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Dr. Fabio Menna
3DOM - 3D Optical Metrology Unit, FBK - Bruno Kessler Foundation, via Sommarive 18, 38123 Povo-Trento, Italy

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0 Accuracy
0 Automation
0 Change Detection
0 Navigation
0 Photogrammetry

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Review
Published: 15 July 2021 in Remote Sensing
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In both the industrial and scientific fields, the need for very high-resolution cartographic data is constantly increasing. With the aging of offshore subsea assets, it is very important to plan and maintain the longevity of structures, equipment, and systems. Inspection, maintenance, and repair (IMR) of subsea structures are key components of an overall integrity management system that aims to reduce the risk of failure and extend the life of installations. The acquisition of very detailed data during the inspection phase is a technological challenge, especially since offshore installations are sometimes deployed in extreme conditions (e.g., depth, hydrodynamics, visibility). After a review of high resolution mapping techniques for underwater environment, this article will focus on optical sensors that can satisfy the requirements of the offshore industry by assessing their relevance and degree of maturity. These requirements concern the resolution and accuracy but also cost, ease of implementation, and qualification. With the evolution of embedded computing resources, in-vehicle optical survey solutions are becoming increasingly important in the landscape of large-scale mapping solutions and more and more off-the-shelf systems are now available. The issues raised in this review are mainly related to the qualification of the results produced by optical systems and their limitations to cover all the needs expressed by the oil and gas industry field. Interesting qualification works of these solutions are presented in this paper as well as the use of online processing tools such as visual odometry or VSLAM to guide the data acquisition and pre-qualified survey. Finally, it seems interesting to combine acoustic and optical technologies in order to extend the field of application of these methods to low visibility conditions, which remains one of the main limiting factors in the generalization of the use of optical sensors in high resolution underwater cartography applications.

ACS Style

Bertrand Chemisky; Fabio Menna; Erica Nocerino; Pierre Drap. Underwater Survey for Oil and Gas Industry: A Review of Close Range Optical Methods. Remote Sensing 2021, 13, 2789 .

AMA Style

Bertrand Chemisky, Fabio Menna, Erica Nocerino, Pierre Drap. Underwater Survey for Oil and Gas Industry: A Review of Close Range Optical Methods. Remote Sensing. 2021; 13 (14):2789.

Chicago/Turabian Style

Bertrand Chemisky; Fabio Menna; Erica Nocerino; Pierre Drap. 2021. "Underwater Survey for Oil and Gas Industry: A Review of Close Range Optical Methods." Remote Sensing 13, no. 14: 2789.

Journal article
Published: 28 June 2021 in The International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences
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Photogrammetry needs known geometric elements to provide metric traceable measurements. These known elements can be a distance between two three-dimensional object points or two camera stations, or a combination of known coordinates and/or angles to solve the seven degrees of freedom that lead to rank deficiency of the normal-equation matrix. In this paper we present a novel approach for scaling and levelling to the local vertical direction an underwater photogrammetric survey. The developed methodology is based on a portable low-cost device designed and realized by the authors that uses depth measurements from a high resolution pressure sensor. The prototype consists of a data logger featuring a pressure sensor synchronized with a digital camera in its underwater pressure housing. The modular design, with optical communication and synchronization, provides great flexibility not requiring the camera housing to undergo any hardware modifications. The proposed methodology allows for a full 3D levelling transformation comprising two angles, a vertical translation and a scale factor and can work for surveying scenes extending horizontally, vertically or both. The paper presents the theoretical principles, an overview of the developed system together with preliminary calibration results. Tests in a lake and at sea are reported. An accuracy better than 1:5000 on the length measurement was achieved in calm water conditions.

ACS Style

F. Menna; E. Nocerino; B. Chemisky; F. Remondino; P. Drap. ACCURATE SCALING AND LEVELLING IN UNDERWATER PHOTOGRAMMETRY WITH A PRESSURE SENSOR. The International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences 2021, XLIII-B2-2, 667 -672.

AMA Style

F. Menna, E. Nocerino, B. Chemisky, F. Remondino, P. Drap. ACCURATE SCALING AND LEVELLING IN UNDERWATER PHOTOGRAMMETRY WITH A PRESSURE SENSOR. The International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences. 2021; XLIII-B2-2 ():667-672.

Chicago/Turabian Style

F. Menna; E. Nocerino; B. Chemisky; F. Remondino; P. Drap. 2021. "ACCURATE SCALING AND LEVELLING IN UNDERWATER PHOTOGRAMMETRY WITH A PRESSURE SENSOR." The International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences XLIII-B2-2, no. : 667-672.

