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1 3D Reconstruction of the Historic Baalbek/Libanon

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1 3D Reconstruction of the Historic Baalbek/Libanon 3D RECONSTRUCTION OF THE HISTORIC BAALBEK/LIBANON BASED ON HISTORICAL AERIAL, OBLIQUE AND TERRESTERIAL PHOTOS A. Alamouri a , L. Gruendig b Institute for Geodesy and Geoinformation, Technical University of Berlin, Straße des 17. Juni, 10623 Berlin, Germany [email protected], [email protected] Commission V, WG V/2 KEY WORDS: Orientation, Orthophoto, Mosaic, Geometry, Distortion, Reconstruction ABSTRACT: Baalbek is an important urban heritage site due to the 5000 years of history in the city. Therefore, the documentation of historic Baalbek should be respected. For this purpose the historical images of Baalbek were used which are classified into three types: vertical, oblique and terrestrial photos. The photos have poor properties (different cameras used and no primary data of the camera parameters, high image noise, in addition the images were taken in different dates). Due to these properties an optimal images orientation should be enforced to know by which combination and order of the images orientation the optimal orientation parameters could be estimated. Based on Baalbek’s oriented photos 3D object points could be measured to reconstruct 3D objects. This paper investigates the combination between the different image types to achieve an optimal 3D object reconstruction; moreover, the geodetic and geometric accuracy of additional 3D points extracted will be controlled. Additionally, it will be determined in which photo/photos an object point is existed and from which photo this point could be optimal recorded. The results of this study will be considered a data base for other applications in Baalbek’s space (e.g. Geoinformation System GIS, 3D CityGML: 3D City Geography Markup Language). This leads to create a concept, with it, the other users (e.g. archaeologists, architects, etc.) can derive the requested data without the primary geometric information from oriented photos; that means an interactive and web-based evaluation has to be taken in the account. 1. INTRODUCTION The orientation process was achieved based on a new approach for relative orientation of the historical photos. This approach Baalbek is situated on the northern of the Beqaa-Plain/Libanon consists of three strategies; the first one is the orientation of which was settled in the beginning of 3rd millennium BC (Van each image type in a separated block with its special properties Ess, 1998). The old preserved dwellings validate the historical (e.g. for each type a special camera was assumed) then the importance of this city. Existing of the Roman Colonia Iulia bundle block adjustment was implemented. The second is the Augusta Felix Berytus 15 BC was the reason that Baalbek had a performance of the orientation process only for the vertical and settlement of the Roman veteran. oblique photos together. The last one is all types of Baalbek’s photos were assembled in the same block then the triangulation Additionally, the constructions such as the temples: Jupiter, process was enforced (see Alamouri et al., 2008). Building on Bacchus and Venus are witnesses of Baalbek’s wonderful the oriented model of the photos, the space object points could construction. The sanctuary was designed in a new form and be measured in order to re-construct 3D objects. In this step, the built in a monumentality which was not known before. Through re-construction of the 3D applicable points will be investigated the 4.th - 7.th century Baalbek got more Christain churches which as well as the geodetic and geometric quality of the applicable could displace but slowly in the old cults. The Islamic empire 3D points measured will be controlled. This check is essential (12th – 14th century) had converted the site of the temples into a for further work steps (e.g. Baalbek’s 3D CityGML) great fort. Since 1984 Baalbek is considered through the UNESCO as an important one of the urban heritages in the On the other hand object points extracted should be classified so world. According to the historic importance of this site the that it could be known: from which camera a point was taken documentation of the historic Baalbek should be achieved to and from which photo this point will be optimal shown. help us to understand the historical changes of Baalbek from the Basically, there are important requirements which have to be prehistoric date up to 20th century. The intended documentation respected by the re-construction process (e.g. the reconstructed of Baalbek will be enforced using the photogrammetric model should be useable for next applications which will be evaluation of the graphical materials of Baalbek. Basically, achieved by other users, e.g. historians, archaeologists, etc.). there are three image types of Baalbek: vertical, oblique and terrestrial photos. These images have poor properties (such as: The re-construction procedure of 3D object points measured no a priori data about the cameras used, different scales of consists of the following stages: images, different altitudes of flight, the contrast of gray values is relative high, in addition the images were taken in different • Creation of Baalbek’s orthophotos based on the oriented dates). Therefore, an optimal image orientation process should historical images. In this step it is necessary to create a be performed to know by which combination and order of the Digital Terrain Model (DTM) of the studied area. images orientation the optimal results (interior and exterior • Generation of Baalbek’s mosaic. orientation parameters) could be estimated. • 2D coordinates extraction of object points depending on the region mosaic created. 