Kakiuchi, Tsutomu 
  
5.1 3D Data Acquisition 
In order to perform camera calibration for the right and left image, one control point was set the stairs at the side of the 
elevator in the figure 10. Then, camera calibration was performed by the same procedure noted above. 
After the camera calibration, stereo images for wide area of the indoor space are acquired rotating the video theodolite. 
The unknown parameters, "and for each stereo images can be estimated as the sum of changing vertical and 
horizontal values resulting in "jp and y for the orientation image respectively and parameters other than "and are 
considered as the same values as the calibration results for the both orientation image. Left and Right image are 
acquired by above concept. Feature points such as the corner of stairs, pillar and so on are extracted on the right image 
just by the mouse click. Consequently, 3D data for each feature points in stereo images are calculated by the area based 
stereo matching. 
However, due to the each stereo images were taken at a different exposure station, a few diffe rent color tone are found. 
Then, tone correction for each stereo images were performed with the following equation 
Ó op ( ) 
Lut =, out M „of + m, (4) 
0 ref 
Where, L,,;; output image 
Lj,; input image 
obj; Standard deviation of output image 
Mop;; Mean value of output image 
ref; Standard deviation of input image 
M,ef; Mean value of input image 
3D data for each feature points in stereo image can be calculated using the calibration parameters of the stereo image, 
the rotation angles of the video theodolite and the image coordinates for each future points. 
5.2 Wire Frame model 
3D data for each future points are continuously displayed on the computer screen as a wire frame. Wire frame model 
can be achieved using 3D data for every feature points by perspective projection techniques. Wire frame data can be 
converted as a DXF file format. 
Figuarell shows the wire frame model of the elevator hall. Wire frame model can be viewed form different angles just 
by mouse click. 
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Figure 11. Wire frame model 
5.3 Panoramic Imaging 
In order to acquire texture images to mapping for the wire frame model, panoramic images were obtained rotating the 
video theodolite in this paper. Each sequential image as a central projection image can be transformed into ortho 
projection image using spatial data. Panoramic imaging for the right image can be achieved automatically since the 
rotation angles of the video theodolite are controlled by a personal computer (Nakano, K., and Chikatsu, H., 1999). 
  
418 International Archives of Photogrammetry and Remote Sensing. Vol. XXXIII, Part B5. Amsterdam 2000.