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Faculty of Environmental Sciences, Department of Geosciences, Institute for Cartography
Karst caves in tropical jungle: 3D mapping and generation of the biggest virtual cave model worldwide
Manfred F. Buchroithner & Benjamin Schröter
TU Dresden, Institute for Cartography
Faculty of Environmental Sciences, Department of Geosciences, Institute for Cartography
InDOGOlomouc 13 - 16 October 2014
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Faculty of Environmental Sciences, Department of Geosciences, Institute for Cartography
Gomantong Caves – General Information
• Cave system on Borneo island,
Southeast Asia
• 30 km south of Sandakan, Malaysia
• Part of Sabah Parks Forest Reserve
• Gomantong Hill:
huge limestone formations
• Tourist attraction
• Economically important: bird’s nests
(sold as Chinese delicacy)
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Faculty of Environmental Sciences, Department of Geosciences, Institute for Cartography
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Faculty of Environmental Sciences, Department of Geosciences, Institute for Cartography
© Keith Christenson
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Faculty of Environmental Sciences, Department of Geosciences, Institute for Cartography
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Faculty of Environmental Sciences, Department of Geosciences, Institute for Cartography
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Faculty of Environmental Sciences, Department of Geosciences, Institute for Cartography
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Faculty of Environmental Sciences, Department of Geosciences, Institute for Cartography
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Faculty of Environmental Sciences, Department of Geosciences, Institute for Cartography
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Faculty of Environmental Sciences, Department of Geosciences, Institute for Cartography
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Faculty of Environmental Sciences, Department of Geosciences, Institute for Cartography
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Faculty of Environmental Sciences, Department of Geosciences, Institute for Cartography
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Faculty of Environmental Sciences, Department of Geosciences, Institute for Cartography
TU Dresden, 10.04.23 Präsentationsname XYZ Folie 13 von XYZ
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Faculty of Environmental Sciences, Department of Geosciences, Institute for Cartography
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Faculty of Environmental Sciences, Department of Geosciences, Institute for Cartography
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Faculty of Environmental Sciences, Department of Geosciences, Institute for Cartography
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Faculty of Environmental Sciences, Department of Geosciences, Institute for Cartography
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Faculty of Environmental Sciences, Department of Geosciences, Institute for Cartography
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Faculty of Environmental Sciences, Department of Geosciences, Institute for Cartography
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Faculty of Environmental Sciences, Department of Geosciences, Institute for Cartography
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Faculty of Environmental Sciences, Department of Geosciences, Institute for Cartography
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Faculty of Environmental Sciences, Department of Geosciences, Institute for Cartography
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Faculty of Environmental Sciences, Department of Geosciences, Institute for Cartography
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Faculty of Environmental Sciences, Department of Geosciences, Institute for Cartography
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Faculty of Environmental Sciences, Department of Geosciences, Institute for Cartography
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Faculty of Environmental Sciences, Department of Geosciences, Institute for Cartography
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Faculty of Environmental Sciences, Department of Geosciences, Institute for Cartography
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Faculty of Environmental Sciences, Department of Geosciences, Institute for Cartography
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Faculty of Environmental Sciences, Department of Geosciences, Institute for Cartography
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Faculty of Environmental Sciences, Department of Geosciences, Institute for Cartography
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Faculty of Environmental Sciences, Department of Geosciences, Institute for Cartography
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Faculty of Environmental Sciences, Department of Geosciences, Institute for Cartography
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Faculty of Environmental Sciences, Department of Geosciences, Institute for Cartography
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Faculty of Environmental Sciences, Department of Geosciences, Institute for Cartography
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Faculty of Environmental Sciences, Department of Geosciences, Institute for Cartography
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Faculty of Environmental Sciences, Department of Geosciences, Institute for Cartography
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Faculty of Environmental Sciences, Department of Geosciences, Institute for Cartography
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Faculty of Environmental Sciences, Department of Geosciences, Institute for Cartography
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Faculty of Environmental Sciences, Department of Geosciences, Institute for Cartography
