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  Markerless motion tracking  Security  Intelligent threat detection  Civil Engineering  Materials Science  Archaeology

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

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

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

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

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!

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

Composite Materials Laboratory  Tamaki Campus  Same building as Wine Science  8Mpixel Canon digital SLRs on stable base with precise alignment

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