Journal article
Published: 28 June 2021 in The International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences
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During underwater investigations, whatever the mission objective and the type of vehicle, obstacles detection and avoidance are essential tasks. They can either represent a target of interest that is the object of the mission or, on the contrary, represent obstacles that can hinder or affect the navigation of the vehicle. The underwater optical cameras that are usually fitted to underwater vehicles only offer a narrow field of view. The absorption of electromagnetic waves in the first few meters and the diffusion of light by the particles limit the use of these sensors to only a few meters range. The use of acoustic sensors, such as the forward looking sonar (FLS), is then necessary to enlarge the volume in which a target can be detected during the progression of the vehicle. Traditionally, sonars featured mechanical rotating parts, but lately bidirectional forward looking sonar, which directly produces a 2D image of the area, are becoming more and more common. Although these sonars can operate at frequency higher than 1MHz, their spatial resolution remains much lower if compared to current optical sensors and can be insufficient to identify and characterize a target. The combination of these two sensors in an operational scenario is essential to take advantage of each technology. In this paper we describe a low cost, multi-sensor, underwater survey solution for the identification, tracking, and 3D mapping of targets. After a description of the architecture of the opto-acoustics data acquisition and processing platform, we will focus on the calibration of the rigid transformation between the two sensors.

ACS Style

B. Chemisky; E. Nocerino; F. Menna; M. M. Nawaf; P. Drap. A PORTABLE OPTO-ACOUSTIC SURVEY SOLUTION FOR MAPPING OF UNDERWATER TARGETS. The International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences 2021, XLIII-B2-2, 651 -658.

AMA Style

B. Chemisky, E. Nocerino, F. Menna, M. M. Nawaf, P. Drap. A PORTABLE OPTO-ACOUSTIC SURVEY SOLUTION FOR MAPPING OF UNDERWATER TARGETS. The International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences. 2021; XLIII-B2-2 ():651-658.

Chicago/Turabian Style

B. Chemisky; E. Nocerino; F. Menna; M. M. Nawaf; P. Drap. 2021. "A PORTABLE OPTO-ACOUSTIC SURVEY SOLUTION FOR MAPPING OF UNDERWATER TARGETS." The International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences XLIII-B2-2, no. : 651-658.

Journal article
Published: 28 June 2021 in The International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences
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Uncontrolled refraction of optical rays in underwater photogrammetry is known to reduce its accuracy potential. Several strategies have been proposed aiming at restoring the accuracy to levels comparable with photogrammetry applied in air. These methods are mainly based on rigours modelling of the refraction phenomenon or empirical iterative refraction corrections. The authors of this contribution have proposed two mitigation strategies of image residuals systematic patterns in the image plane: (i) empirical weighting of image observations as function of their radial position; (ii) iterative look-up table corrections computed in a squared grid. Here, a novel approach is developed. It explicitly takes into account the object point-to-camera distance dependent error introduced by refraction in multimedia photogrammetry. A polynomial correction function is iteratively computed to correct the image residuals clustered in radial slices in the image plane as function of the point-to-camera distance. The effectiveness of the proposed method is demonstrated by simulations that allow to: (i) separate the geometric error under investigation from other effects not easily modellable and (ii) have reliable reference data against which to assess the accuracy of the result.

ACS Style

E. Nocerino; F. Menna; A. Gruen. BUNDLE ADJUSTMENT WITH POLYNOMIAL POINT-TO-CAMERA DISTANCE DEPENDENT CORRECTIONS FOR UNDERWATER PHOTOGRAMMETRY. The International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences 2021, XLIII-B2-2, 673 -679.

AMA Style

E. Nocerino, F. Menna, A. Gruen. BUNDLE ADJUSTMENT WITH POLYNOMIAL POINT-TO-CAMERA DISTANCE DEPENDENT CORRECTIONS FOR UNDERWATER PHOTOGRAMMETRY. The International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences. 2021; XLIII-B2-2 ():673-679.

Chicago/Turabian Style

E. Nocerino; F. Menna; A. Gruen. 2021. "BUNDLE ADJUSTMENT WITH POLYNOMIAL POINT-TO-CAMERA DISTANCE DEPENDENT CORRECTIONS FOR UNDERWATER PHOTOGRAMMETRY." The International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences XLIII-B2-2, no. : 673-679.

Journal article
Published: 28 June 2021 in The International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences
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3D digital reconstruction techniques are extensively used for quality control purposes. Among them, photogrammetry and photometric stereo methods have been for a long time used with success in several application fields. However, generating highly-detailed and reliable micro-measurements of non-collaborative surfaces is still an open issue. In these cases, photogrammetry can provide accurate low-frequency 3D information, whereas it struggles to extract reliable high-frequency details. Conversely, photometric stereo can recover a very detailed surface topography, although global surface deformation is often present. In this paper, we present the preliminary results of an ongoing project aiming to combine photogrammetry and photometric stereo in a synergetic fusion of the two techniques. Particularly, hereafter, we introduce the main concept design behind an image acquisition system we developed to capture images from different positions and under different lighting conditions as required by photogrammetry and photometric stereo techniques. We show the benefit of such a combination through some experimental tests. The experiments showed that the proposed method recovers the surface topography at the same high-resolution achievable with photometric stereo while preserving the photogrammetric accuracy. Furthermore, we exploit light directionality and multiple light sources to improve the quality of dense image matching in poorly textured surfaces.

