LIDAR Scans using Photogrammetry and Structure-from-Motion Shawn - PowerPoint PPT Presentation

HawkEye: Automatic Stitching of Hand-Held LIDAR Scans using Photogrammetry and Structure-from-Motion Shawn Recker, Rob Baltrusch, Christiaan Gribble, and Mark Butkiewicz SURVICE Engineering Company Applied Technology Operation 4694 Millennium Drive, Suite 500, Belcamp, MD 21017 530-564-8763 {shawn.recker, rob.baltrusch, christiaan.gribble, mark.butkiewicz}@survice.com SMALL COMPANY VALUES, BIG COMPANY CAPABILITIES

OUR PEOPLE With a staff of approximately people, SURVICE employees have backgrounds in engineering, physics, mathematics, chemistry, computer science, acquisition, technical writing, training, and other technical and administrative fields. And many of our personnel have DoD and/or operational military experience. Using a matrix approach, we draw on expertise from across our workforce to build customized work teams for each project and customer. The result is a successful, skilled workforce and many satisfied customers. SMALL COMPANY VALUES, BIG COMPANY CAPABILITIES 2

ABOUT SURVICE Since 1981, SURVICE has supported the DoD community, as well as the homeland security, advanced technologies, environmental, and commercial markets. We have also worked hard to retain the original vision upon which the company was founded — to provide the warfighter with the safest, most survivable, and most effective equipment possible. Our customer-acclaimed support primarily falls into five core business areas: Test & Evaluation Modeling & Dimensional Studies & Information Simulation/ Metrology and Analysis Providing experience Technologies & Software Reverse Conducting a wide Management in the test and Engineering Engineering Collecting, maintaining, variety of safety, evaluation roles that Delivering a broad Offering customers distributing, storing, survivability, are vital to the design, range of modeling and precision dimensional effectiveness, and verifying, and acquisition, and simulation, software metrology, modeling, protecting the nation’s systems engineering fielding of all new and engineering, and and related services. critical defense studies. modified combat systems engineering information. systems. capabilities. SMALL COMPANY VALUES, BIG COMPANY CAPABILITIES 3

HawkEye Introduction Scanner Hardware Structure-from-Motion Photogrammetry SMALL COMPANY VALUES, BIG COMPANY CAPABILITIES 4

Scanner Hardware SURVICE HawkEye Hand-Held Scanner Prototype SMALL COMPANY VALUES, BIG COMPANY CAPABILITIES 5

Structure-from-Motion SMALL COMPANY VALUES, BIG COMPANY CAPABILITIES 6

A-Contrario Structure-from-Motion 𝑙 𝑂𝐺𝐵 𝑁, 𝑙 = 𝑂 𝑝𝑣𝑢 (𝑜 − 𝑂 𝑡𝑏𝑛𝑞𝑚𝑓 ) 𝑜 𝑙−𝑂 𝑡𝑏𝑛𝑞𝑚𝑓 𝑓 𝑙 𝑁 𝑒 𝛽 0 (1) 𝑂 𝑡𝑏𝑛𝑞𝑚𝑓 𝑙 𝑂𝐺𝐵 𝑁 = 𝑙= 𝑂 𝑡𝑏𝑛𝑞𝑚𝑓 +1…𝑜 𝑂𝐺𝐵 𝑁, 𝑙 ≤ 𝜗 min (2) ) arg min 𝑂𝐺𝐵(𝑁 (3) 𝑁 Equations from Moulon et al. [1] SMALL COMPANY VALUES, BIG COMPANY CAPABILITIES 7

Photogrammetry Hybrid Photogrammetry/SfM from Recker et al. [2] SMALL COMPANY VALUES, BIG COMPANY CAPABILITIES 8

Iterative Closest Point ICP algorithm from Zhang et al. [3] and Visualization from PCL [4] SMALL COMPANY VALUES, BIG COMPANY CAPABILITIES 9

HawkEye Pipeline SMALL COMPANY VALUES, BIG COMPANY CAPABILITIES 10

Results SMALL COMPANY VALUES, BIG COMPANY CAPABILITIES 11

ICP vs no-ICP SMALL COMPANY VALUES, BIG COMPANY CAPABILITIES 12

Citations [1] P. Moulon, M. Pascal, and R. Marlet . “Adaptive Structure from Motion with A-Contrario Model Estimation.” Asian Conference on Computer Vision, 2012. [2] S. Recker, M. M. Shashkov, M. Hess-Flores, C. Gribble, R. Baltrusch, M. A. Butkiewicz , K. I. Joy, “Hybrid Photogrammetry Structure-from-Motion Systems for Scene Measurement and Analysis.” Coordinate Metrology Systems Conference, 2014 [3] Z. Zhang “Iterative Point Matching for Registration of Free -Form Curves and Surfaces.” International Journal of Computer Vision , 2012. [4] R. B. Rusu and S. Cousins, “3D is here: Point Cloud Library (PCL).” International Conference on Robotics and Automation, 2011. SMALL COMPANY VALUES, BIG COMPANY CAPABILITIES 13

