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virtual 3d city model for Navigation in Urban Areas

JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS 2012年第3期66卷 377-399页

作者： Cappelle, Cindy El Najjar, Maan E. Charpillet, Francois Pomorski, denis Univ Technol Belfort Montbeliard Lab Syst & Transports SeT Belfort France Univ Lille Nord de France LAGIS Lille France INRIA Lab Lorrain Informat & Ses Applicat LORIA Nancy France

In this paper, we propose to study the integration of a new source of a priori information, which is the virtual 3d city model. We study this integration for two tasks: vehicles geo-localization and obstacles detection. A virtual 3d city model is a realistic representation of the evolution environment of a vehicle. It is a database of geographical and textured 3d data. We describe an ego-localization method that combines measurements of a GPS (Global Positioning System) receiver, odometers, a gyrometer, a video camera and a virtual 3d city model. GPS is often consider as the main sensor for localization of vehicles. But, in urban areas, GPS is not precise or even can be unavailable. So, GPS data are fused with odometers and gyrometer measurements using an Unscented Kalman Filter (UKF). However, during long GPS unavailability, localization with only odometers and gyrometer drift. Thus, we propose a new observation of the location of the vehicle. This observation is based on the matching between the current image acquired by an on-board camera and the virtual 3d city model of the environment. We also propose an obstacle detection method based on the comparison between the image acquired by the on-board camera and the image extracted from the 3d model. The following principle is used: the image acquired by the on-board camera contains the possible dynamic obstacles whereas they are absent from the 3d model. The two proposed concepts are tested on real data.

关键词： virtual 3d city model GPS Multi-sensor data fusion Computer vision Intelligent vehicle localization Obstacle detection

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3d Viewpoint Management and Navigation in Urban Planning: Application to the Exploratory Phase

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REMOTE SENSING 2019年第3期11卷 236-236页

作者： Neuville, Romain Pouliot, Jacynthe Poux, Florent Billen, Roland Liege Univ ULiege Geomat Unit Allee Six Aout 19 B-4000 Liege Belgium Laval Univ Dept Geomat Sci Pavillon Louis Jacques Casault 1055Ave Seminaire Quebec City PQ G1V 5C8 Canada

3d geovisualization is essential in urban planning as it assists the analysis of geospatial data and decision making in the design and development of land use and built environment. However, we noted that 3d geospatial models are commonly visualized arbitrarily as current 3d viewers often lack of design instructions to assist end users. This is especially the case for the occlusion management in most 3d environments where the high density and diversity of 3d data to be displayed require efficient visualization techniques for extracting all the geoinformation. In this paper, we propose a theoretical and operational solution to manage occlusion by automatically computing best viewpoints. Based on user's parameters, a viewpoint management algorithm initially calculates optimal camera settings for visualizing a set of 3d objects of interest through parallel projections. Precomputed points of view are then integrated into a fly through creation algorithm for producing an automatic navigation within the 3d geospatial model. The algorithm's usability is illustrated within the scope of a fictive exploratory phase for the public transport services access in the European quarter of Brussels. Eventually, the proposed algorithms may also assist additional urban planning phases in achieving their purposes.

关键词： 3d geovisualization visualization pipeline 3d geospatial data virtual 3d city model viewpoint occlusion camera urban planning planning activities urban indicators

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An assisting, constrained 3d navigation technique for multiscale virtual 3d city models

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GEOINFORMATICA 2014年第3期18卷 537-567页

作者： Hildebrandt, dieter Timm, Robert Univ Potsdam Hassoplattner Inst D-14482 Potsdam Germany

virtual 3d city models serve as integration platforms for complex geospatial and georeferenced information and as medium for effective communication of spatial information. In order to explore these information spaces, navigation techniques for controlling the virtual camera are required to facilitate wayfinding and movement. However, navigation is not a trivial task and many available navigation techniques do not support users effectively and efficiently with their respective skills and tasks. In this article, we present an assisting, constrained navigation technique for multiscale virtual 3d city models that is based on three basic principles: users point to navigate, users are lead by suggestions, and the exploitation of semantic, multiscale, hierarchical structurings of city models. The technique particularly supports users with low navigation and virtual camera control skills but is also valuable for experienced users. It supports exploration, search, inspection, and presentation tasks, is easy to learn and use, supports orientation, is efficient, and yields effective view properties. In particular, the technique is suitable for interactive kiosks and mobile devices with a touch display and low computing resources and for use in mobile situations where users only have restricted resources for operating the application. We demonstrate the validity of the proposed navigation technique by presenting an implementation and evaluation results. The implementation is based on service-oriented architectures, standards, and image-based representations and allows exploring massive virtual 3d city models particularly on mobile devices with limited computing resources. Results of a user study comparing the proposed navigation technique with standard techniques suggest that the proposed technique provides the targeted properties, and that it is more advantageous to novice than to expert users.