ACS Style

A. Karami; F. Menna; F. Remondino. INVESTIGATING 3D RECONSTRUCTION OF NON-COLLABORATIVE SURFACES THROUGH PHOTOGRAMMETRY AND PHOTOMETRIC STEREO. The International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences 2021, XLIII-B2-2, 519 -526.

AMA Style

A. Karami, F. Menna, F. Remondino. INVESTIGATING 3D RECONSTRUCTION OF NON-COLLABORATIVE SURFACES THROUGH PHOTOGRAMMETRY AND PHOTOMETRIC STEREO. The International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences. 2021; XLIII-B2-2 ():519-526.

Chicago/Turabian Style

A. Karami; F. Menna; F. Remondino. 2021. "INVESTIGATING 3D RECONSTRUCTION OF NON-COLLABORATIVE SURFACES THROUGH PHOTOGRAMMETRY AND PHOTOMETRIC STEREO." The International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences XLIII-B2-2, no. : 519-526.

Journal article
Published: 28 June 2021 in The International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences
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The image orientation (or Structure from Motion – SfM) process needs well localized, repeatable and stable tie points in order to derive camera poses and a sparse 3D representation of the surveyed scene. The accurate identification of tie points in large image datasets is still an open research topic in the photogrammetric and computer vision communities. Tie points are established by firstly extracting keypoint using a hand-crafted feature detector and descriptor methods. In the last years new solutions, based on convolutional neural network (CNN) methods, were proposed to let a deep network discover which feature extraction process and representation are most suitable for the processed images. In this paper we aim to compare state-of-the-art hand-crafted and learning-based method for the establishment of tie points in various and different image datasets. The investigation highlights the actual challenges for feature matching and evaluates selected methods under different acquisition conditions (network configurations, image overlap, UAV vs terrestrial, strip vs convergent) and scene's characteristics. Remarks and lessons learned constrained to the used datasets and methods are provided.

ACS Style

F. Remondino; F. Menna; L. Morelli. EVALUATING HAND-CRAFTED AND LEARNING-BASED FEATURES FOR PHOTOGRAMMETRIC APPLICATIONS. The International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences 2021, XLIII-B2-2, 549 -556.

AMA Style

F. Remondino, F. Menna, L. Morelli. EVALUATING HAND-CRAFTED AND LEARNING-BASED FEATURES FOR PHOTOGRAMMETRIC APPLICATIONS. The International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences. 2021; XLIII-B2-2 ():549-556.

Chicago/Turabian Style

F. Remondino; F. Menna; L. Morelli. 2021. "EVALUATING HAND-CRAFTED AND LEARNING-BASED FEATURES FOR PHOTOGRAMMETRIC APPLICATIONS." The International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences XLIII-B2-2, no. : 549-556.

Journal article
Published: 16 June 2021 in Remote Sensing
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Mobile and handheld mapping systems are becoming widely used nowadays as fast and cost-effective data acquisition systems for 3D reconstruction purposes. While most of the research and commercial systems are based on active sensors, solutions employing only cameras and photogrammetry are attracting more and more interest due to their significantly minor costs, size and power consumption. In this work we propose an ARM-based, low-cost and lightweight stereo vision mobile mapping system based on a Visual Simultaneous Localization And Mapping (V-SLAM) algorithm. The prototype system, named GuPho (Guided Photogrammetric System), also integrates an in-house guidance system which enables optimized image acquisitions, robust management of the cameras and feedback on positioning and acquisition speed. The presented results show the effectiveness of the developed prototype in mapping large scenarios, enabling motion blur prevention, robust camera exposure control and achieving accurate 3D results.

ACS Style

Alessandro Torresani; Fabio Menna; Roberto Battisti; Fabio Remondino. A V-SLAM Guided and Portable System for Photogrammetric Applications. Remote Sensing 2021, 13, 2351 .

AMA Style

Alessandro Torresani, Fabio Menna, Roberto Battisti, Fabio Remondino. A V-SLAM Guided and Portable System for Photogrammetric Applications. Remote Sensing. 2021; 13 (12):2351.

Chicago/Turabian Style

Alessandro Torresani; Fabio Menna; Roberto Battisti; Fabio Remondino. 2021. "A V-SLAM Guided and Portable System for Photogrammetric Applications." Remote Sensing 13, no. 12: 2351.

Editorial
Published: 12 February 2021 in Remote Sensing
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The Special Issue “Underwater 3D recording and modelling” is focused on challenges for 3D modeling and ways to overcome them in the underwater environment. Given that existing sensors and algorithms are not optimized, nor present the best possible solutions for the harsh conditions of the submerged environment, new techniques and methods need to be developed. During the last years, we have witnessed groundbreaking technological developments, which allow underwater documentation with unprecedented accuracy and detail. Photogrammetry‐based approaches coupled with virtual and augmented reality (VR/AR) applications are becoming infused in interdisciplinary research in topics such as archeology, biology, industry.

ACS Style

Dimitrios Skarlatos; Fabio Bruno; Fabio Menna; Erica Nocerino. Editorial for Underwater 3D Recording & Modelling. Remote Sensing 2021, 13, 665 .

