The Reliability Assessment of the TLS Registration Methods – The Case Study of the Royal Castle in Warsaw

Markiewicz, Jakub; Łapiński, Sławomir; Bocheńska, A.; Kot, Patryk

doi:10.5194/isprs-archives-xliii-b2-2021-855-2021

Cited by 4 publications

(5 citation statements)

References 24 publications

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“…According to the internal reliability theory, the values of indicators are in between <0,1>, and (1) if the value is equal to 0, the point is completely uncontrolled; (2) if the value is equal to 1, the point is fully controllable by other points and (3) if the value is ≥ 0.5, this contributed to ful lling the network's controllability condition (Markiewicz et al, 2021). The signi cant…”

Section: The Target-based Methodsmentioning

confidence: 99%

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Evaluation of 2D affine — hand-crafted detectors for feature-based TLS point cloud registration

Markiewicz

2024

Reports on Geodesy and Geoinformatics

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The development of modern surveying methods, particularly, Terrestrial Laser Scanning (TLS), has found wide application in protecting and monitoring engineering and objects and sites of cultural heritage. For this reason, it is crucial that several factors a˛ecting the correctness of point cloud registration are considered, including the correctness of the distribution of control points (both signalised and natural), the quality of the process, and robustness analysis. The aim of this article is to evaluate the quality and correctness of TLS registration based on point clouds converted to raster form (in spherical mapping) and hand-crafted detectors. The expanded Structure-from-Motion (SfM) was used to detect the tie points for TLS registration and reliability assessment. The results demonstrated that affine detectors are useful in detecting a high number of key points (increased for point detectors by 8–12 times and for blob detectors by about 10–24 times), improving the quality and TLS registration completeness. For the registration accuracy of point cloud on signalised check points, the lower values can be noted for maximum RMSE errors for blob affine detectors than detectors and larger values for corner detectors and affine detectors (not more than 4 mm in the extreme cases, typically 2 mm). The commonly-applied target-based registration method yields similar results (di˛erences do not exceed – in extreme cases – 3.5 mm, typically less than 2 mm), proving that using affine detectors in the TLS registration process is and reasonable and can be recommended.

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Section: The Target-based Methodsmentioning

confidence: 99%

“…Additionally, the total station measurements were performed for Test Sites I and II, and data were adjusted with the RMSE X = 2.2 mm, RMSE Y = 1.3 mm, and RMSE Z = 0.4 mm. Those points were used for an independent quality analysis pertaining to Test Sites I and II (Markiewicz et al, 2021).…”

Section: Overview Of the Approachmentioning

confidence: 99%

Evaluation of 2D affine — hand-crafted detectors for feature-based TLS point cloud registration

Markiewicz

2024

Reports on Geodesy and Geoinformatics

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“…The process of TLS data pre-processing consists of two sub-process: The first step is the Target-based registration process that relies on the detection of corresponding points in at least two point clouds and determination of the exterior orientation parameters [3], [22]. These parameters determine the spatial location of the central point of the point cloud in the assumed reference system together with three rotation angles, which determine the angular rotation of the point cloud.…”

Section: B Data Pre-processingmentioning

confidence: 99%

“…Since data from different periods were oriented in internal reference system (the primary documentation and from the final step of archaeological excavation) and exterior reference system (the first step of archaeological excavation), it was necessary to perform the co-registration step with the featurebased orientation method [3], [22]. Depends on the source of data, different approaches were used.…”

Section: Data Co-registrationmentioning

confidence: 99%

“…In the point cloud generated from the set of images, the in-build Agisoft Metashape feature-based algorithm was used (Table IV). For TLS point cloud registration authors' software method was used [3], [22], [24], which contains the following functionality: (1) conversion of the point cloud into the orthoimages with depth maps, (2) detection of the keypoints with BRISK, FAST, CenSure and SURF detector, (3) keypoint description (2D SIFT descriptor) and descriptor matching, (4) outliers detection and geometrical verification with relative parameters computation (RANSAC method), (5) automatic division of detected tie points into the control and check and (6) all point clouds transformation into the exterior reference system. The results of the performed co-registration was shown in Table V.…”

