From Photos to Models

Strategies for using digital

photogrammetry in your project

Adam Barnes Katie Simon Adam Wiewel

What is Photogrammetry?
The art, science and technology of obtaining reliable information about
physical objects and the environment through the process of
recording, measuring and interpreting photographic images and
patterns of electromagnetic radiant imagery and other phenomena.
(American Society for Photogrammetry and Remote Sensing 1980)
What can Photogrammetry
do for my project?
Close-range DSLR Scale Aerial Photo Scale

Amphora stamps from Ancient Athenian Agora

DEM generated from historic images of Cusco, Peru Cotsen
(with American School of Classical Studies at Athens
Institute/UCLA Geomatics Field school 2009)
What can Photogrammetry
do for my project?

Documentation
Visualization
Metric Analysis
Geometric Comparison
Reconstruction from
Historic Photos
Change Detection
Prospection
A LITTLE BACKGROUND
In the Beginning
From late 1800s and
early 1900s, primarily
aerial Photogrammetry

Originally done via

optical-mechanical
systems
Digital Photogrammetry Beginnings
In 1990s vendors developed computer
based systems
In mid 1990s these cost north of
$250,000!

Use of very expensive metric cameras

$10K +

Complex processes

Required technical staff and equipment

No room for human error

Automated Close-Range
Photogrammetry (CRP)
Photogrammetry for the masses

The generation of 3D models from 2D images

using the SIFT (scale-invariant feature transform)
algorithm to automate the workflow of feature
matching between multiple photos thats
required in photogrammetry.
How does automated CRP it work?
 Evolution of Automated CRP
Late 1800s, Early 1900s

Photogrammetry Mid 1900s

Nonlinear Computer Vision/SfM

Iterative Fast
Highly Accurate Linear
Historically Approximate
manual Generally Automated

Bundle Adjustment 2004

SIFT algorithm

Automated Close-Range
Photogrammetry
Data collection: Multiple overlapping photos Automated feature matching: Over 2000
from different locations matches and nearly 1000 incorrect matches

Derived interpolated
surface geometry (mesh)
 Automated Close-Range Photogrammetry
Many Parameters and Processing Choices
Loop Closing
INPUT
Collect Bundle
Images Adjustment
Image Preparation
Derive Transformation to
Point absolute
Clouds coordinates

Image
Keypoint Detection Images No images Rectification
Keypoint Matching left? left?
Dense Depth
Estimation

Triangle Mesh
Pose Generation
Estimation
using Epiloar Model Fusion
First two Remaining
Geometry
images? images? Pose estimation using
3D Point POSIT algorithm
Triangulation
3D point triangulation
OUTPUT
 Project Planning
Define project goals
Choose suitable equipment
Computer, camera, lens, tripod?
Complete project metadata
(our suggested metadata forms available at [Link])
Camera calibration (automated in some software)

Acquire Images
Be systematic
Record metadata

Acquire External Control (optional)

GPS, LiDAR, Total Station, existing GIS data
Record metadata

Process/Enhance Digital Images

Convert raw to tiff (uncompressed jpeg)
White balance
Color matching

Photogrammetric software processing

Create and Export Deliverables

 IMAGE
ACQUISITION
Things to avoid
Very dark surfaces
Reflective surfaces
Transparent surfaces (including water)
Uniform textures and solid color surfaces
Moving light sources/shadows
Capturing your own shadow
Whats necessary
Contiguous photos
with 80% overlap
Whats necessary
Contiguous photos
with 80% overlap

Good overlap: Bad overlap:

3967 good matches (blue), 1525 bad (red) 16 good matches, 142 bad
Whats necessary
Contiguous photos
with 80% overlap
Move camera
between shots
Whats necessary
Contiguous photos
with 80% overlap
Move camera
between shots
Whats necessary
Contiguous photos
with 80% overlap
Move camera
between shots
Minimize/eliminate
moving shadows
Static light source
Diffuse light
Whats necessary
Contiguous photos 5+ megapixel camera
with 80% overlap Wider lenses (50 mm or less)
Move camera Maximize depth of field
Aperture between F8 and F16
between shots
This varies with lens
Minimize/eliminate Tip: use aperture priority mode
moving shadows Include scale in a few extra photos or precisely
Static light source measure and record a few features
Diffuse light Color checker
Will my camera work?
Metric vs Non-Metric
A metric camera is a general term applicable to a camera which has been
designed as a survey camera and possessing a well defined inner orientation.
That is a camera possessing a good lens with a wide field of view and small
distortion, a calibrated principal distance and in which the position of
the principal point can be located in the image plane by reference to
fiducial marks. The picture format is normally fairly large and the film
is flattened in the focal plane at the instant of photography. Cameras
not possessing these characteristics can be defined as simple or non metric
Cameras.

