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Real-Time High Resolution Photogrammetry

Real-Time High Resolution Photogrammetry. John Morris, Georgy Gimel’farb and Patrice Delmas CITR, Tamaki Campus, University of Auckland. Applications. Navigation Collision avoidance in traffic Manoeuvring in dynamic environments Biometrics Face recognition Tracking individuals Films

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Real-Time High Resolution Photogrammetry

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  1. Real-Time High Resolution Photogrammetry John Morris, Georgy Gimel’farb and Patrice DelmasCITR, Tamaki Campus,University of Auckland

  2. 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

  3. 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

  4. 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

  5. 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

  6. 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

  7. 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!

  8. 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

  9. Composite Materials Laboratory • Tamaki Campus • Same building as Wine Science  • 8Mpixel Canon digital SLRs on stable base with precise alignment

  10. Resin wavefront • Profiles along the mould at 1, 2, 3, 4 minutes • Note the resolution! Left scale is mm.

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