URBAN VISUALIZATION THROUGH VIDEO MOSAICS BASED ON 3-D MULTI- BASELINES

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1 RB ISIIO HROGH IDEO OSICS BSED O 3-D I- BSEIES achoon CHO kash FSE Ehan SHII Dp. o Cvl Engnrng hnvrs o oko P jjc75@rp..u-oko.ac.jp us shzu@cvl..u-oko.ac.jp KE ORDS: do osacs 3-D spac Iag squnc rual ralzaon GIS BSRC: In cas o usng an ag squnc akn ro a vdo cara ound on a ovng vhcl ban gnral ag osacng chnqus basd on a sngl basln canno cra ag osacs. o solv h drawback w proposd a nw ag osacng chnqu ha can cra an ag osac n 3-D spac ro h ag squnc ulzng h concp o 3-D ul-baslns. h k pon o h proposd hod s ha ach ag ra has a dpndn basln calculad b usng cara pos and avrag dph bwn a cara and 3-D objcs. h proposd algorh consss o 3 sps: aur pon racon and rackng calculaon o cara ror ornaon and drnaon o ul-baslns. hs papr ralzd and showd h proposd algorh ha can cra cn ag osacs n 3-D spac ro a ral ag squnc.. IRODCIO Iag osacng chnqu whch bulds an ag covrng larg aras hrough rgsrng sall -D ags can b usd n an drnc applcaons lk sall agr osacs SGS Hurrcan ch Progra Projcs h craon o vrual ral nvronn Szlsk R. 996 dcal ag osacs Chou al. 997 and vdo coprsson Sandard PEG4. Espcall n GIS ld vdo osacs ar bcong or and or coon n cvl ngnrng ha s rprsnng urban nvronns and anagns o consrucon ss and road acls. h ag osacng chnqus ar all no wo lds. In h rs ld ags and orhosall agr whch s oband b usng h drc lnar ransor basd on spaal daa such as h dgal ln odl ar rgsrd o spaal vcors. In h scond ld gnral ags o a prspcv projcon ar conjugad whou spaal noraon. h chnqus o h scond ld nabl us o oban spaal noraon and rac urs ro sro ag osacs. Our rsarch prans onl o h scond ld. h osacng chnqus can b anl dvdd no our cagors: a 36 dgr panoraa basd on clndr basln projcon Shu al. a sphrcal osacs basd on sphrcal basln projcon Coorg al. gnral vdo osacs basd on a sngl basln projcon hu al. and -sl ags ha can cra ag osacs whou basln ssa al. 3. In cas o racng a sngl ur o a acad and spaal daa ro panoraas and sphrcal osacs h daa us b go hrough cobng daa racd ro svral panoraas and sphrcal osacs Coorg al orovr snc h ranson aong ag osacs s dscr h walkhrough n vrual ral s no sooh. On h ohr hand snc gnral vdo osacs chnqu s o g ag daa n wd rang s vr cn o rac urs o acads and spaal daa. h vdo osac chnqu cras an ag as projcng all o ag squnc o a sngl basln s Fg. a bu can b appld o ag squnc akn ro a ranslang and roang cara s Fg. b. h sngl basln s gnrall calculad b h avrag dph o aur pons racd and achd a s and nd ag ras n cas o usng prspcv projcon. Evn h algorh o h -sl ags has h r o crang an ag osacs ro a ranslang and roang cara ag oon pr ag ra s ld o pl or crang ag osacs as hgh rsoluon. Snc h dsanc bwn buldngs and a ovng cara n urban ara s vr shor rang gnrall h ag oon s ovr 5 pls a las. I s dcul o appl h algorh o h -sl ags o urban ara. a Gnral vdo osacs b ovng cara n a urnng pon Fg.. Concp o gnral vdo osacs. o solv h drawback hs papr proposd a novl hod ha can cras vdo osacs n 3-D spac basd on 3-D ulbaslns proposd b hs papr. h cor o h novl hod s ha ach ag ra has a dpndn basln calculad b

