the strategy (SfM or navigation fusion), while surveys with weakly connected sequentially acquired images are prone to produce broad-scale deformation (doming effect) when navigation is not included in the optimization. Thus the scenarios with complex survey patterns substantially benefit from using multiobjective BA navigation fusion. The errors in models, produced by the most appropriate strategy, were estimated at around <inline-formula> <math display="inline"> <semantics> <mrow> <mn>1</mn> <mo>%</mo> </mrow> </semantics> </math> </inline-formula> in the central parts and always inferior to <inline-formula> <math display="inline"> <semantics> <mrow> <mn>5</mn> <mo>%</mo> </mrow> </semantics> </math> </inline-formula> on the extremities. The effects of combining data from multiple surveys were also evaluated. The introduction of additional vectors in the optimization of multisurvey problems successfully accounted for offset changes present in the underwater USBL-based navigation data, and thus minimize the effect of contradicting navigation priors. Our results also illustrate the importance of collecting a multitude of evaluation data at different locations and moments during the survey.https://www.mdpi.com/2072-4292/11/18/2093photogrammetrymetrologyunderwater 3D reconstructionstructure-from-motionnavigation fusionmultiobjective BAlaser scalersMonte Carlo simulationuncertainty estimationscale drift evaluationlaser spot detection |
| spellingShingle | Klemen Istenič Nuno Gracias Aurélien Arnaubec Javier Escartín Rafael Garcia Scale Accuracy Evaluation of Image-Based 3D Reconstruction Strategies Using Laser Photogrammetry Remote Sensing photogrammetry metrology underwater 3D reconstruction structure-from-motion navigation fusion multiobjective BA laser scalers Monte Carlo simulation uncertainty estimation scale drift evaluation laser spot detection |
| title | Scale Accuracy Evaluation of Image-Based 3D Reconstruction Strategies Using Laser Photogrammetry |
| title_full | Scale Accuracy Evaluation of Image-Based 3D Reconstruction Strategies Using Laser Photogrammetry |
| title_fullStr | Scale Accuracy Evaluation of Image-Based 3D Reconstruction Strategies Using Laser Photogrammetry |
| title_full_unstemmed | Scale Accuracy Evaluation of Image-Based 3D Reconstruction Strategies Using Laser Photogrammetry |
| title_short | Scale Accuracy Evaluation of Image-Based 3D Reconstruction Strategies Using Laser Photogrammetry |
| title_sort | scale accuracy evaluation of image based 3d reconstruction strategies using laser photogrammetry |
| topic | photogrammetry metrology underwater 3D reconstruction structure-from-motion navigation fusion multiobjective BA laser scalers Monte Carlo simulation uncertainty estimation scale drift evaluation laser spot detection |
| url | https://www.mdpi.com/2072-4292/11/18/2093 |
| work_keys_str_mv | AT klemenistenic scaleaccuracyevaluationofimagebased3dreconstructionstrategiesusinglaserphotogrammetry AT nunogracias scaleaccuracyevaluationofimagebased3dreconstructionstrategiesusinglaserphotogrammetry AT aurelienarnaubec scaleaccuracyevaluationofimagebased3dreconstructionstrategiesusinglaserphotogrammetry AT javierescartin scaleaccuracyevaluationofimagebased3dreconstructionstrategiesusinglaserphotogrammetry AT rafaelgarcia scaleaccuracyevaluationofimagebased3dreconstructionstrategiesusinglaserphotogrammetry |