1 • The values of the 3rd dimension Z of measured 2D points In practice, a generation of DTMs depends mainly on the input were integrated using the oblique and terrestrial photos on one data (e.g. oriented digital images, topographical maps which hand and the stereoscopic analysis on the other hand. should cover the whole area of interest, etc.). Depending on the Baalbek’s aerial images (vertical images type) it was difficult to The work led to the result that the geometric modelling of the create a well quality DTM from the oriented images, because studied area was achieved. The geometric information will be they do not have a good state due to their poor properties. considered a data base for the Geoinformation System of the Therefore, a DTM was generated using topographical maps of Baalbek’s space. Therefore, a concept could be enforced; with it Baalbek. However, there are two topographical maps of the other users (e.g. archaeologists, architects, etc.) can acquire Baalbek which were obtained from the institute of Francais du their requested data without the primary geometric information Proche Orient (IFPO) in Damascus. Both maps were scanned from the oriented images that means an interactive and web- with the scan resolution (300 dpi). The Properties of Baalbek’s based evaluation is essential to support and provide different maps implemented can be expressed as following: requirements of customers or users. On other hand the quality of 3D features derived allows to use the data to generate a 3D • Emission date is in the year 1962 CityGML model of Baalbek (according to the City Geography • The maps cover the whole area of Baalbek Markup Language, City GML; the international standard for 3D • They have the scale (1: 20 000) City models, Gröger et al., 2008). • Ground resolution is ca. 1.7 m (with respect to pixel size) • Ellipsoid used is Clark 1880 • Maps’ projection is stereographic 2. CORRESPONDING SEARCHES • The interval of contour lines is 10 m • Longitude line is 38° The current activities in the city Baalbek are being conducted in • Latitude line is 43° 50´ different areas of the Roman town of Baalbek. In this context, basically, different documentations, drawings and stratigraphic In order to focus only on the same area appearing in the vertical analyses of areas and buildings were achieved and discussed. images type of Baalbek a new map was derived based on the The projects could be classified as following (according to Van abovementioned topographic maps. This map is indicated with Ess et al. 2003): the name submap_baalbek. The derived map should be georeferenced onto the local system of Baalbek’s vertical - Bustan el Khan in the 1960s, 1970s and 2001-2004 images; that means the new map should be associated with the - Area of the Venus temple since 2002 vertical image coordinate system (Baalbek’s local system). - Qala’a in 1960s and Sheikh Abdullah since 2002 Geometric Control Points (GCPs) take an important role in the The results of the abovementioned works based on the town georeference process in order to enforce the transformation history and geodesy indicated some new important assumptions between the map and the images. The critic number (n) of GCPs concerning the chronological sequences of the wonderful requested depends on the order of the transformation. This constructions of the temples and their interrelationships. number is given (Leica Geosystems, 2005): In the years (2005 and 2006) A. Klotz and M. Gessner worked only with the aerial vertical images of Baalbek to create (t +1)(t + 2) orthophotos and rectified 2D plans. Although the scientific n = (1) works and the researches in Baalbek started in the 18th century, 2 there are many unexplained questions which are posed concerning the town planning and its urban progress. These questions are considered as additional motivations for this work where: t is the order of the transformation especially with using the oblique and terrestrial photos of Baalbek, which could be given more information about the city. If the minimum number of the GCPs is not satisfied, it will not be possible to resample the input data (Baalbek’s map); this means the georeference process will not be executed. In our 3. WORK FLOW AND RESULTS case eight GCPs were applied into the process and the resample method selected was “Nearest Neighbour”.
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