2 usng cara pos and avrag dsanc bwn cara ocus and objcs ha ar projcd o h ag plan o cara. Snc ach ag ra s projcd o sl dpndn basln w can cra vdo osacs ro a ovng and roang cara. h proposd algorh consss o 3 sps: calculaon o opcal low hrough hrarchcal srag calculaon o cara ror ornaon usng collnar quaons and drnaon o ul-baslns. hs papr ralzd and showd h proposd algorh ha can cra cn ag osacs n 3D spac ro an ral ag squnc.. FERE BSED OPIC FO DEECIO Cara ornaon s copud ulzng opcal lows whch ar oband ro sparsl locad aur pons ha ar dcd usng SS algorh Sh al Basd on such aur pons h corrlaon and h conour sl ar copud and ulzd o drn h bs achng par o aur pons. h als opcal lows whch ar sgncanl drn ro ohrs ar rovd n h procdur o h rpad convrson usng a dan lr. 3. FERE BSED OPIC FO DEECIO dscuss h cara s ror ornaon on h assupon ha h nror ornaon o h cara has alrad bn sablshd and dscuss abou ror ornaon. I P dno h Carsan coordnas o a scn pon wh rspc o h cara and dno h corrspondng coordnas n h ag plan h ag plan s locad a h ocal lngh ro h ocal pon o o h cara. h prspcv projcon o a scn pon P on h ag plan a a pon whr p s prssd as ollows: λ whr λ s h scal acor s h cara saon and s a 3 3 roaon ar dnd as ollows: o lna h scal acor λ w dvdd h rs and scond coponn quaons n Eq. b h hrd ladng o h ollowng or alar collnar quaons: For splc h collnar quaons ar shown as ollowng: F F F 3 whr [ ] [ ]. 3. DEPEDE REIE ORIEIO BEEE HE FIRS D SECOD IGE FRES o solv h rlav ornaon wh h collnar odl w can ransr h nonlnar o h quaons Eq. 4 o a lnarzd or Eq. 5 usng alor srs approaons. h condon quaon can hn b wrn n lnarzd or as: s s F rror F 4 anual whr F F κ κ F... F F F F... ar nal valus and 4n 5 [ ] [ ] κ [...] and s... 3n ar h vcor or o h approaons or h parars and s 4 n 5 4 n 3n ar h ar o h paral drvavs o h wo uncons n Eq. 4 wh rspc o ach o h v ror ornaon lns and h hr coordnas o h GCP 3 n s h h nd o h opcal lows and s h nd o h ag ras. usd h rs wo ags o an ag squnc o drn h rrnc ag ra. h world ra was pcall algnd wh h rs ag ra. h cara ornaon a h scond ag ra can b calculad usng h dpndn rlav ornaon Eq. 5 wh h v pars o anual opcal lows and h o h currn cara saon whch s npu anuall. Eq. 6 nvolvs rwrng Eq. 5 or vcors as ollows: n s n 5 whr n F and n s F. s h parar s ound as ollows: n n s s. 6 r a w raons o Eq. 7 w drn h ror ornaon o h cara a h scond ra as ollows: κ κ. [ ] [ ] 3. BSOE ORIEIO FOR 3 rd o las ag rasdepede REIE ORIEIO BEEE HE FIRS D SECOD IGE FRES Fro h hrd ag ra o h las ag ra h cara ornaon can b calculad b usng h GCP o hr opcal lows or hr ras. can calcula h cara ornaon usng a nu o hr GCPs o opcal lows ha ar calculad b usng wo

3 cara ornaons o h prvous ag ras. h calculaon o h GCP o h opcal lows s as ollows: 7 whr h GCP s ound wh h ad o h classcal las-squars soluon. [ ] B 8 whr and B. I Eq. 6 s gvn a las hr GCPs h cara ornaon s calculad as ollows: F. 9 r a w raons o Eq. w can drn h ror ornaon o h cara ro h hrd ag ra o h las ag ra as ollows: [ ] [ ] κ κ. 4. I-BSEIES FOR CREIG IDEO OSICS s sad abov h D-ag osac chnqu projcs all o ag ras on a sngl basln o cra an ag wh wd rang. Snc can b appld o ag ras akn ro a roang cara o solv h drawback hs papr proposs a novl hod or crang ag osacs n 3-D spac n cas o usng an ag squnc akn ro a ranslang and roang cara. vrag dph o aur pons Faur pon a Objc Basln Iag plan b c Fg.. Indpndn baslns b usng cara pos and avrag dph o aur pons pr ag ra. h cor o h proposd hod s drnng dpndn basln o pr ag ra or crang ul-baslns on whch all o ag ras ar projcd. h pos o h basln o ag ra s h sa pos o cara. h prpndcular dsanc bwn cara ocus and basln s valuad as h avrag dsanc o opcal lows lk Fg. a. h spaal ransor o opcal lows ro h world coordna o h coordna o ag plan s ollowng as: z z ] [ ] [ ϕκ κ hr s cara saon and κ s cara pos. Snc h pos o basln s h sa pos o ag plan n cas o Fg. b h ul-baslns ar h hck do-lns. In cas ha ach ag ras ar projcd on sl basln h rsul wll b Fg. c. 4. HE ODIFICIO OF F BSEIE Fro now hs scon onl dscrbs h odcaon o ul-basln n coordnaon as copnsang h rvrs ag roaon o as o sl ag ra. Snc h cas o Fg. b basd on a cara o whch h ag oon s h 5 DOF Ω Ω wh h cpon o h ag roaon o as Ω s an dal sa s abl o cra vdo osacs n 3D spac. In os nsancs h oon o a cara has 6 DOF ncludng h ag roaon o as whch s on o h dcul hngs o cra vdo osacs lk Fg. 3a and Fg. 4. hror hr ar ndd o od h basln lk Fg. 3b and Fg. 5.

