photogrammetric surveying of the costa...
TRANSCRIPT
Photogrammetric Surveying
of the Costa Concordia
Fabio Mennaa, Erica Nocerinoa,b, Salvatore Troisib, Fabio Remondinoa
a3D Optical Metrology Unit, FBK Trento, Italy
Email: <fmenna><nocerino><remondino>@fbk.eu, Web: http://3dom.fbk.eu bDepartment of Sciences and Technologies, Parthenope University of Naples, Italy
Email: [email protected]
10-11 September 2013, Mercure Manchester Picadilly
Large Volume Metrology Conference & Exhibition 2013
In cooperation with
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THE ACCIDENT OF “COSTA CONCORDIA” CRUISE SHIP
• On 12/01/2012, the Italian cruise ship Costa Concordia partially sank off the coast of
Isola del Giglio after she struck her port side on a reef known as Le Scole.
Images in this slide taken from: http://it.wikipedia.org/wiki/Naufragio_della_Costa_Concordia
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THE ACCIDENT OF “COSTA CONCORDIA” CRUISE SHIP
• After the collision, the ship, without neither steering control nor propulsive power, ran
aground close to the Giglio Porto harbour entrance, leaning with the starboard side
against the seafloor with a final inclination angle of about 70 degrees.
The accident is well known worldwide, for both the dynamics (the impact happened very
close to the shoreline in very shallow water) and the tragic consequences in terms of
human lives and environmental pollution.
Images in this slide taken from: http://it.wikipedia.org/wiki/Naufragio_della_Costa_Concordia
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THE ACCIDENT OF “COSTA CONCORDIA” CRUISE SHIP
• Soon after the event, criminal proceedings were instituted for ascertaining the causes
of the disaster.
Within the legal action, we were designated to measure the dimensions and determine
the characteristics of the leak produced by the collision of the ship with the rocks, with
high accuracy and non-invasive technique.
http://it.wikipedia.org/wiki/Naufragio_della_Costa_Concordia
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INTRODUCTION
OptiMMA
OPTical Metrology for Maritime Applications
• Project started in 2006 at the Parthenope University as an
interdisciplinary work
• Since 2011 supported by 3DOM – FBK
• Optical metrology and 3D reverse engineering techniques for
supporting shipbuilding firms, naval architects and designers ...
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OPTICAL METROLOGY FOR MARITIME APPLICATIONS – KEY TOPICS:
- High precision, accuracy and reliability
- Unfavorable environmental conditions
- Need of beaching or docking of the object to
be surveyed
- High costs for shipowners due to docking
operations and derived by the out of service
of the vessel
- GREAT INTEREST IN MEASURING A SHIP
IN FLOATING CONDITIONS !!!
(example: manufacturing parts for damage
repair or ship conversions)
INTRODUCTION
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INTRODUCTION
- For semi-submerged still objects an integrated (mobile mapping like) approach is
usually adopted:
Optical methods
Acoustic methods
Above & Under
Waterline
QPS BV
from Handbook of Offshore Surveying
- The drawbacks of these systems:
- Costs
- Availability
- Accuracy and Resolution (for some applications not sufficient)
- Occlusions due to sensors positions
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INTRODUCTION
Dry photogrammetry
Underwater photogrammetry
Above & Under
Waterline
- Up to now, there are no methods to survey floating objects in water
AN INNOVATIVE PROCEDURE IS HERE PRESENTED:
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3D MODELING OF FLOATING AND SEMI-SUBMERGED OBJECTS
TWO CASE STUDIES
6m long pleasure boat: free floating case
52m long leak at the waterline of Costa Concordia wreck: semi-submerged case
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THE PROPOSED METHODOLOGY
ii. the coordinates of one
plate are measured
for example in the
underwater survey
iii. by means of the
measured 4 coded
targets, the OD is
aligned (roto-
translated) in the
underwater reference
system (RS)
iv. the coordinates of the
emerged plate, known
in the underwater
system, are used for
aligning the survey
above the waterline to
the underwater survey
(ii)
(iii)
(iv)
Orientation
Devices (ODs)
are fixed
on the object
i. the 4 coded target
positions on each plate
of the OD are
measured in laboratory
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UNDERWATER CALIBRATIONS
Same calibration procedure for dry and underwater calibrations
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UNDERWATER CALIBRATIONS
FLAT LENS PORT
DRY
CALIBRATION
UNDERWATER
CALIBRATION
- The focal length is larger for a multiplying factor of 1.34 which is the refractive index
of sea water at 26°C and salinity of 38 g/kg
DOME LENS PORT
DRY UW
Focal Length [mm] 7.31 9.82
DRY UW
Focal Length [mm] 25.58 26.22
- For a dome lens port the refractive effect of water is almost removed!
