Compares fiheye and perspective cameras wrt to LiDAR

1. 2/24/2015
Christoph Strecha
(Founder & CEO Pix4D)

2. Focus on UAV/ Drone
Mapping software
• Based on 10 years research
in Computer Vision&
Photogrammetry
• Started in 2011
• 40 people
• Head quarter Lausanne
(CH)
• Office in San Francisco
head: Antoine Martin
• Office in Shanghai
head: David Wang

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4. • Parrot’s Bebop
• 180 degree fisheye lens allows viewpoint change by software
• DJI Phantom 2 Vision(+)
• Wide angle fisheye lens
• GoPro
• Wide angle fisheye lens allows capturing in action scene
conditions
Increasing sensor size allows wide angle fisheye lenses
at good resolution!

5. Perspective
50mm
Perspective
28mm
Fisheye
8mm
Fisheye Pro:
• Better localization
• Less images to model
complex scenes
• Wide range in which the
image is sharp
Fisheye Contra:
• Less and highly non-
uniform resolution
(GSD)

6. •Goal:
•Map of the interior and
exterior
•Complex 3D structure
•Semantic /simplified model difficult, but possible
•What is the relation between cost (time)
of data acquisition and processing and accuracy of
the model

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Tachimetric network
Laser scan result

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15. Automatically detected
tie points
Result of the
bundle block adjustment

17. Automated processing of about 1-5h depending on the image/ dataset size
Aquisition time for 3 laser scans is 2-3h

19. •Evaluation of perspective and fisheye lenses at distance
of 10-15m
•Similar accuracy (perspective – 160 degree fisheye)
•Closer distance might be necessary (Indoor, Manhattan
world scenario)
•Much higher flexibility with fisheye cameras

20. Andoid /IOS app
• Created flight plan
• Communicate with
drone to execute flight
plan and capture
images
Desktop or Cloud
• Process imagery
• Measure voluems
• 3D points cloud
• Ortho mosaic / DSM/
DTM
images
+ GPS
images
+ GPS
Flightplan