LIDAR Scans using Photogrammetry and Structure-from-Motion Shawn - - PowerPoint PPT Presentation

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LIDAR Scans using Photogrammetry and Structure-from-Motion Shawn - - PowerPoint PPT Presentation

Jan 30, 2023 23 likes •351 views

HawkEye: Automatic Stitching of Hand-Held LIDAR Scans using Photogrammetry and Structure-from-Motion Shawn Recker, Rob Baltrusch, Christiaan Gribble, and Mark Butkiewicz SURVICE Engineering Company Applied Technology Operation 4694 Millennium

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SMALL COMPANY VALUES, BIG COMPANY CAPABILITIES

HawkEye: Automatic Stitching of Hand-Held LIDAR Scans using Photogrammetry and Structure-from-Motion

Shawn Recker, Rob Baltrusch, Christiaan Gribble, and Mark Butkiewicz SURVICE Engineering Company Applied Technology Operation 4694 Millennium Drive, Suite 500, Belcamp, MD 21017 530-564-8763 {shawn.recker, rob.baltrusch, christiaan.gribble, mark.butkiewicz}@survice.com

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SMALL COMPANY VALUES, BIG COMPANY CAPABILITIES

OUR PEOPLE

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With a staff of approximately people, SURVICE employees have backgrounds in engineering, physics, mathematics, chemistry, computer science, acquisition, technical writing, training, and other technical and administrative fields. And many of our personnel have DoD and/or

  • perational military experience. Using a

matrix approach, we draw on expertise from across

  • ur workforce to build customized work teams for

each project and customer. The result is a successful, skilled workforce and many satisfied customers.

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Since 1981, SURVICE has supported the DoD community, as well as the homeland security, advanced technologies, environmental, and commercial markets. We have also worked hard to retain the original vision upon which the company was founded—to provide the warfighter with the safest, most survivable, and most effective equipment possible. Our customer-acclaimed support primarily falls into five core business areas:

Test & Evaluation

Providing experience in the test and evaluation roles that are vital to the design, acquisition, and fielding of all new and modified combat systems.

Modeling & Simulation/ Software Engineering

Delivering a broad range of modeling and simulation, software engineering, and systems engineering capabilities.

Dimensional Metrology and Reverse Engineering

Offering customers precision dimensional metrology, modeling, and related services.

Studies & Analysis

Conducting a wide variety of safety, survivability, effectiveness, and systems engineering studies.

Information Technologies & Management

Collecting, maintaining, distributing, storing, verifying, and protecting the nation’s critical defense information.

ABOUT SURVICE

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HawkEye Introduction

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Scanner Hardware Structure-from-Motion Photogrammetry

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Scanner Hardware

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SURVICE HawkEye Hand-Held Scanner Prototype

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Structure-from-Motion

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A-Contrario Structure-from-Motion

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Equations from Moulon et al. [1]

𝑂𝐺𝐵 𝑁, 𝑙 = 𝑂𝑝𝑣𝑢(𝑜 − 𝑂𝑡𝑏𝑛𝑞𝑚𝑓) 𝑜 𝑙 𝑙 𝑂𝑡𝑏𝑛𝑞𝑚𝑓 𝑓𝑙 𝑁 𝑒𝛽0

𝑙−𝑂𝑡𝑏𝑛𝑞𝑚𝑓

𝑂𝐺𝐵 𝑁 = min

𝑙= 𝑂𝑡𝑏𝑛𝑞𝑚𝑓+1…𝑜 𝑂𝐺𝐵 𝑁, 𝑙 ≤ 𝜗

arg min

𝑁

) 𝑂𝐺𝐵(𝑁

(1) (2) (3)

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Photogrammetry

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Hybrid Photogrammetry/SfM from Recker et al. [2]

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Iterative Closest Point

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ICP algorithm from Zhang et al. [3] and Visualization from PCL [4]

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HawkEye Pipeline

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Results

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ICP vs no-ICP

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Citations

[1] P. Moulon, M. Pascal, and R. Marlet. “Adaptive Structure from Motion with A-Contrario Model Estimation.” Asian Conference on Computer Vision, 2012. [2] S. Recker, M. M. Shashkov, M. Hess-Flores, C. Gribble, R. Baltrusch, M. A. Butkiewicz, K. I. Joy, “Hybrid Photogrammetry Structure-from-Motion Systems for Scene Measurement and Analysis.” Coordinate Metrology Systems Conference, 2014 [3] Z. Zhang “Iterative Point Matching for Registration of Free-Form Curves and Surfaces.” International Journal of Computer Vision, 2012. [4] R. B. Rusu and S. Cousins, “3D is here: Point Cloud Library (PCL).” International Conference on Robotics and Automation, 2011.

