Analysis of two-option integration of unmanned aerial vehicle and terrestrial laser scanning data for historical architecture inventory
Abstract
The 3D reconstruction of historical and cultural heritage monuments is a procedure recommended by the UNESCO World Heritage Institution since 1985. It is crucial when conserving monuments and creating digital twins. Current 3D reconstruction techniques using digital images and terrestrial laser scanning (TLS) data are considered as cost-effective and efficient methods for the production of high-quality digital 3D models. In the presented study, laser scanning and close-range photogrammetry techniques and images taken by a low-cost unmanned aerial vehicle (UAV) were applied to quickly and completely acquire the point cloud and texture of a historic church in Poland. The aim of this study was to evaluate two options for integrating TLS and UAV data, using ground control points (GCP) measured by two independent techniques: tachymetry and laser scanning. The study shows that the 3D model created based on ground control points acquired by the laser scanning technique has a mean square error RMSEXYZ = 2.5 cm on the check points. The result obtained is not much larger than the second variant of data integration, for which RMSEXYZ = 1.7 cm. Thus, the TLS method was positively evaluated as a GCP measurement technique for the integration of UAV and TLS data and the creation of cartometric 3D models of religious buildings.
Keyword : terrestrial laser scanning, UAV, close-range photogrammetry, data integration, 3D modeling
How to Cite
Sobura, S., Bacharz, K., & Granek, G. (2023). Analysis of two-option integration of unmanned aerial vehicle and terrestrial laser scanning data for historical architecture inventory. Geodesy and Cartography, 49(2), 76–87. https://doi.org/10.3846/gac.2023.16990
This work is licensed under a Creative Commons Attribution 4.0 International License.
References
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Chow, J. C. K. (2014). Multi-sensor integration for indoor 3D reconstruction [PhD Thesis, University of Calgary] (pp. 37–76).
Cienciała, A. (2018). Selected issues concerning management of historical immovable properties in Poland and other European countries [Conference presentation]. Geographic Information Systems Conference and Exhibition “GIS ODYSSEY 2018”, Italy, Perugia.
Cox, R. P. (2015). Real-world comparisons between target-based and targetless point-cloud registration in FARO Scene, Trimble RealWorks and Autodesk Recap [PhD Thesis, University of Southern Queensland].
Escarcena, J .C., De Castro, E. M., García, J. L. P., Calvache, A. M., Del Castillo, T. F., García, J. D., Cámara, M. U., & Castillo, J. C. (2011). Integration of photogrammetric and terrestrial laser scanning techniques for heritage documentation. Virtual Archaeology Review, 2(53), 53–57. https://doi.org/10.4995/var.2011.4605
Esmer, M., Kudumović, L., & Kasmo, R. (2019). A case study of terrestrial laser scanning for urban conservation studio at Çarşamba Neighbourhood in Istanbul. Polytechnic & Design, 7(3), 211–218.
Federman, A., Shrestha, S., Quintero, M. S., Mezzino, D., Gregg, J., Kretz, S., & Ouimet, C. (2018). Unmanned Aerial Vehicles (UAV) photogrammetry in the conservation of historic places: Carleton immersive media studio case studies. Drones, 2(2), 18. https://doi.org/10.3390/drones2020018
FARO. (n.d.). User manual guide. Faro Focus 150 S. Retreived May 8, 2022 from https://knowledge.faro.com/Hardware/3D_Scanners/Focus/User_Manuals_and_Quick_Start_Guides_for_the_Focus_Laser_Scanner
Gbopa, A. O., Ayodele, E. G., Okolie, C. J., Ajayi, A. O., & Iheaturu, C. J. (2021). Unmanned aerial vehicles for three dimensional mapping and change detection analysis. Geomatics and Environmental Engineering, 15(1), 41–61. https://doi.org/10.7494/geom.2021.15.1.41
Gradka, R., Majdańska, R., & Kwinta, A. (2019). Example of historic building inventory with an application of UAV photogrammetry. Geomatics, Landmanagement and Landscape, (4), 201–217. https://doi.org/10.15576/GLL/2019.4.201
Granek, G., Toś, C., & Wolski, B. (2020). Implementation of virtual reference points in registering scanning images of tall structures. Open Geosciences, 12(1), 876–886. https://doi.org/10.1515/geo-2020-0131
Hejmanowska, B., Głowienka, E., Michałowska, K., Mikrut, S., Kramarczyk, P., Opaliński, P., & Struś, A. (2017, June 22–25). 4D reconstruction and visualisation of Krakow Fortress. In Proceedings of the 2017 Baltic Geodetic Congress (BGC Geomatics), Gdansk, Poland (pp. 1–5). IEEE. https://doi.org/10.1109/BGC.Geomatics.2017.83
Hlotov, V., & Marusazh, K. H. (2019). Accuracy investigation of point Cloud with Faro Focus 3D S120 terrestrial laser scanner. Geodesy, Cartography and Aerial Photography, 90. https://doi.org/10.23939/istcgcap2019.90.041
Jo, Y. H., & Hong, S. (2019). Three-dimensional digital documentation of cultural heritage site based on the convergence of terrestrial laser scanning and unmanned aerial vehicle photogrammetry. ISPRS International Journal of Geo-Information, 8(2), 53. https://doi.org/10.3390/ijgi8020053
Kapica, R., Vrublová, D., & Michalusová, M. (2013). Photogrammetric documentation of Czechoslovak border fortifications at Hlučín-Darkovičky. Journal of Geodesy and Cartography, 39(2), 72–79. https://doi.org/10.3846/20296991.2013.806243
Karabin, M., Bakuła, K., & Łuczyński, R. (2021). Verification of the geometrical representation of buildings in cadastre using UAV photogrammetry. Geomatics and Environmental Engineering, 15(4), 81–99. https://doi.org/10.7494/geom.2021.15.4.81
Kowalska, M., & Zaczek-Peplinska, J. (2018). Examples of measuring marks used in geo-reference and the connection between classic geodetic measurements and terrestrial laser scanning. Technical Transactions, 1, 151–162.