AMA Style

Dimitrios Skarlatos, Fabio Bruno, Fabio Menna, Erica Nocerino. Editorial for Underwater 3D Recording & Modelling. Remote Sensing. 2021; 13 (4):665.

Chicago/Turabian Style

Dimitrios Skarlatos; Fabio Bruno; Fabio Menna; Erica Nocerino. 2021. "Editorial for Underwater 3D Recording & Modelling." Remote Sensing 13, no. 4: 665.

Original article
Published: 18 November 2020 in The Photogrammetric Record
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This paper presents the development of a vision metrology system for high‐accuracy three‐dimensional measurements of large structures requiring dimensional tolerancing. The proposed system integrates a V‐STARS N platinum photogrammetric system from Geodetic Systems, a DJI M600 Pro UAS with Ronin‐MX gimbal and a dual antenna for real‐time kinematic positioning. The paper presents the system architecture and the developed software for camera network simulation and image acquisition. As an acquisition scenario, a large dish parabolic antenna is simulated. The benefits of the developed procedure include the ability to handle obstacle avoidance and self‐occlusions and, employing a rigorous camera network simulation approach, to overcome the limitations of currently available flight planning commercial tools that are mainly conceived for mapping applications. Future work will consider extensive testing of the platform in real‐case scenarios.

ACS Style

Fabio Menna; Erica Nocerino; Fabio Remondino; Luca Saladino; Luigi Berri. Towards online UAS‐based photogrammetric measurements for 3D metrology inspection. The Photogrammetric Record 2020, 35, 467 -486.

AMA Style

Fabio Menna, Erica Nocerino, Fabio Remondino, Luca Saladino, Luigi Berri. Towards online UAS‐based photogrammetric measurements for 3D metrology inspection. The Photogrammetric Record. 2020; 35 (172):467-486.

Chicago/Turabian Style

Fabio Menna; Erica Nocerino; Fabio Remondino; Luca Saladino; Luigi Berri. 2020. "Towards online UAS‐based photogrammetric measurements for 3D metrology inspection." The Photogrammetric Record 35, no. 172: 467-486.

Journal article
Published: 17 September 2020 in Remote Sensing
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Underwater photogrammetry is increasingly being used by marine ecologists because of its ability to produce accurate, spatially detailed, non-destructive measurements of benthic communities, coupled with affordability and ease of use. However, independent quality control, rigorous imaging system set-up, optimal geometry design and a strict modeling of the imaging process are essential to achieving a high degree of measurable accuracy and resolution. If a proper photogrammetric approach that enables the formal description of the propagation of measurement error and modeling uncertainties is not undertaken, statements regarding the statistical significance of the results are limited. In this paper, we tackle these critical topics, based on the experience gained in the Moorea Island Digital Ecosystem Avatar (IDEA) project, where we have developed a rigorous underwater photogrammetric pipeline for coral reef monitoring and change detection. Here, we discuss the need for a permanent, underwater geodetic network, which serves to define a temporally stable reference datum and a check for the time series of photogrammetrically derived three-dimensional (3D) models of the reef structure. We present a methodology to evaluate the suitability of several underwater camera systems for photogrammetric and multi-temporal monitoring purposes and stress the importance of camera network geometry to minimize the deformations of photogrammetrically derived 3D reef models. Finally, we incorporate the measurement and modeling uncertainties of the full photogrammetric process into a simple and flexible framework for detecting statistically significant changes among a time series of models.

ACS Style

Erica Nocerino; Fabio Menna; Armin Gruen; Matthias Troyer; Alessandro Capra; Cristina Castagnetti; Paolo Rossi; Andrew Brooks; Russell Schmitt; Sally Holbrook. Coral Reef Monitoring by Scuba Divers Using Underwater Photogrammetry and Geodetic Surveying. Remote Sensing 2020, 12, 3036 .

AMA Style

Erica Nocerino, Fabio Menna, Armin Gruen, Matthias Troyer, Alessandro Capra, Cristina Castagnetti, Paolo Rossi, Andrew Brooks, Russell Schmitt, Sally Holbrook. Coral Reef Monitoring by Scuba Divers Using Underwater Photogrammetry and Geodetic Surveying. Remote Sensing. 2020; 12 (18):3036.

Chicago/Turabian Style

Erica Nocerino; Fabio Menna; Armin Gruen; Matthias Troyer; Alessandro Capra; Cristina Castagnetti; Paolo Rossi; Andrew Brooks; Russell Schmitt; Sally Holbrook. 2020. "Coral Reef Monitoring by Scuba Divers Using Underwater Photogrammetry and Geodetic Surveying." Remote Sensing 12, no. 18: 3036.