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SMALL COMPANY VALUES, BIG COMPANY CAPABILITIES

Acknowledgement

This work was supported in part by the US Marine Corps SBIR program, and SURVICE Engineering’s Internal R&D program. The authors thank their colleagues in the Applied Technology Operation at SURVICE Engineering for their support.

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Questions

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Providing unparalleled services and technology solutions in support of National Defense and the U.S. Warfighter. Serve our customers with specialized and innovative solutions, while promoting responsible growth and maintaining focus on our employees, values, and ethical standards.

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SMALL COMPANY VALUES, BIG COMPANY CAPABILITIES

OUR LOCATIONS

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Corporate Offices

Belcamp, MD Aberdeen Area Operation Belcamp, MD Applied Technology Operation Belcamp, MD Dayton Area Operation Dayton, OH Gulf Coast Operation Fort Walton Beach, FL Huntsville Area Operation Huntsville, AL Michigan Area Operation Warren, MI Patuxent Area Operation Lexington Park, MD PMC Operation Socorro, NM Ridgecrest Area Operation Ridgecrest, CA SEMATS Operation Eglin AFB, FL Washington Area Operation Quantico Center Dumfries, VA

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SMALL COMPANY VALUES, BIG COMPANY CAPABILITIES

TEST & EVALUATION

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SURVICE is experienced in the test & evaluation roles that are vital to the design, acquisition, and fielding of all new and modified combat systems.

The T&E areas we support include:

  • Ballistic and nonballistic survivability
  • Chemical contamination & decontamination
  • Information Assurance (IA)
  • E3

The T&E services we provide include:

  • Test planning and management
  • Pre-test predictions and damage assessment
  • Test conduct, data collection, data analysis, and reporting
  • Acquisition documentation

The types of systems we support include:

  • C4ISR systems
  • Rotary-wing systems
  • Fixed-wing systems
  • Ground systems
  • Missile systems
  • Various foreign platforms
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SMALL COMPANY VALUES, BIG COMPANY CAPABILITIES

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MODELING & SIMULATION/ SOFTWARE ENGINEERING

SURVICE develops, enhances, and uses a wide range of computational tools and methodologies.

The M&S products and services we provide include:

  • Algorithm/methodology development
  • Code design and low-level optimization
  • Configuration management verification, validation, and

accreditation support

The models/simulations we use include:

  • FASTGEN, COVART, BRL-CAD, AJEM/MUVES, UEDDAM,

FPM, ULLEX, ATCOM, ESAMS, SUPPRESSOR, JIMM, SPIRITS, MOSAIC, DREAM, ANSYS FLUENT, SPACECLAIM, JREM

The computational mechanics codes we use include:

  • LS-Dyna, ALE3D, CTH, SPHear,

TetrUSS, Warp3d

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DIMENSIONAL METROLOGY & REVERSE ENGINEERING

SURVICE offers customers precision dimensional metrology, modeling, and related services, which can be performed at a customer’s site or at our one-of-kind Metrology Center.

The M&S products and services we provide include:

  • Reverse engineering
  • Target exploitation
  • Rapid prototyping
  • Dimensional inspection
  • Pre- and post-test damage assessment
  • 3-D geometric modeling
  • Metrology integration support (for manufacturing and assembly)
  • Metrology tool application and development

Examples of recent metrology projects we’ve supported include:

  • Electromagnetic railgun
  • Behind-armor deflection of personal body armor
  • MRAP
  • Hydroelectric power plant turbines
  • Airplane turbine engine blades
  • Civil War-era Dahlgren gun for

the Mariner’s Museum

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STUDIES & ANALYSIS

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SURVICE provides the assessment of combat vehicles and weapon systems in support of requirements development, design, and test and evaluation activities.