Section: Data Co-registrationmentioning

confidence: 99%

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The Integration of The Multi-Source Data for Multi-Temporal Investigation of Cultural Heritage Objects

Markiewicz

Bocheńska

Kot

et al. 2021

2021 14th International Conference on Developments in eSystems Engineering (DeSE)

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Nowadays, there are many techniques being developed to increase the knowledge of cultural heritage sites as there are many historical places where the knowledge about their construction and function is not well investigated yet. The example of such monument is the Justice Court Tower at Royal Castle in Warsaw where the excavation of the tower was carried out for archaeological and architectural research. This article demonstrates the integration of digital methods along with excavation work. Three measurement techniques were applied: the close-range terrestrial laser scanning and close-range photogrammetry as well as surveying. It was important to determine the potential route of the wall on the west side of the tower and to determine its relationship with the lowest part of its foundations. The results confirmed that the Tower collapsed in the Middle Ages. The building that has survived to the present day is another one erected on this site. At least two construction phases have been distinguished in the foundation structure. The relic of the wall adjacent to it from the west could have been an element of earlier buildings integrated with the Tower or an autonomous edifice. The study of the torsion angles of the surfaces of the lowest foundation layers in relation to slightly younger upper levels and the parallelism of both adjacent structures allowed to finally resolve this issue.

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The evaluation of hand-crafted and learned-based features in Terrestrial Laser Scanning-Structure-from-Motion (TLS-SfM) indoor point cloud registration: the case study of cultural heritage objects and public interiors

Markiewicz,

Kot,

Markiewicz

et al. 2023

Herit Sci

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Modern technologies are commonly used to inventory different architectural or industrial objects (especially cultural heritage objects and sites) to generate architectural documentation or 3D models. The Terrestrial Laser Scanning (TLS) method is one of the standard technologies researchers investigate for accurate data acquisition and processing required for architectural documentation. The processing of TLS data to generate high-resolution architectural documentation is a multi-stage process that begins with point cloud registration. In this step, it is a common practice to identify corresponding points manually, semi-manually or automatically. There are several challenges for the TLS point cloud processing in the data registration process: correct spatial distribution, marking of control points, automation, and robustness analysis. This is particularly important when large, complex heritage sites are investigated, where it is impossible to distribute marked control points. On the other hand, when orientating multi-temporal data, there is also the problem of corresponding reference points. For this reason, it is necessary to use automatic tie-point detection methods. Therefore, this article aims to evaluate the quality and completeness of the TLS registration process using 2D raster data in the form of spherical images and Affine Hand-crafted and Learned-based detectors in the multi-stage TLS point cloud registration as test data; point clouds were used for the historic 17th-century cellars of the Royal Castle in Warsaw without decorative structures, two baroque rooms in the King John III Palace Museum in Wilanów with decorative elements, ornaments and materials on the walls and flat frescoes, and two modern test fields, narrow office, and empty shopping mall. The extended Structure-from-Motion was used to determine the tie points for the complete TLS registration and reliability analysis. The evaluation of detectors demonstrates that for the test sites exhibiting rich textures and numerous ornaments, a combination of AFAST, ASURF, ASIFT, SuperGlue and LoFTR can be effectively employed. For the point cloud registration of less textured buildings, it is advisable to use AFAST/ASIFT. The robust method for point cloud registration exhibits comparable outcomes to the conventional target-based and Iterative Closest Points methods.

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The Reliability Assessment of the TLS Registration Methods – The Case Study of the Royal Castle in Warsaw

Cited by 4 publications

References 24 publications

Evaluation of 2D affine — hand-crafted detectors for feature-based TLS point cloud registration

Evaluation of 2D affine — hand-crafted detectors for feature-based TLS point cloud registration

The Integration of The Multi-Source Data for Multi-Temporal Investigation of Cultural Heritage Objects

The evaluation of hand-crafted and learned-based features in Terrestrial Laser Scanning-Structure-from-Motion (TLS-SfM) indoor point cloud registration: the case study of cultural heritage objects and public interiors

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