Journal article
Published: 24 August 2020 in The International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences
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In the last years, vision-based systems have flourished at an unprecedented pace, fuelled by developments in hardware components (higher resolution and higher sensitivity imaging sensors, smaller and smarter micro controllers, just to name a few), as well as in software or processing techniques, with AI (Artificial Intelligence) leading to a landmark revolution. Several disciplines have fostered and benefited from these advances, but, unfortunately, not always in a coordinated and cooperative way.When it comes to image-based sensing techniques, photogrammetry, computer vision and robotic vision have many contact points and overlapping areas. Yet, as for people of different cultures and languages, communicating among the three different communities can be very harsh and disorienting - especially for beginners and non-specialists.Driven by a strong educational and inclusive ambition, the LightCam project is funded by the ISPRS Education and Capacity Building Initiatives 2020 (ECB). The project’s ambition is to act as an interpreter and ease the dialog among the three actors, i.e. photogrammetry, computer vision and robotics. Two intermediation tools will be developed to serve this aim: (i) a dictionary of concepts, terminology and algorithms, in the form of a knowledge base website, and (ii) a code repository, where pieces of code for the conversion between different formulations implemented in available software solutions will be shared.

ACS Style

E. Nocerino; F. Menna; R. Hänsch. LIGHTCAM: ENLIGHTENING THE CAMERA OBSCURA – WHERE PHOTOGRAMMETRY, COMPUTER AND ROBOTIC VISION MEET. The International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences 2020, XLIII-B5-2, 63 -67.

AMA Style

E. Nocerino, F. Menna, R. Hänsch. LIGHTCAM: ENLIGHTENING THE CAMERA OBSCURA – WHERE PHOTOGRAMMETRY, COMPUTER AND ROBOTIC VISION MEET. The International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences. 2020; XLIII-B5-2 ():63-67.

Chicago/Turabian Style

E. Nocerino; F. Menna; R. Hänsch. 2020. "LIGHTCAM: ENLIGHTENING THE CAMERA OBSCURA – WHERE PHOTOGRAMMETRY, COMPUTER AND ROBOTIC VISION MEET." The International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences XLIII-B5-2, no. : 63-67.

Journal article
Published: 12 August 2020 in The International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences
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Image-based 3D models generation typically involves three stages, namely: 2D image acquisition, data processing, and 3D surface generation and editing. The availability of different easy-to-use and low-cost image acquisition solutions, combined with open-source or commercial processing tools, has democratized the 3D reconstruction and digital twin generation. But high geometric and texture fidelity on small- to medium-scale objects as well as integrated commercial system for mass 3D digitization are not available. The paper presents our effort to build such a system, i.e. a market-ready multi-camera solution and a customized reconstruction process for mass 3D digitization of small to medium objects. The system is realized as a joint work between industrial and academic partners, in order to employ the latest technologies for the needs of the market. The proposed versatile image acquisition and processing system pushes to the limits the 3D digitization pipeline combining a rigid capturing system with photogrammetric reconstruction methods.

ACS Style

O. Lanz; F. Sottsas; M. Conni; M. Boschetti; E. Nocerino; F. Menna; F. Remondino. A VERSATILE MULTI-CAMERA SYSTEM FOR 3D ACQUISITION AND MODELING. The International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences 2020, XLIII-B2-2, 785 -790.

AMA Style

O. Lanz, F. Sottsas, M. Conni, M. Boschetti, E. Nocerino, F. Menna, F. Remondino. A VERSATILE MULTI-CAMERA SYSTEM FOR 3D ACQUISITION AND MODELING. The International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences. 2020; XLIII-B2-2 ():785-790.

Chicago/Turabian Style

O. Lanz; F. Sottsas; M. Conni; M. Boschetti; E. Nocerino; F. Menna; F. Remondino. 2020. "A VERSATILE MULTI-CAMERA SYSTEM FOR 3D ACQUISITION AND MODELING." The International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences XLIII-B2-2, no. : 785-790.

Journal article
Published: 12 August 2020 in The International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences
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Although fully autonomous mapping methods are becoming more and more common and reliable, still the human operator is regularly employed in many 3D surveying missions. In a number of underwater applications, divers or pilots of remotely operated vehicles (ROVs) are still considered irreplaceable, and tools for real-time visualization of the mapped scene are essential to support and maximize the navigation and surveying efforts. For underwater exploration, image mosaicing has proved to be a valid and effective approach to visualize large mapped areas, often employed in conjunction with autonomous underwater vehicles (AUVs) and ROVs. In this work, we propose the use of a modified image mosaicing algorithm that coupled with image-based real-time navigation and mapping algorithms provides two visual navigation aids. The first is a classic image mosaic, where the recorded and processed images are incrementally added, named 2D sequential image mosaicing (2DSIM). The second one geometrically transform the images so that they are projected as planar point clouds in the 3D space providing an incremental point cloud mosaicing, named 3D sequential image plane projection (3DSIP). In the paper, the implemented procedure is detailed, and experiments in different underwater scenarios presented and discussed. Technical considerations about computational efforts, frame rate capabilities and scalability to different and more compact architectures (i.e. embedded systems) is also provided.

ACS Style

E. Nocerino; F. Menna; B. Chemisky; P. Drap. 3D SEQUENTIAL IMAGE MOSAICING FOR UNDERWATER NAVIGATION AND MAPPING. The International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences 2020, XLIII-B2-2, 991 -998.