The studies and analysis areas we support include:

  • E3 and lightning analysis
  • Threat-target interactions
  • Fire prediction and mitigation
  • Personnel vulnerability
  • Technology optimization
  • Susceptibility and vulnerability reduction
  • Technology optimization
  • Component, system, and mission performance assessments
  • Ballistic and nonballistic survivability analyses

The types of systems we have assessed include:

  • Rotary-wing systems
  • Fixed-wing systems
  • Ground systems
  • Sea systems
  • Missile systems
  • Engines
  • Various foreign platforms
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INFORMATION TECHNOLOGIES & MANAGEMENT

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As operator of the Defense Systems Information Analysis Center (DSIAC)—and long-time co-operator of the legacy Survivability/ Vulnerability Information Analysis Center (SURVIAC), SURVICE is a major repository and distributor of the nation’s vital defense systems technical information.

Information technology/management services we provide include:

  • Database development, population, and management
  • Testing, assessment, and documentation support
  • Development and maintenance of libraries and databases of

survivability-related information

Examples of information technology/management projects we’ve supported include:

  • Conduct of network operations and enterprise

services

  • Collection of air combat damage data
  • Support of ground combat damage

data collection

  • Archive of ballistic test reports
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SPECIALIZED TECHNOLOGIES & CAPABILITIES

SURVICE also possesses a wide array of in-house specialized technologies and capabilities that complement our core business areas. They include:

ARGUS™

SURVICE's unique Autonomous Remote Global Underwater Surveillance system.

Fire Works

SURVICE’s team

  • f specialists and

technologies focusing on fire prediction and migration through M&S and testing.

I-CARS™

SURVICE's Interactive Collection And Reporting System.

RayForce™

SURVICE’s state-

  • f-the-art raytracing

and rendering codes and techniques.

E-CLR ™

SURVICE’s Enhanced Coherent Laser Radar creates a fully autonomous metrology solution.

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SMALL COMPANY VALUES, BIG COMPANY CAPABILITIES

ARGUS™

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The Autonomous Remote Global Underwater Surveillance (ARGUS™) system provides cooperative crowdsourced surveying of our nation’s coastal and inland waterways through the acquisition and collective processing of vessel chartplotter and environmental data. The marine community is implementing ARGUS™ with the goal of updating nautical charts, increasing public safety and environmental stewardship, and maximizing navigational efficiency.

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SMALL COMPANY VALUES, BIG COMPANY CAPABILITIES

Fire Works

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SURVICE Fire Works (SFW) is a dedicated team within SURVICE that is equipped with the tools and expertise to better understand, assess, test, and mitigate the fire threat to military and commercial platforms and facilities. SFW provides service and support through three primary areas:

  • Studies and Analysis
  • Research, Development, Test, & Evaluation
  • M&S Methodology Development
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I-CARS™

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The Interactive Collection And Reporting System (I-CARS™) product family, developed under multiple U.S. DoD research grants, integrates the latest Nikon laser- based dimensional metrology equipment with specialized hardware and software to meet specific customer

  • requirements. The system implements wearable PC

technology for ultimate portability in a streamlined data collection package. I-CARS™ products include the following:

  • I-CARS™ Standard
  • I-CARS™ Inspect
  • I-CARS™ Detect
  • I-CARS™ Modeler
  • I-CARS™ Complete
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SMALL COMPANY VALUES, BIG COMPANY CAPABILITIES

Rayforce™

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Rayforce™ is SURVICE’s highly optimized architecture that brings real-time rendering using raytracing to desktop

  • computing. This cutting-edge technology was developed to

support the needs within the U.S. DoD for accurate, high- speed imagery to support a variety of simulation purposes. SURVICE is now bringing this technology to the commercial sector as well. The advantages of Rayforce ™ include:

  • Optimizing the computationally intensive process of

raytracing light paths, reflections, translucencies, etc., for every pixel in a computer-generated scene.

