3D Indoor and Outdoor Mapping from Point Cloud Generated by Spherical Camera

1. 3D Outdoor and Indoor
Mapping from Point Cloud
Generated by Spherical Camera
MUHAMMAD IRSYADI FIRDAUS P66067055
ADVISOR: PROF. JIANN-YEOU RAU
LABORATORY OF CYBER CITY
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2. Introduction (1)
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Spherical image of an indoor
Stitching
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Spherical imagery is created by
digitally stitching multiple images
taken from the same position with
different orientations.
Fisheye image

3. Introduction (2)
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outdoor environment
Frame-based camera
1. Smaller FOV
2. Slower data acquisition
3. High costs
1. Time
2. Human resource
Spherical camera
1. 720 degrees FOV
2. Rapid data acquisition
3. Low costs
1. Time
2. Human resource
Indoor environment
360 degrees
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4. Introduction (3)
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Application of 3D Mapping
Industrial Disaster Management Healthcare

5. The proposed technique
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The spherical images due to its 720
degrees field-of-view and its sequential
data acquisition are friendly to the user

6. Methodology
Equipment
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Table 1.Garmin VIRB 360

7. Methodology
Case Study and Data
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• Located at the Geomatics Building,
NCKU, Taiwan.
a
b
(a) Indoor Image (134)
(b) Outdoor Image (243)

8. Methodology
workflow
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9. Results
Outdoor Point Cloud
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Dense Point Cloud on Side View
Dense Point Cloud on Top View
Sparse point cloud with camera location

10. Results
Indoor Point Cloud
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Sparse point cloud with camera location Dense Point Cloud

11. Results
Aerial Triangulation Accuracy Assessments
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Reference scale bars in the image (unit: cm)
Errors
No. of Control Points = 4 0.5
No. of Check Points = 7 6.5
Reference point in the image (unit: cm)
horizontal
errors
vertical
errors
reprojection
errors
No. of GCPs = 7 3.031 3.824 6.606
No. of Check Points = 15 6.822 6.742 21.436
Outdoor Indoor

12. Results
Angle Delineation Accuracy Assessments
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No. Measured Angle True Value Difference
1 98 90 8
2 86 90 -4
3 85 90 -5
4 104 90 14
5 103 90 13
6 82 90 -8
7 79 90 -11
8 102 90 12
9 79 90 -11
10 99 90 9
11 99 90 9
12 104 90 14
13 105 90 15
14 97 90 7
15 87 90 -3
16 87 90 -3
17 86 90 -4
18 98 90 8
Total 1680 1620 60
Average 93.33 90 3.33
Min 79 -11
Max 105 15
Std. Deviation 9.23
2D Outdoor
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9
10
14
15
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13. Results
Angle Delineation Accuracy Assessments
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Angle Measured Angle True Value Difference
1 90 90 0
2 91.58 90 1.58
3 90.64 90 0.64
4 90 90 0
5 91.94 90 1.94
6 91 90 1
Total 545.16 540 5.16
Average 90.86 90 0.86
Min 90 0
Max 91.94 1.94
Std. Deviation 0.8 0.8
2D Indoor
2D Outdoor after refinement

14. Results
3D Reconstruction Model
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Indoor Building CAD Model
Outdoor Building CAD Model Wireframe view of the model

15. Results
3D Reconstruction Model
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we can adjust the
elevation of the
building

16. Results
Indoor Building CAD Model
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First Floor Second Floor

17. Results
Outdoor Building CAD Model
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18. Conclusion
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The generated 3D model still can
be applied to many applications
The geometric detail and accuracy of
point clouds generated is too low
Angle delineation accuracy on indoor models
has good results rather than outdoor models
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4
The accuracy of aerial triangulation on
outdoor model better than indoor model

19. Future Work
• To create 3D reconstruction using another equipment such as Samsung Gear 360
• To compare accuracy assessment using a mobile laser scanning, Samsung gear
360 and Garmin VIRB 360.
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