1 st TUESDAY DEMO: 3DM

1. 1st TUESDAY DEMO: 3DM Integrated Solutions Discover the total solutions offered in 2008 Barry T. FRYER DUDLEY I-Cube (MBA {IT}; MSc {Image Analysis}; BSc {Brewing}; BSc Hons {Waste Technology}) “..any sufficiently advanced technology isindistinguishable from magic.” Arthur C. Clark

2. Why do Image Analysis? • Improved Precision /Accuracy in Measurements • Reproducibility of Results • Higher Throughput than Manual Methods • Better Definition of Contrasting Areas • More Measurements / Faster • Real Time Link to Databases • Other… • Object ID based on: • Size • Colour • Shape • Texture • Grey level

3. Same Size?

4. Perspective Centre Focal Length Image Sensor Possible points of origin Top-down view Principals of Photogrammetry Problem: The light that hits a given pixel in the image could have come from any point along the ray from the pixel, through the perspective centre, into the scene.

5. Image Sensor Unique 3D location! Top-down view Principals of Photogrammetry Solution: Adding another image taken from a different location allows us to intersect the rays and determine the 3D location of the point where the light came from!

6. Principals of Photogrammetry Photogrammetry is the science of using 2D images to make accurate measurements in 3D. To do that, the information that was lost when the image was captured needs to be recovered. The location of any point in an image can be described with just two co-ordinates: (x,y). Images are only two-dimensional. The location of any point in the real world can be described by three co-ordinates: (x,y,z), (latitude, longitude, altitude), etc. The real world is three-dimensional.

7. ExteriorOrientation Image Matching Principals of Photogrammetry Information needed to determine 3D locations: • The location of each camera’s perspective centre. • The orientation (rotation) of each camera about its perspective centre. • The location of the point on each image sensor. This is the essence of photogrammetry!

8. How does it work? The software uses an algorithm called a Least Squares Bundle Block Adjustment. “Least Squares”: the solution found is the one that minimises the square of the error of each observation in terms of their individual sigmas. “Bundle”: the rays connecting each point in 3D with the associated point on the image sensor, passing through each camera’s perspective centre, resembles a bundle. “Block”: A single row of images is called a strip of images. A project with multiple rows of images is called a block. 3DM Analyst only solves for one model (two images) at a time, so “Block” is omitted. Usually abbreviated to “Bundle Adjustment”.

9. Workflow Geotechnical analysis: Capture Images 3DM CalibCamor 3DM Analyst Determine camera orientations 3DM Analyst orDTM Generator Generate DTMs & (optionally) 3D Images Process DTMs in 3DM Analyst or import into VULCAN for interpretation

10. Who is using it? • 42% Geologists & Geotechnical Engineers • 30% Surveyors • 15% Mapping Organizations • Most of the rest are ROV Operators (Submarine) • 1 Dentist!

11. Some Existing 3DM Analyst Customers

12. What are they using it for? • Pit mapping • Traditional mapping • Geotechnical analysis (underground, mine pits, dam walls) • Stockpile volumes, truck volumes, cast blast volumes, etc. • Road subsidence monitoring • Measuring the effects of bombs on dam walls • Measuring subsea structures • Measuring denture wear

13. Why are they using it? • The same software can be used for mapping from the air, from the ground, underground, underwater, for any mapping and any measuring task where the subject can be seen • Data can be obtained remotely when there is no safe access (up to 3km away!) • Speed of acquiring data compared to other methods

14. Why are they using it? • Accuracy and detail of data compared to other methods • Acquiring the data has little impact on other activities • Images form a permanent record that can be referred back to in the future • The physical components — the parts that can break down — are relatively cheap, available from many suppliers, and easy to replace

15. Applications — Pit Wall Mapping BHPB Diamonds Ekati Koala mine: • Camera: Nikon 1Ds, 135mm lens • Project area: 500m × 300m • Number of images: 27 from each camera station • Number of camera stations: 2 • Distance to pit wall: 700m • Ground coverage: 120m × 80m per image (3cm pixel size) • Number of control points: 7 (placed around the top ofthe pit in safe locations) • Accuracy: Sx = 0.14m, Sy = 0.08m, Sz = 0.04m. • Processing time to generate 3D images from scratch:4 hours, only 8 minutes of which was actual user time!

16. Applications — Aerial Mapping Thiess Indonesia: • Camera: Canon EOS 300D, 28mm lens • Project area: 140km (captured in one day) • Number of images: ~1,200 • Flying height: 600m – 800m • Ground coverage: 600m × 400m per image (20cm groundpixel size) • Accuracy: 0.2m

17. Applications — Truck Volumes • Customer needed to measure carrying capacity of trucks to resolve a dispute • Mounted a Canon EOS 20D with a 24mm lens on a mast (supplied by ADAM Technology) • Captured three images of each truck as it drove past — fully loaded and empty so volume difference could be calculated

18. Applications — Stockpile Volumes • Capturing from the air is best — can easily see entire surface • Even a cheap camera can capture very large stockpiles with just a few images • Need a cheap method to get the camera in the air!