  • Combining both high-quality and real-time imaging.
  • Providing next-generation performance:
  • 13–19 frames per second
  • 40–60 million rays per second
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E-CLR™

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The NIKON Coherent Laser Radar (CLR) is one of the most accurate non-contact dimensional inspection tools available. Under an Air Force research grant, SURVICE is enhancing the laser radar by integrating a metrology-grade photogrammetry system with computer-vision technology to create a fully autonomous metrology solution. E-CLR features include:

  • 25-µm accuracy
  • Noncontact application
  • Autonomous operation
  • Programmable customization
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SMALL BUSINESS INNOVATION RESEARCH (SBIR)

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  • The SBIR program involves:
  • Phase I (Feasibility) – 6–9 months, $70K–100K
  • Phase II (Development) – 24+ months,

$750K–$1.5M+

  • Phase II (Commercialization)
  • SURVICE has been active in the program since

the 1990s, including:

  • 24 Phase I’s, 8 Phase II’s (3 ongoing Phase II’s)
  • Advantages and opportunities include:
  • Extending our capabilities in existing areas
  • Developing new customers
  • Integrating various technologies/methodologies to

create new capabilities

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OUR CUSTOMER TYPES

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IN OUR CORE SURVIVABILITY AND T&E ARENAS, SURVICE FOCUSES ON: R&D Organizations System Program Managers Test and Evaluation Organizations System Developers

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SMALL COMPANY VALUES, BIG COMPANY CAPABILITIES

A SAMPLING OF OUR CUSTOMERS

  • Army

‒ Army Research, Development, and Engineering Command

  • Army Research Laboratory
  • Armament Research, Development, and

Engineering Center

  • Aviation and Missile Research,

Development, and Engineering Center ‒ Aviation Applied Technology Directorate

  • CECOM Research, Development , and

Engineering Center

  • Edgewood Chemical Biological Center
  • Tank-Automotive Research,

Development, and Engineering Center ‒ Army Test and Evaluation Command

  • Army Evaluation Center
  • Aberdeen Test Center

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‒ Army Materiel Systems Analysis Activity ‒ Army Modeling and Simulation Office ‒ Army Ordnance Center and School ‒ PEO C3T ‒ CECOM Logistics Readiness Center ‒ National Ground Intelligence Center ‒ PEO Aviation

  • PM Cargo
  • PM Utility
  • PM Apache

‒ PEO Missiles and Space ‒ PM Robotics and Unmanned Sensors ‒ Simulation, Training, and Instrumentation Command ‒ Tank-automotive and Armaments Command ‒ Training and Doctrine Command

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A SAMPLING OF OUR CUSTOMERS (CONTINUED)

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  • Navy

–

Battle Space Modeling and Simulation

–

Naval Air Systems Command

–

Naval Sea Systems Command

–

Naval Air Warfare Center Weapons Division

–

Naval Surface Warfare Center

  • Naval Surface Warfare Center

Carderock Division

  • Naval Surface Warfare Center

Dahlgren Division

–

Office of Naval Research

–

PEO Ships

–

PMA-201

–

PMA-242

  • Joint/DoD

–

Director, Operational Test and Evaluation

–

Joint Aircraft Survivability Program Office

–

Joint Project Manager Individual Protection

–

Joint Strike Fighter Program Office

–

Joint Technical Coordinating Group for Munitions Effectiveness

–

National Air and Space Intelligence Center

  • Industry

–

AgustaWestland

–

Bath Iron Works

–

Bell Helicopter

–

Boeing

–

Booz Allen Hamilton

–

CACI

–

General Atomics

–

General Dynamics

–

General Electric

–

Hitachi

–

Jacobs

–

L-3 Communications

–

Lockheed Martin

–

Northrop Grumman

–

Pratt & Whitney

–

Raytheon

–

SAIC

–

Sikorsky Aircraft

–

URS

–

Voith Siemens

  • Marine Corps

–

JPO MRAP

–

Marine Corps Operational Test and Evaluation Activity

–

Marine Corps Systems Command

–

PM Advanced Amphibious Assault

–

PM Light Armored Vehicle

–

PM MTVR/LVSR

–

PM Motor Transport

  • Air Force

–

780th Test Squadron

–

Aeronautical System Center

–

Air Armament Center

–

Air Force Life Cycle Management Command

–

Air Force Operational Test and Evaluation Command

–

Air Force Protection Battle Lab

–

Air Force Research Laboratory

–

Air Force SEEK EAGLE Office

–

Air Force Special Operations Command

–

Air Force Test Center

–

Air Mobility Battle Lab