© Keith Christenson
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Faculty of Environmental Sciences, Department of Geosciences, Institute for Cartography
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Faculty of Environmental Sciences, Department of Geosciences, Institute for Cartography
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Faculty of Environmental Sciences, Department of Geosciences, Institute for Cartography
© Keith Christenson
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Faculty of Environmental Sciences, Department of Geosciences, Institute for Cartography
© Keith Christenson
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Faculty of Environmental Sciences, Department of Geosciences, Institute for Cartography
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Faculty of Environmental Sciences, Department of Geosciences, Institute for Cartography
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Faculty of Environmental Sciences, Department of Geosciences, Institute for Cartography
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Faculty of Environmental Sciences, Department of Geosciences, Institute for Cartography
TU Dresden, 10.04.23 Präsentationsname XYZ Folie 47 von XYZ
Gomantong Caves - Structure
Simud Hitam= Black cave
Simud Putih= White cave
Major entrance
32
2 m
ete
rs
330 meters
• Main entrance• Ceiling up to
90 m high• Parly open to
public• Walkway
• Entrance 90 m above Black cave
• Not open to public
• Still not fully explored
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Faculty of Environmental Sciences, Department of Geosciences, Institute for Cartography
Laserscanning of the Cave System
• Equipment:
• 2012: Faro Focus 3D S 120
2014: Faro Focus 3D X330
• 244000 points/second
• 121 scans performed
• 5.3 billion points totally
• 21 gigabytes raw data
• 8500 scanner-taken colour photos
all only in 2012; 2014 even more
• GPS reference points to combine
with aerial imagery
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Faculty of Environmental Sciences, Department of Geosciences, Institute for Cartography
Using UAV to Discover Gomantong Hill
• Need for high-resolution imagery instead existing 30 m resolution ASTER
dataset
• Equipment: Trimble Gatewing X100 autonomous drone
• Wingspan of 100 cm, easy to transport
• Flying at 400 m elevation
• 240 overlapping images with ~ 6 cm geometric resolution
• Covering complete Gomantong Hill: approx. 2.1 km2
• GPS control points taken using a Trimble GeoXH 600 and Trimble NetR9 base
station
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Faculty of Environmental Sciences, Department of Geosciences, Institute for Cartography
TU Dresden, 10.04.23 Präsentationsname XYZ Folie 50 von XYZThe Gatewing X100 drone
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Faculty of Environmental Sciences, Department of Geosciences, Institute for Cartography
Data Processing and Video Creation
TLS pointcloudsRegistration of pointclouds
Creation of 3D vrml terrain
Meshing a 3D geometry
Texturing
Aerial raw dataReferencing and mosaicing a DSM
Render video
FARO SCENE Geomagic Studio
MeshLab
Gatewing Stretchout
VTBuilder CINEMA 4D
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Faculty of Environmental Sciences, Department of Geosciences, Institute for Cartography
TLS Data Processing – Point Cloud Registration
• 121 single scanfiles need to know their position among each other
• Registration with FARO SCENE using reference spheres placed in the caves
• Colorization, subsampling, export as .vrml file
Raw pointcloud After applying image textures
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Faculty of Environmental Sciences, Department of Geosciences, Institute for Cartography
TLS Data Processing – Meshing and Texturing
Meshing: Geomagic Studio
• Preprocessing: noise reduction, outlier removal
• 121 million points polygons
• Cleaning, filling holes
Texturing: MeshLab
• Geometry + better resolved pointcloud model with *.jpg texture ready for
3D studio
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Faculty of Environmental Sciences, Department of Geosciences, Institute for Cartography
TU Dresden, 10.04.23 Präsentationsname XYZ Folie 54 von XYZ
Part of the 3D cave model, including separately modeled walkway
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Faculty of Environmental Sciences, Department of Geosciences, Institute for Cartography
Aerial Data Processing
• Software: Gatewing Stretchout
• Converts X100 image data to accurate orthophotos and DSMs
• Dataset contains 240 original images, 227 were used
• Georeferencing with 6 Ground Control Points (GCP) geotiff
• Converting into vrml 3D geometry using free VTBuilder + Geomagic Studio
Ortho Mosaic Digital Surface Model (DSM)
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Faculty of Environmental Sciences, Department of Geosciences, Institute for Cartography
TU Dresden, 10.04.23 Präsentationsname XYZ Folie 56 von XYZExported 3D geometry (*.wrl ready to use in every 3D studio)
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Faculty of Environmental Sciences, Department of Geosciences, Institute for Cartography
TU Dresden, 10.04.23 Präsentationsname XYZ Folie 57 von XYZ
• Scientific analyses (speleologic, geologic, hydrologic, volume estimation…)
• Nest-bat counting algorithm automated procedure
• Visualization: Video
TLS & UAV data combined
(8550 frames, 5:42 min)
Application of 3D Model
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Faculty of Environmental Sciences, Department of Geosciences, Institute for Cartography
National Geographic: Gomantong 2012(Guy van Rentergem)
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Faculty of Environmental Sciences, Department of Geosciences, Institute for Cartography
Virtual Flight – Gomantong(Stefan Hautz)
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Faculty of Environmental Sciences, Department of Geosciences, Institute for Cartography
Thank you for your attention!
Manfred F. Buchroithner & Benjamin Schröter
InDOGOlomouc 13 - 16 October 2014