Adams, L.P., 1980. The Use of Non Metric Cameras in Short Range Photogrammetry. 14th Congress of the
International Society for Photogrammetry, Commission V, Hamburg, Germany.

It is around this time (1980) that non-metric cameras were established as a suitable tool for close-range
photogrammetry, and that the accuracy of projects using non-metric cameras could equal those using
metric cameras.

Karara, H.M., and W. Faig, 1980. An Expose on Photographic Data Aquisition Systems in Close-Range
Photogrammetry. 14th Congress of the International Society for Photogrammetry, Commission V, Hamburg,
Germany.
Will my camera work?
- Things to consider:
- Image resolution (pixel count) More is typically better, but only if the sensor size is reasonable.
- Sensor size Larger is typically better, but with good conditions a small sensor can do well. Ideally, your
camera sensor will be APS-C (crop factor of 1.6) or bigger, and be 8 MP or higher.
- Access to camera parameters Manually setting the aperture size, shutter speed, and ISO will allow you
to control the depth of field and exposure of each image. By maximizing the depth of field, objects both
near and far will be sharp and can be more accurately measured.
- Focus of lens Ideally you can set the focus to manual, so the camera does not autofocus for each image.
- Image format can you save images to TIFF or uncompressed JPEG format?
- Use with accessories can the camera be mounted to a tripod? Remote shutter release? Flash/strobe
compatible?
- Lens distortion wide angle lenses are best. For full frame DSLR cameras, a 20-28mm fixed focal length
lens is ideal. For cropped sensors youll need to calculate the equivalent (e.g. a crop factor of 1.6 would
need an 18mm lens (1.6 * 18 = 28)). Fish eye lenses (e.g. GoPro) have too much distortion.
- Rolling shutters inexpensive cameras (e.g. iPhone camera) can have an electronic rolling shutter,
meaning the sensor is not globally exposed. Rather, each line is exposed consecutively from one side to
the other. This type of exposure is not modeled by most photogrammetric software and will normally fail.
- EXIF information Though not 100% necessary if you already know the specs of your camera (or have
your camera calibrated), EXIF data should be preserved. This is used by most photogrammetric software
to extract initial camera parameters (i.e. focal length, sensor width/height) and GPS coordinates if
available.
- Digital and/or optical zoom Do not use digital zoom. If your camera has an optical zoom, set this at the
beginning of the project and do not adjust. Literally tapping the zoom ring of the lens is a good idea.
- Image stabilization Turn off any image stabilization. If your camera has this feature and you cannot turn
it off, you can likely expect poor results.
Format Size

- Large format
- Digital e.g.: Intergraph DMC II250, 17216 x
14656 pixels (250 MP), 112mm focal length
- 2.5cm GSD@500m (392x366m)
- Analogue camera parameters:
- Square sensor, 9 x 9 inch, 150mm or 300mm
focal length
- Typically 100 line pairs/mm optical resolution
(2540 line pairs/inch)
- Scanned at 12.5 microns (2100 dpi), will
produce a 330 MP image. At 20 microns, will
produce a 130 MP image.
- Leica ADS40, Vexcel UltraCam

- Medium format
- Intergraph RMK D, 5760 x 6400 pixels
(37 MP), 45mm focal length
- 8cm GSD@500m (460x512m)

- Small format
- All full frame, 35mm equivalent DSLRs
(Canon 5D 22MP, Nikon D800 36MP)
- 6.5cm GSD@500m (365x243m)
- All cropped frame DSLRs (Canon APS-C,
Nikon DX)
- Also all point-and-shoot or compact cameras
Format Size
Final model resolution
A function of pixel size, lens focal length, working distance
 DATA
PROCESSING
Basic processing pipeline
Take Photographs