Acknowledgement This work was supported in part by the US Marine Corps SBIR program, and SURVICE Engineering’s Internal R&D program. The authors thank their colleagues in the Applied Technology Operation at SURVICE Engineering for their support. SMALL COMPANY VALUES, BIG COMPANY CAPABILITIES 14

Questions SMALL COMPANY VALUES, BIG COMPANY CAPABILITIES 15

Providing unparalleled services and technology solutions in support of National Defense and the U.S. Warfighter. Serve our customers with specialized and innovative solutions, while promoting responsible growth and maintaining focus on our employees, values, and ethical standards. SMALL COMPANY VALUES, BIG COMPANY CAPABILITIES 16

OUR LOCATIONS Corporate Offices Belcamp, MD Aberdeen Area Operation Gulf Coast Operation Patuxent Area Operation SEMATS Operation Belcamp, MD Fort Walton Beach, FL Lexington Park, MD Eglin AFB, FL Applied Technology Operation Huntsville Area Operation PMC Operation Washington Area Operation Belcamp, MD Huntsville, AL Socorro, NM Quantico Center Dumfries, VA Dayton Area Operation Michigan Area Operation Ridgecrest Area Operation Dayton, OH Warren, MI Ridgecrest, CA SMALL COMPANY VALUES, BIG COMPANY CAPABILITIES 17

TEST & EVALUATION SURVICE is experienced in the test & evaluation roles that are vital to the design, acquisition, and fielding of all new and modified combat systems. • Ballistic and nonballistic survivability The T&E areas we • Chemical contamination & decontamination support include: • Information Assurance (IA) • E3 • Test planning and management • Pre-test predictions and damage assessment The T&E services we provide include: • Test conduct, data collection, data analysis, and reporting • Acquisition documentation • C4ISR systems • Rotary-wing systems • Fixed-wing systems The types of systems we support include: • Ground systems • Missile systems • Various foreign platforms SMALL COMPANY VALUES, BIG COMPANY CAPABILITIES 18

MODELING & SIMULATION/ SOFTWARE ENGINEERING SURVICE develops, enhances, and uses a wide range of computational tools and methodologies. • Algorithm/methodology development The M&S products and • Code design and low-level optimization services we provide • Configuration management verification, validation, and include: accreditation support • FASTGEN, COVART, BRL-CAD, AJEM/MUVES, UEDDAM, The models/simulations FPM, ULLEX, ATCOM, ESAMS, SUPPRESSOR, JIMM, we use include: SPIRITS, MOSAIC, DREAM, ANSYS FLUENT, SPACECLAIM, JREM The computational • LS-Dyna, ALE3D, CTH, SPHear, mechanics codes we use TetrUSS, Warp3d include: SMALL COMPANY VALUES, BIG COMPANY CAPABILITIES 19

DIMENSIONAL METROLOGY & REVERSE ENGINEERING SURVICE offers customers precision dimensional metrology, modeling, and related services, which can be performed at a customer’s site or at our one -of-kind Metrology Center. • Reverse engineering • Target exploitation • Rapid prototyping The M&S products and • Dimensional inspection services we provide • Pre- and post-test damage assessment include: • 3-D geometric modeling • Metrology integration support (for manufacturing and assembly) • Metrology tool application and development • Electromagnetic railgun • Behind-armor deflection of personal body armor • MRAP Examples of recent metrology projects we’ve • Hydroelectric power plant turbines supported include: • Airplane turbine engine blades • Civil War-era Dahlgren gun for the Mariner’s Museum SMALL COMPANY VALUES, BIG COMPANY CAPABILITIES 20

STUDIES & ANALYSIS SURVICE provides the assessment of combat vehicles and weapon systems in support of requirements development, design, and test and evaluation activities. • E3 and lightning analysis • Threat-target interactions • Fire prediction and mitigation • Personnel vulnerability The studies and analysis • Technology optimization areas we support include: • Susceptibility and vulnerability reduction • Technology optimization • Component, system, and mission performance assessments • Ballistic and nonballistic survivability analyses • Rotary-wing systems • Fixed-wing systems • Ground systems The types of systems we • Sea systems have assessed include: • Missile systems • Engines • Various foreign platforms SMALL COMPANY VALUES, BIG COMPANY CAPABILITIES 21