AMA Style

E. Nocerino, F. Menna, B. Chemisky, P. Drap. 3D SEQUENTIAL IMAGE MOSAICING FOR UNDERWATER NAVIGATION AND MAPPING. The International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences. 2020; XLIII-B2-2 ():991-998.

Chicago/Turabian Style

E. Nocerino; F. Menna; B. Chemisky; P. Drap. 2020. "3D SEQUENTIAL IMAGE MOSAICING FOR UNDERWATER NAVIGATION AND MAPPING." The International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences XLIII-B2-2, no. : 991-998.

Journal article
Published: 12 August 2020 in The International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences
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Systematic errors may result from the adoption of an incomplete functional model that is not able to properly incorporate all the effects involved in the image formation process. These errors very likely appear as systematic residual patterns in image observations and produce deformations of the photogrammetric model in object space. The Brown/Beyer model of self-calibration is often adopted in underwater photogrammetry, although it does not take into account the refraction introduced by the passage of the optical ray through different media, i.e. air and water. This reduces the potential accuracy of photogrammetry underwater. In this work, we investigate through simulations the depth-dependent systematic errors introduced by unmodelled refraction effects when both flat and dome ports are used. The importance of camera geometry to reduce the deformation in the object space is analyzed and mitigation measures to reduce the systematic patterns in image observations are investigated. It is shown how, for flat ports, the use of a stochastic approach, consisting in radial weighting of image observations, improves the accuracy in object space up to 50%. Iterative look-up table corrections are instead adopted to reduce the evident systematic residual patterns in the case of dome ports.

ACS Style

F. Menna; E. Nocerino; S. Ural; A. Gruen. MITIGATING IMAGE RESIDUALS SYSTEMATIC PATTERNS IN UNDERWATER PHOTOGRAMMETRY. The International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences 2020, XLIII-B2-2, 977 -984.

AMA Style

F. Menna, E. Nocerino, S. Ural, A. Gruen. MITIGATING IMAGE RESIDUALS SYSTEMATIC PATTERNS IN UNDERWATER PHOTOGRAMMETRY. The International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences. 2020; XLIII-B2-2 ():977-984.

Chicago/Turabian Style

F. Menna; E. Nocerino; S. Ural; A. Gruen. 2020. "MITIGATING IMAGE RESIDUALS SYSTEMATIC PATTERNS IN UNDERWATER PHOTOGRAMMETRY." The International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences XLIII-B2-2, no. : 977-984.

Journal article
Published: 17 February 2020 in Journal of Marine Science and Engineering
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Three-dimensional (3D) surveying and modelling of the underwater environment is challenging; however, it becomes even more arduous when the scene or asset to measure extends from above to underwater through the water surface. While this is topic of high interest for a number of different application fields (engineering, geology, archeology), few solutions are available, usually expensive and with no guarantee of obtaining homogenous accuracy and resolution in the two media. This paper focuses on a procedure to survey and link the above and the underwater worlds based on photogrammetry. The two parts of the asset, above and underwater, are separately surveyed and then linked through two possible analytical procedures: (1) independent model adjustment or (2) relative orientation constraints. In the first case, rigid pre-calibrated rods are installed across the waterline on the object to be surveyed; in the second approach, a synchronized stereo-camera rig, with a camera in water and the other above the water, is employed. The theoretical foundation for the two approaches is provided and their effectiveness is proved through two challenging case studies: (1) the 3D survey of the leak of the Costa Concordia shipwreck and (2) 3D modelling of Grotta Giusti, a complex semi-submerged cave environment in Italy.

ACS Style

Erica Nocerino; Fabio Menna. Photogrammetry: Linking the World across the Water Surface. Journal of Marine Science and Engineering 2020, 8, 128 .

AMA Style

Erica Nocerino, Fabio Menna. Photogrammetry: Linking the World across the Water Surface. Journal of Marine Science and Engineering. 2020; 8 (2):128.

Chicago/Turabian Style

Erica Nocerino; Fabio Menna. 2020. "Photogrammetry: Linking the World across the Water Surface." Journal of Marine Science and Engineering 8, no. 2: 128.

Journal article
Published: 23 August 2019 in The International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences
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Underwater caves represent the most challenging scenario for exploration, mapping and 3D modelling. In such complex environment, unsuitable to humans, highly specialized skills and expensive equipment are normally required. Technological progress and scientific innovation attempt, nowadays, to develop safer and more automatic approaches for the virtualization of these complex and not easily accessible environments, which constitute a unique natural, biological and cultural heritage. This paper presents a pilot study realised for the virtualization of 'Grotta Giusti' (Fig. 1), an underground semi-submerged cave system in central Italy. After an introduction on the virtualization process in the cultural heritage domain and a review of techniques and experiences for the virtualization of underground and submerged environments, the paper will focus on the employed virtualization techniques. In particular, the developed approach to simultaneously survey the semi-submersed areas of the cave relying on a stereo camera system and the virtualization of the virtual cave will be discussed.