Align photos and generate sparse point cloud

Generate dense point cloud

Interpolate surface geometry to create a mesh

Derive Textures

Associate Textures with Geometry

Scale and geo-reference the model

Contextualize and Annotate the Model

Pre-processing color match and white balance
Initial photo alignment
Match points (SIFT features) between photos

186 photos from Canon 5D MarkII

Sparse point cloud
3D reconstruction from match points
Dense point cloud
Reconstruction from sparse point cloud

801,883 points
Meshed Polygonal Model
(interpolated surface geometry)

12,059,870 faces, 6,036,297 vertices

Bad photos and unfortunate processing
Some examples of the increasing number of
software solutions to process close range data

Agisofts PhotoScan and PhotoScan Pro SFM Toolkit

Photomodeler and Photomodeler Scanner Arc3D

3DM Analyst
Visual SFM
My3D Scanner
Mic-Mac and Apero
Cubify Capture
3DF Zephyr
Insight 3D
123D Catch
Pix4D
Python Photogrammetry Toolbox
Trimbles Inpho
(and PPT GUI) LPS

BINGO for SOCET SET

Nave Processing Rigorous parameter selection

123D Catch
Default/Blackbox Goal and project

Photoscan
PhotoModeler
Scanner
Visual SFM
processing specific pipeline
Easier results for More metrically reliable
visualization Time and computation
Quick results intensive
 Most Common Software Comparison
Pros Cons

Visual SFM Good point matching algorithm Significant distortion possible

No a priori camera calibration Processing intensive
Focus can be adjusted No friendly option for measuring scale
Allows multiple focal lengths only
Free GCPs = 3D transformation only (no self
Allows for ground control points calibration)
Must export to another software for
mesh generation (e.g. Meshlab)

PhotoScan Good point matching algorithm Processing intensive

(Agisoft) No a priori camera calibration Memory intensive 12+ gb
Focus can be adjusted Less parameter control relative to
Allows multiple focal lengths PhotoModeler Scanner
Extremely detailed models
Local processing (more control)
Good parameter control relative to 123D Catch
Detailed reporting/logs

PhotoModeler Detailed reporting and logs Fixed focus required

Scanner Best parameter control A priori camera calibration required
Customizable processing Matching algorithm is dated
Local Processing Time consuming with more manual
intervention
 HOW ACCURATE IS IT?
SOFTWARE COMPARISONS

With high precision 3D scanner model comparisons

 General 3D Data Pipeline
Scan subject Take Photos
Derive point clouds
Clean point clouds
Register point clouds
Generate Mesh
Derive Textures and
map to model
Measure and Scale the model
Analyze
 Breuckmann Close-Range
Scanning Photogrammetry
Requires low light and external power
Environmental source (such as generator) Works best with diffuse light. A sheet to
Data Capture

minimize strong shadows may be necessary

Conditions Must scan at night when outdoors.

8 hrs = 1 x 2 m area at 0.06 mm resolution MUCH faster than the Breuckmann

Field Time 2 x 2 m area at 0.15 mm resolution (Actual time depends on resolution)

Up to 6 cm at 0.06 mm resolution
Data Depth 23 cm at 0.15 mm resolution
Infinity

Dark and/or shiny surfaces. Flat surfaces that are monochrome or

Problematic Surfaces Glass is impossible. have repetitive patterns

1/8 to 1/4 of the field time if no noise:

Basic Processing Time e.g. 1-2 processing hours for 8 field hours
5 - 20 xs longer than field time

Metric precision and analysis of fine

Project Goals features not measurable with calipers
Limited field time
 Case Example:

AMPHORA STAMP
ANCIENT ATHENIAN AGORA

In collaboration with the American School of Classical Studies, Athens

 Amphora stamp

Breuckmann Scanner
PhotoScan 60 micron resolution

Photomodeler Scanner
Photogrammetry 123D Catch
 Color Stripped Meshes

Breuckmann Scanner
PhotoScan
60 micron resolution

Photomodeler Scanner 123D Catch

Object Models
Breuckmann vs. Photogrammetry

Photo 123D Catch

Breuckmann Smartscan HE: 60 micron res Photoscan

Rock Art

123D Catch
Rock Art

Photoscan
 Case Example:

KALAVASOS, CYPRUS

In collaboration with the Kalavasos and Maroni Built Environments Project

Photogrammetric Trench Profiles

Visual SfM model

Photoscan model
Trench Profiles

Leica C10 laser scanning

Visual SfM model

Photoscan model
PhotoScan VS Scan Data

Photoscan
model
Scan data
VSFM VS Scan Data

VSFM
model
Scan data
PhotoScan VS Scan Data
VSFM VS Scan Data
Collection and processing times

Terrestrial CRP TLS

Data 78 photos in 4 8 scans 1.5 hrs
min
Collection

Data Medium quality 8 scans in

Photoscan model
Processing in 5 hours 0.5 hr
HISTORIC PHOTO CASE EXAMPLES
Photogrammetry from historic photos

Photoscan model from 2008 photos at Qarqur, Syria. Eric Jenson, University of Arkansas
Photogrammetry from historic photos

DEM generated from historic images

of Cusco, Peru
Cotsen Institute/UCLA
Geomatics Field school 2009
 Archaeological Prospecting Case Example:

FORT CLARK STATE HISTORIC SITE,

NORTH DAKOTA

In collaboration with
Elevation Model Data Sets
1) Lidar: Leica ALS60 system mounted in a Cessna Caravan 208B
900 x 1200 m survey area, average point density (first return) =
16.0 points/m2, ground point density = 4.0 points/m2, vertical
accuracy (RMSE) = 2.4 cm

100 m
Lidar (Local Relief Model)

100 m

Borrow pit with pathways Entryways, trails, and cabins

Individual structures within Fort Clark

 Fort Clark State Historic Site, North Dakota
Elevation Model Data Sets
2) Digital photogrammetry: 34 digital color photographs (Konica Minolta
DiMAGE A2) collected from a powered parachute

Sensor size: 8.8 x

6.6 mm
7 mm focal length
Flying height: ~285
m
Pixel resolution:
~10 cm
Check point error
(RMSE) = ~14 cm
horizontal and ~18
cm vertical

Photos courtesy of Tommy Hailey, NSULA

 Low Altitude Aerial Photogrammetry from
Powered Parachute

750 x 850 m area

10 cm resolution DSM
Point density: ~29
points/m2

100 m
Profile comparison

1985 B/W

2004 color

Lidar
Profile comparison

1985 B/W

2004 color

Lidar
Cloud Compare
Lidar DEM Photoscan DSM

Without photo alignment optimization

Cloud Compare
Lidar DEM Photoscan DSM

With photo alignment optimization

 Case Example:

COLLINS MOUND, AR

In collaboration with the Stephanie Sullivan, PhD candidate, University of Arkansas

PhotoScan VS Scan Data
VSFM VS Scan Data
Side view of Collins
 Qualitative Analysis
Z-value (elevations) visualization

Which datasets reveal which types of features

Photoscan Z+F laser scanning

 Qualitative Analysis
Which datasets reveal which types of features

Kite aerial photogrammetry Z+F laser scanning

Quantitative Analysis

Hausdorff Distance in Meshlab

Avg max distance = 0.868 m
mean distance = 0.082 m
Quantitative Analysis

Hausdorff Distance in Meshlab

Avg max distance = 0.929 m
mean distance = 0.036 m
Quantitative Analysis

ArcMap
max difference = 0.523m
mean difference = 0.69m
Collection and processing times

Aerial CRP TLS

28 photos in 3 7 scans in 2.5
min hrs
Data
Collection 55 in 6 min 7 scans 3.5 hrs

Medium quality 7 scans in 1

Photoscan model in 3
hours hr
Data
Processing Medium quality 7 scans in
Photoscan model in 4
hours 1 hr
Kite aerial/UAV photography will yield good geometry
of low architectural remains. Period.

Kite aerial photogrammetry Leica C10 laser scanning

KAMBE Project, Kalavasos, Cyprus

Conclusions
Keep your project goals in focus at all times
Know your camera and lenses
Know the basics of photogrammetry and how
that relates to your software settings
You can get by with leaving default settings and
pressing just a few buttonswill that meet your
project goals?
Photogrammetry can be good solution
Great for visualization
Must be executed with great care for metric analysis