关键词： virtual 3d city model Multiscale modeling View navigation virtual camera control Mobile device distributed 3d geovisualization

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A newapproach towards image based virtual 3d city modeling by using close range photogrammetry

A newapproach towards image based virtual 3D city modeling b...

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ISPRS Technical Commission V Symposium 2014

作者： Singh, Surendra Pal Jain, Kamal Ravibabu Mandla, V. Geomatics Engineering Section Department of Civil Engineering Indian Institute of Technology Roorkee India Geomatics Engineering Section Department of Civil Engineering Indian Institute of Technology Roorkee India -University Vellore Tamilnadu India

3d city model is a digital representation of the Earth's surface and it's related objects such as building, tree, vegetation, and some manmade feature belonging to urban area. The demand of 3d city modeling is increasing day to day for various engineering and non-engineering applications. Generally three main image based approaches are using for virtual 3d city models generation. In first approach, researchers used Sketch based modeling, second method is Procedural grammar based modeling and third approach is Close range photogrammetry based modeling. Literature study shows that till date, there is no complete solution available to create complete 3d city model by using images. These image based methods also have limitations This paper gives a new approach towards image based virtual 3d city modeling by using close range photogrammetry. This approach is divided into three sections. First, data acquisition process, second is 3d data processing, and third is data combination process. In data acquisition process, a multi-camera setup developed and used for video recording of an area. Image frames created from video data. Minimum required and suitable video image frame selected for 3d processing. In second section, based on close range photogrammetric principles and computer vision techniques, 3d model of area created. In third section, this 3d model exported to adding and merging of other pieces of large area. Scaling and alignment of 3d model was done. After applying the texturing and rendering on this model, a final photo-realistic textured 3d model created. This 3d model transferred into walk-through model or in movie form. Most of the processing steps are automatic. So this method is cost effective and less laborious. Accuracy of this model is good. For this research work, study area is the campus of department of civil engineering, Indian Institute of Technology, Roorkee. This campus acts as a prototype for city. Aerial photography is restricted in many country an

关键词： Close Range Photogrammetry Geomatics techniques Structure from Motion virtual 3d city model

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BUILdING ANALYSIS FOR URBAN ENERGY PLANNING USING KEY INdICATORS ON virtual 3d city modelS - THE ENERGY ATLAS OF BERLIN 22

BUILDING ANALYSIS FOR URBAN ENERGY PLANNING USING KEY INDICA...

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22nd Congress of the International-Society-for-Photogrammetry-and-Remote-Sensing

作者： Krueger, A. Kolbe, T. H. Tech Univ Berlin Inst Geodesy & Geoinformat Sci D-10623 Berlin Germany

In the context of increasing greenhouse gas emission and global demographic change with the simultaneous trend to urbanization, it is a big challenge for cities around the world to perform modifications in energy supply chain and building characteristics resulting in reduced energy consumption and carbon dioxide mitigation. Sound knowledge of energy resource demand and supply including its spatial distribution within urban areas is of great importance for planning strategies addressing greater energy efficiency. The understanding of the city as a complex energy system affects several areas of the urban living, e.g. energy supply, urban texture, human lifestyle, and climate protection. With the growing availability of 3d city models around the world based on the standard language and format cityGML, energy system modelling, analysis and simulation can be incorporated into these models. Both domains will profit from that interaction by bringing together official and accurate building models including building geometries, semantics and locations forming a realistic image of the urban structure with systemic energy simulation models. A holistic view on the impacts of energy planning scenarios can be modelled and analyzed including side effects on urban texture and human lifestyle. This paper focuses on the identification, classification, and integration of energy-related key indicators of buildings and neighbourhoods within 3d building models. Consequent application of 3d city models conforming to cityGML serves the purpose of deriving indicators for this topic. These will be set into the context of urban energy planning within the Energy Atlas Berlin. The generation of indicator objects covering the indicator values and related processing information will be presented on the sample scenario estimation of heating energy consumption in buildings and neighbourhoods. In their entirety the key indicators will form an adequate image of the local energy situation for decision

关键词： Energy Atlas Energy Assessment Energetic city Planning virtual 3d city model Urban Information model cityGML Energetic Key Indicators Urban Energy System

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Scalable multi-platform distribution of spatial 3d contents 8

Scalable multi-platform distribution of spatial 3D contents

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ISPRS 8th 3d GeoInfo Conference and WG II/2 Workshop

