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The Netherlands in Colorized Point Clouds

Head of Data Analytics Dr. Ing. Bas Boom

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Accuracy:

• Absolute: Average standard deviation: 10 cm

• Relative: 2 cm (standard deviation in distance

measurement)

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Agenda

Recording System

• Panoramic Camera

• Lidar Sensor

• Meshing

• Colorized Point

Clouds

• Depth Imagery

Current Coverage

• (NL) Imagery

• (NL) Point Clouds

• USA, Gemany

Aerial Images &

LiDAR

• CityMapper

• Registration

• Combination

Future Vision

• Recognizing every

pixel

• Deep Learning

• Image Segmentation

• Semantic Point

Projection

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Indeling

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Present recording system:

DCR10L

D: Digital

C: Cyclorama (Panoramic Image)

R: Recording System (version 10)

L: LiDAR

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GPS

antenna

LiDAR

scanner

IMU 5 cameras

Camera control, time

sync, positioning etc.

Operator

tablet

HD-Cyclorama recording system (‘DCR10L’)

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HD-Cyclorama recording system (‘DCR10L’) – Cross section

Driving direction

1. Front 2. Right 3. Top 4. Left 5. Back

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HD-Cyclorama recording system (‘DCR10L’) – Processing Principle

Right

Fro

nt

Left

Back Top

Right

Fro

nt

Left

Back Top

Right

Fro

nt

Left

Back Top

Right

Fro

nt

Left

Back Top

Right

Fro

nt

Left

Back Top

Right

Fro

nt

Left

Back Top

Driving direction

The only practical way to

obtain geometrically correct

panoramic images,

is to record from one SINGLE

recording location

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HD-Cyclorama recording system (‘DCR10L’) – Processing Principle

1.

Front

2.

Right

3. Top

4.

Left

5.

Back

5.

Back

Cameras projected in equirectangular panoramic perspective

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HD-Cyclorama recording system (‘DCR10L’) – Processing Principle

1.

Front

2.

Right

3. Top

4.

Left

5.

Back

5.

Back

Final result as an equirectangular panorama

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Meshing on LiDAR point clouds (Delauney triangle)

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Subtitle

1. Sum up

Reading text

• Ray (d): Single Light beam (pixel) recorded by the camera

• Triangle (v1,v2,v3): Lidar points without color

• Colorized Lidar points are created by (for simplicity) weighted sum of color values of closest rays

• Depth images are created based on distance t

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Ray Tracing

V2 d

V3

V1

t

0

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TEXT LEVELS

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Level down

• Bullet

2 • Sub-bullet #1

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Subtitle

1. Sum up

Reading text

Attributes:

• Intensity

• Simultaneous GeoCyclorma

recording

• Colored points

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TEXT LEVELS

1

Start Level up

Level down

• Bullet

2 • Sub-bullet #1

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4

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Subtitle

1. Sum up

Reading text

Visualisations:

• Height

• Color

• Intensity

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• Every Pixel in 3D

• Quick and accurate

3D measurements

• 3D Cursor

3D Cyclorama

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• Flooding Simulation

• Water Run-off and

ponding analysis

3D Cyclorama

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Cyclorama/LiDAR point clouds coverage

• The Netherlands

• Germany

• USA

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Aerial Image and LiDAR (CityMapper)

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Terrestrial Pointclouds registered on Aerial Pointclouds

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Future Vision (Adding Semantics per Pixel/Point)

• Deep Learning

• Full Image Segmentation

• Like the colors, project the semantics labels to point cloud

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Thank you for your attention

bboom@cyclomedia.com Dr. Ing. Bas Boom