ACS Style

E. Nocerino; F. Menna; E. Farella; F. Remondino. 3D VIRTUALIZATION OF AN UNDERGROUND SEMI-SUBMERGED CAVE SYSTEM. The International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences 2019, XLII-2/W15, 857 -864.

AMA Style

E. Nocerino, F. Menna, E. Farella, F. Remondino. 3D VIRTUALIZATION OF AN UNDERGROUND SEMI-SUBMERGED CAVE SYSTEM. The International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences. 2019; XLII-2/W15 ():857-864.

Chicago/Turabian Style

E. Nocerino; F. Menna; E. Farella; F. Remondino. 2019. "3D VIRTUALIZATION OF AN UNDERGROUND SEMI-SUBMERGED CAVE SYSTEM." The International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences XLII-2/W15, no. : 857-864.

Journal article
Published: 01 May 2019 in Photogrammetric Engineering & Remote Sensing
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The main purpose of this article is to show that photogram-metric bundle-adjustment computations can be sequentially organized into modules. Furthermore, the chain rule can be used to simplify the computation of the analytical Jacobians needed for the adjustment. Novel projection models can be flexibly evaluated by inserting, modifying, or swapping the order of selected modules. As a proof of concept, two variants of the pinhole projection model with Brown lens distortion were implemented in the open-source Damped Bundle Adjustment Toolbox and applied to simulated and calibration data for a nonconventional lens system. The results show a significant difference for the simulated, error-free, data but not for the real calibration data. The current flexible implementation incurs a performance loss. However, in cases where flexibility is more important, the modular formulation should be a useful tool to investigate novel sensors, data-processing techniques, and refractive models.

ACS Style

Niclas Börlin; Arnadi Murtiyoso; Pierre Grussenmeyer; Fabio Menna; Erica Nocerino. Flexible Photogrammetric Computations Using Modular Bundle Adjustment: The Chain Rule and the Collinearity Equations. Photogrammetric Engineering & Remote Sensing 2019, 85, 361 -368.

AMA Style

Niclas Börlin, Arnadi Murtiyoso, Pierre Grussenmeyer, Fabio Menna, Erica Nocerino. Flexible Photogrammetric Computations Using Modular Bundle Adjustment: The Chain Rule and the Collinearity Equations. Photogrammetric Engineering & Remote Sensing. 2019; 85 (5):361-368.

Chicago/Turabian Style

Niclas Börlin; Arnadi Murtiyoso; Pierre Grussenmeyer; Fabio Menna; Erica Nocerino. 2019. "Flexible Photogrammetric Computations Using Modular Bundle Adjustment: The Chain Rule and the Collinearity Equations." Photogrammetric Engineering & Remote Sensing 85, no. 5: 361-368.

Original paper
Published: 25 April 2019 in Polar Biology
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The need for sound baseline information about community structure and composition against which changes can be detected and quantified is a well-recognised priority in Antarctica. Here, the collection of such data is challenging, especially at sea, where long-term monitoring is usually logistically feasible only in the proximity of permanent research stations. In recent years, underwater photogrammetry has emerged as a non-destructive and low-cost method for high-resolution topographic reconstruction. We decided to apply this technique to videos, recorded during standard SCUBA surveys of Antarctic benthos in Tethys Bay (Ross Sea, Antarctica) in 2006 and 2015 and originally not meant for photogrammetry. Our aim was to assess the validity and utility of the photogrammetric method to describe benthic communities from the perspective of long-term monitoring. For this purpose, two of the transects surveyed in 2015 were revisited in 2017. Videos were processed with photogrammetric procedures to obtain 3D models of the seafloor and inhabiting organisms. Overall, a total of six 20 m-long transects, corresponding to a total area of ~ 200 m2 of seafloor were analysed. Accuracy of the resulting models, expressed in terms of Length Measurement Error (LME), was 1.9 mm on average. The 2017 transects showed marked differences in some species, such as a 25–49% increase in the number of sea urchins Sterechinus neumayeri (Meissner, 1900) and the complete disappearance of some sponges Mycale (Oxymycale) acerata Kirkpatrick, 1907. Our analyses confirm the efficacy of photogrammetry for monitoring programmes, including their value for the re-analysis of legacy video footage.

ACS Style

Paola Piazza; Vonda Cummings; Alice Guzzi; Ian Hawes; Andrew Lohrer; Simone Marini; Peter Marriott; Fabio Menna; Erica Nocerino; Andrea Peirano; Sanghee Kim; Stefano Schiaparelli. Underwater photogrammetry in Antarctica: long-term observations in benthic ecosystems and legacy data rescue. Polar Biology 2019, 42, 1061 -1079.

AMA Style

Paola Piazza, Vonda Cummings, Alice Guzzi, Ian Hawes, Andrew Lohrer, Simone Marini, Peter Marriott, Fabio Menna, Erica Nocerino, Andrea Peirano, Sanghee Kim, Stefano Schiaparelli. Underwater photogrammetry in Antarctica: long-term observations in benthic ecosystems and legacy data rescue. Polar Biology. 2019; 42 (6):1061-1079.