4 In Fg. 7 h lns o b and d ar calculad b usng h lngh o basln and h lns o a and c ar calculad b usng h hgh o ag ra. B- a Fg. 3. h Ω b copnsaon o basln or crang ag osacs. a b Fg. 4. Paralll baslns aul nrscon aong baslns B and nn rang n nrscon ara. In cas ha basln B parallls o nghbor basln B- and B orgnad ha h dsanc aong h objcs projcd on succssv ags s oo long or ag plan parallls nghbor ag plans s Fg. 4a also hr s acd wh aul nrscon aong baslns lk Fg. 4b s dcul o cra vdo osacs. In hos cass h pos and h poson o h basln us b odd. o od h aul nrscons o baslns hs papr proposs 3 sps; a rs sp valuang all dpndn baslns pr ag ra and hn dcng h cass o Fg. 3 and Fg.4 a h las sp odng h pos and h poson o baslns lk Fg. 5. h scond sp basln us b chckd whhr h basln nrscs ro h cnr o prvous basln B- o and ro o h cnr o n basln B or no. In cas o dcng aul nrscon h basln s odd as h ln ha passs B and s calculad as κ κ B. h ag ranslaon B -. h quaon o h basln s ollowng as: hr B a B B a b B B B- B B - b B ab. do osacs wll b oband hrough lkng hos baslns and gnral baslns lk Fg IGE PROECIO O HE I- BSEIES h quaon o ag projcon on h ul-baslns s Eq s cara saon cara pos and h quaon o basln. hr 3 3 a b 3 3a 3 3b b 3 a 3 3. Orgnal basln Fg. 5. w basln n cas o aul nrscon aong baslns B and around nrscon ara. d Fg. 6. Concpual rsul b h proposd hod. c a b B o BP- - B o B o Projcon Fg. 7. Projcon rlaonshp bwn an ag plan and a B B d a c b

5 bas-plan. 5. EPERIE RESS Fg. 8. ul-baslns calculad b usng an ag squnc. a cors o ul-baslns cu uslss pars 6. COCSIO h novl hod or crang vdo osacs n 3D spac basd on ag squnc akn ro a ranslang and roang cara has bn proposd n hs papr. h cor o h proposd algorh s o cra ul-baslns o whch ach basln s drnd b usng h pos o cara and h avrag dsanc bwn cara ocus and dphs o opcal lows pr ag ra. h proposd hod s succssull appld o ral-ag squnc akn ro a ranslang and roang cara. In cas ha h proposd hod s appld o h vdo cara o vhcl-born obl appng ss whch gnrall ncluds roaonal and ranslaonal oon h rsuls b h proposd hod wll b appld o rac urs o acads and oban rapd and npnsv 3D spaal daa nsad o lasr scannr. lso snc h rsuls ar connuous daa h rsuls wll b ovrco h drawback o panoraas and sphrcal osacs squnc o whch h daa s dscr or vsual nvronn n larg ara. Rrncs ro ournals: ssa o Doron Fldan Shul Plg and Daphna nshall osacng w ws: h Crossd-Sls Projcon IEEE ransacons on PI ol. 5 o. 6 un 3. Coorg S. and S. llr. Sphrcal osacs wh quarrngs and dns corrlaon In IC 373: pp b sd o a buldng Shu H. and R. Szlsk. Sss and prn papr consrucon o panorac ag osacs wh global and local algnn In IC 36: -3. Sh S.. and.. Brad 997. SS-a nw approach o low lvl ag procssng In IC 3: c Fron sd o a buldng d w-por wh down ward angl Fg. 9. Projcon o ag ras o ul-baslns. For ralzng h proposd hod and dsplang rsul n 3D spac w us sual C 6. and OpnG. h propos hod has bn appld o ral ag squnc akn ro a ranslang and roang vdo cara. Fg. 8 s abou h vcors o ul-baslns n conncon wh h whol sz o ag ra. Fg. 9a s abou cung o uslss par o h ulbaslns n Fg. 8 and Fg. 9b shows h l sd o a hous and Fg 9c shows h ron sd o h hous n h rsul crad b projcng ag ras on h ul-basln n Fg. 9a. Fgur 9d shows h rsul a vw-por wh downward angl. Szlsk R 966 do osac or vrual nvron Copu. Graph. pplca. vol.6 no.3 pp. -3. Rrncs ro Ohr raur: Chou. S.and. Qan. u H. Schra 997. uoac osac and dspla ro a squnc o prphral angographc ags Proc. o SPIE dcal Iagng Calorna 334: Coorg S. and S. llr 999. Eracng urd vrcal acads ro conrolld clos-rang agr Proc. o 999 IEEE Conrnc on Copur son and Parn Rcognon Colorado pp hu.. R. Hanson H. Schulz E.. Rsan. Error Characrcs o Paralll-Prspcv Sro osacs Proc. o IEEE orkshop on do Rgsraon wh ICC ancouvr Canada 3 ul. Rrncs ro wbss: SGS Hurrcan ch Progra Projcs hp:chns.cr.usgs.govprojcsaral.hl