Abstract:Terrestrial laser scanning method is widely used in three-dimensional (3-D) modeling projects. Nevertheless it usually requires measurement data from other sources for full measurement of the shapes. In this study a 3-D model of the historical Mevlana Museum (Mevlana Mausoleum) in Konya, Turkey was created using state-of-the art measurement techniques. The building was measured by terrestrial laser scanner (TLS). In addition, some shapes of the indoor area were measured by a time-of-flight camera. Thus, a 3-D model of the building was created by combining datasets of all measurements. The point cloud model was created with 2.3 cm and 2.4 cm accuracy for outdoor and indoor measurements, and then it was registered to a georeferenced system. In addition a 3-D virtual model was created by mapping the texture on a mesh derived from the point cloud.

ABSTRACT:Three-dimensional (3D) models of historical buildings are created for documentation and virtual realization of them. Laser scanning and photogrammetry are extensively used to perform for these aims. The selection of the method that will be used in threedimensional modelling study depends on the scale and shape of the object, and also applicability of the method. Laser scanners are high cost instruments. However, the cameras are low cost instruments. The off-the-shelf cameras are used for taking the photogrammetric images. The camera is imaging the object details by carrying on hand while the laser scanner makes ground based measurement. Laser scanner collect high density spatial data in a short time from the measurement area. On the other hand, image based 3D (IB3D) measurement uses images to create 3D point cloud data. The image matching and the creation of the point cloud can be done automatically.Historical buildings include more complex details. Thus, all details cannot be measured by terrestrial laser scanner (TLS) due to the blocking the details with each others. Especially, the artefacts which have complex shapes cannot be measured in full details. They cause occlusion on the point cloud model. However it is possible to record photogrammetric images and creation IB3D point cloud for these areas. Thus the occlusion free 3D model is created by the integration of point clouds originated from the TLS and photogrammetric images.In this study, usability of laser scanning in conjunction with image based modelling for creation occlusion free three-dimensional point cloud model of historical building was evaluated. The IB3D point cloud was created in the areas that could not been measured by TLS. Then laser scanning and IB3D point clouds were integrated in the common coordinate system. The registration point clouds were performed with the iterative closest point (ICP) and georeferencing methods. Accuracy of the registration was evaluated by convergency and its standard deviations for the ICP and residuals on the control points for the georeferencing method.

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Purpose -The relative orientation (RO) is an important step on photogrammetric processes of stereoscopic images. The relationship between the stereoscopic images is constructed by tie (conjugate) points. Many automatic tie point selection methods have been introduced by photogrammetry community so far. The scale invariant feature transform (SIFT) and speeded-up robust features (SURF) are frequently used for automatic tie point selection from stereoscopic images. However, any research has been performed related to RO errors (y-parallaxes) on SIFT and SURF extracted tie points. The purpose of this paper is to compute errors on tie points and investigate their distributions on the model area in terms of size. Design/methodology/approach -The experimental studies were performed on an historical building as it enables more tie points for investigation. While a couple of the stereoscopic images include rich details, the other has poor details. The image orientation and tie point selection accuracy were evaluated by root mean square and y-parallaxes, respectively. The relationship between y-parallaxes of tie points and their distances from centre of the images were investigated. Findings -SIFT and SURF have a large number of tie points according to manual method. The y-parallaxes on tie points have uniform distribution for two methods. There are relations between the precision of the SIFT and SURF keypoints and their distances from the centre of the image. Moreover, the accuracy of the RO and size of the y-parallaxes on tie points depend on matching accuracy of the keypoints. Furthermore, although there are a few tie points that have large y-parallax especially by the SURF, RO could be performed with high accuracy thanks to numerous tie points. Originality/value -Stereoscopic images of close-range photogrammetry have different scale and rotations, unlike aerial photogrammetry. Manual selection of tie points is time consuming and tedious. Furthermore, if the measurement surface has no implicit entities, enough tie points from the images cannot be selected by manually. However, tie point selection can be performed by SIFT and SURF automatically, even if there are scale, noise and rotation between the images.

ABSTRACT:Laser scanner is noncontact instrument to measurement of spatial data. It measures object surfaces as point series and visualize as point cloud. One of the important steps on processes of laser scanning data is the registration of point clouds relation to common coordinate system. Many interactive and automatic methods have been developed for point cloud registration so far. The automatic methods are applied with range data of laser scanner or image data of sensor combination camera. The registration by range data is mostly depend object geometry. If scan surface is deprived from geometrical details, conjugate points can not be found to compute registration parameters between point clouds. In that case, intensity data of laser points can be used for registration. In this study, intensity image was created from laser scanner data and the registration parameters were computed with keypoints extracted by SIFT method from these images. The results were also compared with the iterative closest point (ICP) method.

ABSTRACT:The urban area should be imaged in three-dimensional (3D) for planning, inspection and management. In addition fast urbanisation requires detection the urban area changes which have been occurred with new buildings, additional floor to current buildings and excavations. 3D surface model of urban area enables to extracting high information from them. On the other hand high density spatial data should be measured to creating 3D digital terrain surface model. The dense image matching method makes 3D measurement with high density from the images in a short time. The aim of this study is detection the urban area changes via comparison of time series point cloud data from historical stereoscopic aerial images. The changes were detected with the difference of these digital elevation models. The study area was selected from Konya city in Turkey, and it has a large number of new buildings and changes in topography. Dense point cloud data were created from historical aerial images belong to years of 1951, 1975 and 2010. Every threedimensional point cloud data were registered to global georeferenced coordinate system with ground control points created from the imaged objects such as building corner, fence, wall and etc. Then urban changes were detected with comparing the dense point cloud data by exploiting the iterative closest point (ICP) algorithm. Consequently, the urban changes were detected from point to surface distances between image based point clouds.

Abstract. This study aims to introduce triangulation and ToF measurement techniques used in three-dimensional modelling of cultural heritages. These measurement techniques are traditional photogrammetry, SfM approach, laser scanning and time-of-flight camera. The computer based approach to photogrammetric measurement that is named SfM creates dense point cloud data in a short time. It is low-cost and very easy to application. However traditional photogrammetry needs a huge effort for creating 3D wire-frame model. On the other hand active measurement techniques such as terrestrial laser scanner and time-of-flight camera have also been used in three-dimensional modelling for more than twenty years. Each one has specific accuracy and measurement effectiveness. The large or small structures have different characters, and require proper measurement configurations. In this study, after these methods are introduced, their superior and weak properties in cultural heritage modelling to make high accuracy, high density and labour and cost effective measurement.

Abstract. Terrestrial laser scanning has been used for various outdoor visualizations such as urban, construction, excavations, and land topography. Since laser scanning data have their own local coordinates in each station, a three-dimensional point cloud model of the object of interest is created in the local coordinate system by the combination of these measurements. For spatial queries and computations, the point cloud and other spatial data should be combined in a common coordinate system. In this study, a terrestrial laser scanner (TLS) and global navigation satellite system (GNSS) receiver were integrated for the registration of the laser scanner measurements into the geodetic coordinate system. Two georeferencing methods based on the continuously operating reference stations in the network Turkey (CORS-TR) were introduced. After the building was modelled by integrating the TLS and the GNSS receiver, the point cloud model that was created was registered to the international terrestrial reference frame. The registration was performed with 0.05 m root mean square error for the two georeferencing methods. © The Authors. Published by SPIE under a Creative Commons Attribution 3.0 Unported License. Distribution or reproduction of this work in whole or in part requires full attribution of the original publication, including its DOI.