Chikatsu, Hirofumi 
  
5 3DMODELING OF PANORAMIC OBJECTS 
In general, it cannot get enough distance for taking panoramic objects in a site. Nevertheless, it often encounters the 
situation that there are two more panoramic objects at the same area, which should be taken. On the assumption of 
these situation, and in order to perform of the HVT functions, the HVT was set at 6.018m on the front of 54m long 
building and 10.631 m from the left side 84m long building (near the cross point of both buildings). 
The heights of both buildings are 13m (54m building) and 17m (84m building) respectively, and the stereo images 
for both buildings are taken using 8mm lens and 3m rail (base line). 
The ortho panoramic imaging and 3D modeling procedures in this paper are as follows: 
+ Camera calibrations were performed using produced 9 control points. 
+ Stereo images for whole buildings were taken by rotating the HVT. 
+ Ortho imagings were performed using calibration parameters. 
+ Extraction of feature points for each stereo image was performed using canny filter. 
+ Line extractions for each stereo image were performed by image processing procedures. 
+ Image coordinates for both ends of each line were automated recorded in PC. 
+ Panoramic ortho imaging was performed using extracted points in overlap and sidelap area. 
+ 3D modeling for panoramic objects were achieved by semi-automatic line matching. 
Figure 7 shows panoramic ortho image for the two buildings, and Figure 8 shows the 3D wire frame model. 
  
  
  
  
Figure 8. 3D wire frame model 
6 CONCLUSION AND FURTHER WORK 
The Hybrid Video Theodolite (HVT) System was developed by the authors for multiple applications such as human 
motion analysis, auto-tracking, real-time positioning and so on, and it is concluded from the results of the 
experiments that the HVT system is expected to become a useful system in the various application fields since the 
synchronized stereo image sequences can be obtained and rotation parameters for each stereo image can be acquired 
in rea-time. In particular, the remarkable points as additional results are its ability to acquire spatial data for 360° in 
horizontal. The effectiveness as an application of the HVT to 3D modeling of the panoramic objects were 
demonstrated. 
There are issues, however, for further work. These problems are improvement of the HVT such as mobility, function 
for vertical range in left and right side and image processing procedures. 
  
International Archives of Photogrammetry and Remote Sensing. Vol. XXXIII, Part B5. Amsterdam 2000. 135