作者： Klimke, J. Hagedorn, B. döllner, J. Hasso-Plattner-Institut University of Potsdam Prof.-Dr.-Helmert-Straße 2-3 Potsdam14482 Germany

virtual 3d city models provide powerful user interfaces for communication of 2d and 3d geoinformation. Providing high quality visualization of massive 3d geoinformation in a scalable, fast, and cost efficient manner is still a challenging task. Especially for mobile and web-based system environments, software and hardware configurations of target systems differ significantly. This makes it hard to provide fast, visually appealing renderings of 3d data throughout a variety of platforms and devices. Current mobile or web-based solutions for 3d visualization usually require raw 3d scene data such as triangle meshes together with textures delivered from server to client, what makes them strongly limited in terms of size and complexity of the models they can handle. In this paper, we introduce a new approach for provisioning of massive, virtual 3d city models on different platforms namely web browsers, smartphones or tablets, by means of an interactive map assembled from artificial oblique image tiles. The key concept is to synthesize such images of a virtual 3d city model by a 3d rendering service in a preprocessing step. This service encapsulates model handling and 3d rendering techniques for high quality visualization of massive 3d models. By generating image tiles using this service, the 3d rendering process is shifted from the client side, which provides major advantages: (a) The complexity of the 3d city model data is decoupled from data transfer complexity (b) the implementation of client applications is simplified significantly as 3d rendering is encapsulated on server side (c) 3d city models can be easily deployed for and used by a large number of concurrent users, leading to a high degree of scalability of the overall approach. All core 3d rendering techniques are performed on a dedicated 3d rendering server, and thin-client applications can be compactly implemented for various devices and platforms. © 2013 Copernicus. All Rights Reserved.

关键词： Image-Based Rendering Mobile 3d Visualization Tile-Based Provisioning virtual 3d city model Web-Based 3d Portrayal

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Harris, SIFT and SURF features comparison for vehicle localization based on virtual 3d model and camera

Harris, SIFT and SURF features comparison for vehicle locali...

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3rd International Conference on Image Processing Theory, Tools and Applications (IPTA)

作者： dawood, Maya Cappelle, Cindy El Najjar, Maan E. Khalil, Mohamad Pomorski, denis Univ Lille Nord France LAGIS CNRS UMR 8219 Lille France

ISBN: (纸本)9781467325851;9781467325837

This paper proposed a new vehicle geo-localization method in urban environment integrating a new source of information that is a virtual 3d city model. This 3d model provides a realistic representation of the navigation environment of the vehicle. To optimize the performance of vehicle geo-localization system, several sources of information are integrated for their complementarity and redundancy: a GPS receiver, proprioceptive sensors (odometers and gyrometer), a video camera and a virtual 3d city model. The pose estimation algorithm used to fuse the different sensors data is an IMM-UKF (Interacting Multiple model - Unscented Kalman Filter). The proprioceptive sensors allow to continuously estimating the dead-reckoning position and orientation of the vehicle. This dead-reckoning estimation of the pose is corrected by GPS measurements. Moreover, a 3d model/camera based observation of the vehicle pose is constructed to compensate the drift of the dead-reckoning localization when GPS measurements are unavailable for a long time. This pose observation is based on the matching between the virtual image extracted from the 3d city model and the real image acquired by the camera. The observation construction is composed of two major parts. The first part consists in detecting and matching the feature points of the real and virtual images. Three features are compared: Harris corner, SIFT (Scale Invariant Feature Transform) and SURF (Speed Up Robust Features). The second part is the pose computation using POSIT algorithm and the previously matched features set. The developed approach has been tested on a real sequence and the obtained results proved the feasibility and robustness of the approach.

关键词： Vehicle localization GPS Camera virtual 3d city model data Fusion and Registration Image processing

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Service-oriented, standards-based 3d geovisualization: Potential and challenges

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COMPUTERS ENVIRONMENT ANd URBAN SYSTEMS 2010年第6期34卷 484-495页

作者： Hildebrandt, dieter doellner, Juergen Univ Potsdam Hasso Plattner Inst D-14482 Potsdam Germany

The application of the architectural concept of service-oriented architectures (SOA) in combination with open standards when building distributed, 3d geovisualization systems offers the potential to cover and take advantage of the opportunities and demands created by the rise of ubiquitous computer networks and the Internet as well as to overcome prevalent interoperability barriers. In this paper, based on a literature study and our own experiences, we discuss the potential and challenges that arise when building standards-based, distributed systems according to the SOA paradigm for 3d geovisualization, with a particular focus on 3d geovirtual environments and virtual 3d city models. First, we briefly introduce fundamentals of the SOA paradigm, identify requirements for service-oriented 3d geovisualization systems, and present an architectural framework that relates SOA concepts, geovisualization concepts, and standardization proposals by the Open Geospatial Consortium in a common frame of reference. Next, we discuss the potential and challenges driven by the SOA paradigm on four different levels of abstraction, namely service fundamentals, service composition, interaction services, performance, and overarching aspects, and we discuss those driven by standardization. We further exemplify and substantiate the discussion in the scope of a case study and the image-based provisioning of and interaction with visual representations of remote virtual 3d city models. (C) 2010 Elsevier Ltd. All rights reserved.

关键词： Service-oriented architecture Spatial data infrastructure Geovisualization 3d geovirtual environment virtual 3d city model 3d computer graphics

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