Chicago/Turabian Style

Paola Piazza; Vonda Cummings; Alice Guzzi; Ian Hawes; Andrew Lohrer; Simone Marini; Peter Marriott; Fabio Menna; Erica Nocerino; Andrea Peirano; Sanghee Kim; Stefano Schiaparelli. 2019. "Underwater photogrammetry in Antarctica: long-term observations in benthic ecosystems and legacy data rescue." Polar Biology 42, no. 6: 1061-1079.

Journal article
Published: 17 April 2019 in The International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences
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Underwater photogrammetry is a well-established technique for measuring and modelling the subaquatic environment in fields ranging from archaeology to marine ecology. While for simple tasks the acquisition and processing of images have become straightforward, applications requiring relative accuracy better then 1:1000 are still considered challenging. This study focuses on the metric evaluation of different off-the-shelf camera systems for making high resolution and high accuracy measurements of coral reefs monitoring through time, where the variations to be measured are in the range of a few centimeters per year. High quality and low-cost systems (reflex and mirrorless vs action cameras, i.e. GoPro) with multiple lenses (prime and zoom), different fields of views (from fisheye to moderate wide angle), pressure housing materials and lens ports (dome and flat) are compared. Tests are repeated at different camera to object distances to investigate distance dependent induced errors and assess the accuracy of the photogrammetrically derived models. An extensive statistical analysis of the different systems is performed and comparisons against reference control point measured through a high precision underwater geodetic network are reported.

ACS Style

E. Nocerino; F. Neyer; A. Gruen; M. Troyer; F. Menna; A. Brooks; A. Capra; C. Castagnetti; P. Rossi. COMPARISON OF DIVER-OPERATED UNDERWATER PHOTOGRAMMETRIC SYSTEMS FOR CORAL REEF MONITORING. The International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences 2019, XLII-2/W10, 143 -150.

AMA Style

E. Nocerino, F. Neyer, A. Gruen, M. Troyer, F. Menna, A. Brooks, A. Capra, C. Castagnetti, P. Rossi. COMPARISON OF DIVER-OPERATED UNDERWATER PHOTOGRAMMETRIC SYSTEMS FOR CORAL REEF MONITORING. The International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences. 2019; XLII-2/W10 ():143-150.

Chicago/Turabian Style

E. Nocerino; F. Neyer; A. Gruen; M. Troyer; F. Menna; A. Brooks; A. Capra; C. Castagnetti; P. Rossi. 2019. "COMPARISON OF DIVER-OPERATED UNDERWATER PHOTOGRAMMETRIC SYSTEMS FOR CORAL REEF MONITORING." The International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences XLII-2/W10, no. : 143-150.

Journal article
Published: 17 April 2019 in The International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences
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Given the rise and wide adoption of Structure from Motion (SfM) and Multi View Stereo (MVS) in underwater archaeology, this paper investigates the optimal option for surveying ground control point networks. Such networks are the essential framework for coregistration of photogrammetric 3D models acquired in different epochs, and consecutive archaeological related study and analysis. Above the water, on land, coordinates of ground control points are determined with geodetic methods and are considered often definitive. Other survey works are then derived from by using those coordinates as fixed (being ground control points coordinates considered of much higher precision). For this reason, equipment of proven precision is used with methods that not only compute the most correct values (according to the least squares principle) but also provide numerical measures of their precisions and reliability. Under the water, there are two options for surveying such control networks: trilateration and photogrammetry, with the former being the choice of the majority of archaeological expeditions so far. It has been adopted because of ease of implementation and under the assumption that it is more reliable and precise than photogrammetry.This work aims at investigating the precision of network establishment by both methodologies by comparing them in a typical underwater archaeological site. Photogrammetric data were acquired and analysed, while the trilateration data were simulated under certain assumptions. Direct comparison of standard deviation values of both methodologies reveals a clear advantage of photogrammetry in the vertical (Z) axis and three times better results in horizontal precision.

ACS Style

D. Skarlatos; F. Menna; E. Nocerino; P. Agrafiotis. PRECISION POTENTIAL OF UNDERWATER NETWORKS FOR ARCHAEOLOGICAL EXCAVATION THROUGH TRILATERATION AND PHOTOGRAMMETRY. The International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences 2019, XLII-2/W10, 175 -180.

AMA Style

D. Skarlatos, F. Menna, E. Nocerino, P. Agrafiotis. PRECISION POTENTIAL OF UNDERWATER NETWORKS FOR ARCHAEOLOGICAL EXCAVATION THROUGH TRILATERATION AND PHOTOGRAMMETRY. The International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences. 2019; XLII-2/W10 ():175-180.

Chicago/Turabian Style

D. Skarlatos; F. Menna; E. Nocerino; P. Agrafiotis. 2019. "PRECISION POTENTIAL OF UNDERWATER NETWORKS FOR ARCHAEOLOGICAL EXCAVATION THROUGH TRILATERATION AND PHOTOGRAMMETRY." The International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences XLII-2/W10, no. : 175-180.