Liang, H., Li, W., Lai, S., Zhu, L., Jiang, W., & Zhang, Q. (2018). The integration of terrestrial laser scanning and terrestrial and unmanned aerial vehicle digital photogrammetry for the documentation of Chinese classical gardens – A case study of Huanxiu Shanzhuang, Suzhou, China. Journal of Cultural Heritage, 33, 222–230. https://doi.org/10.1016/j.culher.2018.03.004
Lipiceki, T., Jaśkowski, W., Matwij, W., & Skobliński, W. (2017). Zastosowanie skanera Faro Focus X330 w ocenie pionowości komina o wysokości 220 m. Przegląd Górniczy, 6, 44–53 (in Polish).
Mikoláš, M., Jadviščok, P., & Molčák, V. (2014). Application of terrestrial photogrammetry to the creation of a 3D model of the Saint Hedwig Chapel in the Kaňovice. Geodesy and Cartography, 40(1), 8–13. https://doi.org/10.3846/20296991.2014.906923
Mikrut, S., Głowienka-Mikrut, E., & Michałowska, K. (2013). The UAV technology as a future-oriented direction in the development of low-ceiling aerial photogrammetry. Geomatics and Environmental Engineering, 7(4), 69–77. https://doi.org/10.7494/geom.2013.7.4.69
Puniach, E., Bieda, A., Ćwiąkała, P., Kwartnik-Pruc, A., & Parzych, P. (2018). Use of Unmanned Aerial Vehicles (UAVs) for updating farmland cadastral data in areas subject to landslides. ISPRS International Journal of Geo-Information, 7(8). https://doi.org/10.3390/ijgi7080331
Pyka, K., Wiącek, P., & Guzik, M. (2020). Surveying with photogrammetric unmanned aerial vehicles. Archives of Photogrammetry, Cartography and Remote Sensing, 32, 79–102.
Ramondino, F. (2011). Heritage recording and 3D modeling with photogrammetry and 3D scanning. Remote Sensing, 3, 1104–1138. https://doi.org/10.3390/rs3061104
Reiss, M. L. L., Da Rocha, R. S., Ferraz, R. S., Cruz, V. C., Morador, L. Q., Yamawaki, M. K., Rodrigues, E. L. S., Cole, J. O., & Mezzomo, W. (2016). Data integration acquired from micro-UAV and terrestrial laser scaner for the 3D mapping of jesuit ruins of Sao Miguel Das Missoes. The International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences, XLI-B5, 315–321. https://doi.org/10.5194/isprs-archives-XLI-B5-315-2016
Reshetyuk, Y. (2009). Terrestrial laser scanning: Error sources, self-calibration direct georeferencing. VDM Verlag.
Róg, M., & Rzonca, A. (2021). The impact of photo overlap, the number of control points and the method of camera calibration on the accuracy of 3D model reconstruction. Geomatics and Environmental Engineering, 15(2), 67–87. https://doi.org/10.7494/geom.2021.15.2.67
Šašak, J., Gallay, M., Kaňuk, J., Hofierka, J., & Minár, J. (2019). Combined use of terrestrial laser scanning and UAV photogrammetry in mapping alpine terrain. Remote Sensing, 11(18). https://doi.org/10.3390/rs11182154
Sobura, S. (2022). Calibration of the low-cost UAV camera on a spatial test field. Geodesy and Cartography, 48(3), 134–143. https://doi.org/10.3846/gac.2022.16215
Sztubecki, J., Bujarkiewicz, A., Derejczyk, K., & Przytuła, M. (2018). A hybrid method of determining – deformations of engineering structures with a laser station and a 3d scanner. Civil and Environmental Engineering Reports, 28, 277–185. https://doi.org/10.2478/ceer-2018-0028
Tokarczyk, R., Kohut P., Mikrut, S., & Kolecki, J. (2012). Review of methods of texturing 3D object models obtained through terrestrial laser scanning and photogrammetric techniques. Archiwum Fotogrametrii, Kartografii I Teledetekcji, 24, 367–381.
Xu, Z., Wu, L., Shen, Y., Li, F., Wang, Q., & Wang, R. (2014). Tridimensional reconstruction applied to cultural heritage with the use of camera-equipped UAV and terrestrial laser scanner. Remote Sensing, 6(11). https://doi.org/10.3390/rs61110413
Zespół kościoła parafialnego pw. św. Marii Magdaleny i św. Mikołaja. (n.d.). Retrieved February 20, 2022, from https://zabytek.pl/pl/obiekty/chelmce-zespol-kosciola-par-pw-sw-marii-magdaleny-i-sw-mikol