19. Automatic Stockpile Monitoring Close-Range Photogrammetry is an accurate, cost effective technique of collecting measurements of real world objects and conditions directly from high resolution IP cameras. Photogrammetry utilizes digital images to obtain accurate measurements and geometric data of the image, in order to provide spatial information for 3D measurement. Benefits of close-range photogrammetry : Increased accuracy; complete as-built information; reduced costs; Do not need to stop operations; Effective for small and large projects. Suitable photography involves taking a pair of convergent images of the same scene from separate positions. 3DM is a set of specialised software tools designed to extract accurate 3D spatial measurements by analysing images taken with digital cameras.

20. Applications — Tunnel Mapping • Software works fine — difficulties are in lighting and capturing images in a way that minimises time & effort • Lighting: ADAM has developed a new lighting system based on white LEDs • Image Capturing: ADAM has designed an camera mount that can be used to capture a fan of images • Timing: Completely capture a freshly-exposed area of tunnel in under 15 minutes, using equipment that a single person can easily carry

21. Overview Most important to determine the correct tonnage's by accurate bulk densities and reliable volumetric surveys. I-Cube believe that such monitoring should be done by an independent and unbiased agency, and not be monitored by a party who might have a vested interest. Automatic 3-dimensional Dynamic Measurements: 3DM Contact-free measurement technique based on photogrammetric principles: science of geometry, mathematics and physics that uses the 2-dimensional image of a 3 dimensional scene to reconstruct a reliable and accurate model of the original 3D scene. Custom-designed for repetitive and fully automatic measurement tasks. The unique benefits of the 3DM Technology include 3D measurements of moving objects or objects changing shape, fully automatic during operation and provide permanent, digital, records of the objects. Key strength of 3DM is versatility - Any size object can be measured, from a range of a few metres to several kilometres away. with the results available in seconds, almost in real-time.

22. References B.T. Dudley. "Image Analysis and Waste Technology in Africa", Binary - Computers in Microbiology, 5, 3-4. (1993) B.T. Dudley, A.R. Howgrave-Graham, A.G. Bruton and F.M. Wallis. "The application of digital image analysis to quantifying and measuring UASB digester granules", Biotechnology & Bioengineering. 42, 279 - 283. (1993) Castleman, K. R. 1998. Concepts in Imaging and Microscopy: Color Image Processing for Microscopy. The Biological Bulletin. 194 (2): 100-107. Gordon, S. J. and Lichti, D. D. (2004) Terrestrial Laser Scanners with a Narrow Field of View: The Effect on 3D Resection Solutions, Survey Review, in press. Russ, J.C. 1995. The Image Processing Handbook. 2nd ed. CRC Press. Boca Raton, FL. Inoue, S. (1986). Video Microscopy. Plenum Press Internet: Boehler, W. and Marbs, A. Investigating Laser Scanner Accuracy. Available online at http://scanning.fhmainz. de/scannertest/results300305.pdf. Reshetyuk, Y. Investigation and calibration of pulsed time-of-flight terrestrial laser scanners. Available online at http://www.diva-portal.org/kth/abstract.xsql?dbid=4126. http://www.riegl.com/terrestrial_scanners/lms-z420i_/420i_all.htm I-Site 4400LR Laser Scanner Specifications. Available online at Lichti, D.D. and Gordon, S.J. (2004) Error Propagation in Directly Georeferenced Terrestrial Laser Scanner Point Clouds for Cultural Heritage Recording. Proc. FIG Working Week, 22-27 May, Athens, Greece. Available online at http://www.fig.net/pub/athens/papers/wsa2/WSA2_6_Lichti_Gordon.pdf. http://www.isite3d.com/pdf/4400LR_spec_sheet_web.pdf http://www.riegl.com/terrestrial_scanners/zubehoer/lms-z_inclination_sensors.htm http://www.rotomotion.com/ http://www.gim-international.com/issues/articles/id860-Geoinfo_and_Cultural_Heritage.html www.I-Cube.co.za

23. Contact Details: Barry T. DUDLEY (MBA {IT}; MSc {Image Analysis}; BSc {Brewing}; BSc Hons {Waste Technology}) I-CUBE http://www.i-cube.co.za Cell: +27 (0) 82 562 8225 MADADENI PH +27 (0) 31 764-3077 82 Kloof Falls Rd Fax 0866539659 Kloof, Durban, Kwa-Zulu Natal, 3610, South Africa E-mail: LPR@I-Cube.co.za “..any sufficiently advanced technology isindistinguishable from magic.” Arthur C. Clark