Motion and Structure From Two Perspective Views: Algorithms, Error Analysis, and Error Estimation
IEEE Transactions on Pattern Analysis and Machine Intelligence
Shape and motion from image streams under orthography: a factorization method
International Journal of Computer Vision
Three-dimensional computer vision: a geometric viewpoint
Three-dimensional computer vision: a geometric viewpoint
Epipolar Geometry in Stereo, Motion, and Object Recognition: A Unified Approach
Epipolar Geometry in Stereo, Motion, and Object Recognition: A Unified Approach
Optimal Motion and Structure Estimation
IEEE Transactions on Pattern Analysis and Machine Intelligence
IWAR '99 Proceedings of the 2nd IEEE and ACM International Workshop on Augmented Reality
Comparing and Evaluating Interest Points
ICCV '98 Proceedings of the Sixth International Conference on Computer Vision
Multiview Paraperspective Projection Model for Diminished Reality
ISMAR '03 Proceedings of the 2nd IEEE/ACM International Symposium on Mixed and Augmented Reality
Industrial Augmented Reality(IAR): Challenges in Design and Commercialization of Killer Apps
ISMAR '03 Proceedings of the 2nd IEEE/ACM International Symposium on Mixed and Augmented Reality
Scene Modelling, Recognition and Tracking with Invariant Image Features
ISMAR '04 Proceedings of the 3rd IEEE/ACM International Symposium on Mixed and Augmented Reality
Canonical Representation and Multi-View Geometry of Cylinders
International Journal of Computer Vision
Navigation tools for viewing augmented CAD models
IEEE Computer Graphics and Applications
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Despite tremendous progress in 3D modelling technology, most sites in traditional industries do not have a computer model of their facilities at their disposal. In these industries, 2D technical drawings are typically the most commonly used documents. In many cases, a database of fully calibrated and oriented photograrnmetric images of parts of the plant is also available. These images are often used for metric measurement and 3D as-built modelling. For planning revamps and maintenance, it is necessary to use industrial drawings as well as images and 3D models represented in a common "world" coordinate system. This paper proposes a method for full integration of technical drawings, calibrated images and as-built 3D models. A new algorithm is developed in order to use only a few correspondences between points on a technical drawing and multiple images to estimate a metric planar transformation between the drawing and the world coordinate system. The paper describes the mathematical relationship between this transformation and the set of homographies needed for merging the technical drawing with all the calibrated images. The method is implemented and fully integrated into an industrial software we developed for 3D as-built reconstruction. We present examples of a real application, in which the method is successfully applied to create an augmented reality representation of a waste water plant.