Real-Time High Resolution Photogrammetry
John Morris, Georgy Gimel’farb and
Patrice DelmasCITR, Tamaki Campus,University of Auckland
Applications
Navigation Collision avoidance in traffic Manoeuvring in dynamic environments
Biometrics Face recognition Tracking individuals
Films Markerless motion tracking
Security Intelligent threat detection
Civil Engineering Materials Science Archaeology
Why Stereo?
Passive Suitable for dense environments
Wide area 3D data can be acquired at high rates
Textureless regions cause problems Active illumination can resolve these
Photogrammetry Laboratory - Resources
Commercial structured lighting system Slow, limited depth of field Very accurate (~0.3mm) within its range (1-5m) Provides ‘ground truth’ for other techniques
Advanced structured lighting techniques Efficient labelling patterns Hybrid systems
• Structured lighting/Active illumation/Stereo High resolution cameras
4 x Canon digital SLR (2 x 6Mpixel, 2 x 8Mpixel) 2 x Baesler 25fps, 2 x Pixelink 25fps 4 x Allied Vision (2 with IR capability) Precise alignment, stable baselines
High speed cameras 2 x Fastec 250 fps
FPGA development kits Altera Development Kits Under development: Firewire interface – 2 x medium resolution
video cameras
Photogrammetry Lab
Stereo Canon digital
SLRs – 6 Mpixels
Low distortion lenses
Stable optical base
Precise alignment
Provision for verging optics
Target: Accurate 3D environment maps
Projects
Real time stereo vision Implementation of Symmetric Dynamic Programming Stereo
on FPGA hardware Real time precise stereo vision
• Faster, smaller hardware circuit• Real time 3D maps• 1% depth accuracy with 2 scan line latency
Stereo Applications Collision avoidance for automobiles and robots Face recognition via 3D models
• Fast model acquisition via stereo pairs
Resin flow in composite laminate formation Motion capture – athletes, actors
Projects
High Quality Rendering Scene rendering (movie quality) acceleration with
FPGA hardware Next generation animated movie requirements:
• Rendering farms with 1000’s of processors• Power supply alone becomes a major problem!
Custom hardware attached processors• Computationally intensive task• Speed ups of 10 or more• Same work with fewer processors
… and fewer power cuts!
Example Project: Composite Formation
Resin drawn by vacuum into flat bag containing fibre mat Problem: Measure shape of advancing resin wavefront Solution:
Stereo with verging camera axis configuration Process time series of images
• Transform and measure phase shift
Composite Materials Laboratory
Tamaki Campus Same building as Wine Science
8Mpixel Canon digital SLRs on stable base with precise alignment