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SURVEY OF THE 52m LEAK OF COSTA CONCORDIA
- PLANNED PHOTOGRAMMETRIC PIPELINE
1. Targeting of the underwater part of the leak
2. Positioning of the ODs to tie the above the
water survey with the underwater survey
3. Positioning of scale bars
4. Taking of Photographs of UW and above
the water parts
5. Semiautomatic orientation and bundle
adjustment of the UW survey based on
circular targets
6. Automatic orientation and bundle
adjustment of the above the water survey
based on natural texture
7. Union of the UW and above the water
surveys
8. Plotting, measurements and analyses
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OBJECT TARGETING
• 500 magnetic targets, in white to assure high contrast with the dark red of the ship
• 3 x 2m long galvanized iron SBs (Scale Bars)
• 5 x 3m long galvanized iron ODs
Time required: ca 2h x 4 divers
SURVEY OF THE 52m LEAK OF COSTA CONCORDIA
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OBJECT TARGETING
• Targets positioned in a regular grid of side 0.75 m
• Minimum number of target visible in an image: 12
• Targeted area about 5 m x 60 m: 4 m below, 1 m above the sea level
Time required: ca 2h x 4 divers
SURVEY OF THE 52m LEAK OF COSTA CONCORDIA
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OBJECT TARGETING: TIDE CONSIDERATIONS
• Targets densification across the waterline to take advantage of the tide range
Giglio Island
Tide gauges from Elba island and
Civitavecchia: 25 cm average
range tide in the area of the
shipwreck
semi-diurnal tides (two high waters and two low waters each day)
SURVEY OF THE 52m LEAK OF COSTA CONCORDIA
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OBJECT TARGETING
• Targets densification across the waterline to take advantage of the tide range
Low Tide
Tide range
Above-water photogrammetric survey carried out during low tide for imaging parts of
the boat and white targets that are submerged during the high tide
SURVEY OF THE 52m LEAK OF COSTA CONCORDIA
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OBJECT TARGETING
• Targets densification across the waterline to take advantage of the tide range
High Tide
Tide range
Underwater photogrammetric survey carried out during high tide for imaging parts of
the boat and white targets that are emerged during the low tide
SURVEY OF THE 52m LEAK OF COSTA CONCORDIA
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UNDERWATER SURVEY
• 4 strips at different depths: -4m, -3m, -2m and -1.5m (from dive computers)
• 80% forward overlap: 50 cm distance between two consecutive shots along strip
• 40% sidelap of ca. between two adjacent strips
• mean distance of 3m from the hull
• during high tide
Time required: ca 4h x 4 divers
Moving fishes
following us!!!
…for the
happiness of
automatic
orientation!
Erica Fabio
Mariano
Moving fishes
following us!!!
SURVEY OF THE 52m LEAK OF COSTA CONCORDIA
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UNDERWATER SURVEY
• 4 strips at different depths: -4m, -3m, -2m and -1.5m
• 80% forward overlap: 50 cm distance between two consecutive shots along strip
• 40% sidelap of ca. between two adjacent strips
• mean distance of 3m from the hull
• during high tide
CAMERA POSES FOR THE UNDERWATER SURVEY
SURVEY OF THE 52m LEAK OF COSTA CONCORDIA
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ABOVE THE WATER SURVEY
• strips at different heights (by using different boats)
• strips at different distances from the ship (7-12 m)
• during low tide Time required: ca 1h (with boat)
CAMERA POSES FOR THE ABOVE THE WATER SURVEY
Distance from the ship
measured
with a laser
distancemeter
SURVEY OF THE 52m LEAK OF COSTA CONCORDIA
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Survey parameters Underwater survey
Above water survey
N° of images 580 120
Average distance [m] 3.5 10
GSD [mm] 0.7 1.5
Average intersecting angle [degrees] 72 20
Theoretical precision σX [mm] 1.15 2.06
Theoretical precision σY [mm] 0.79 2.93
Theoretical precision σZ [mm] 1.22 5.32
Relative precision 1:32,000 1:10,000
UP point cloud:
1pt/10 mm
UW point cloud:
1pt/5mm
SURVEY OF THE 52m LEAK OF COSTA CONCORDIA
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σX= 7.2 mm
σY= 4.1 mm
σZ= 11.1 mm
Aligned dense point
clouds, reference
system for object
coordinates and
position of the ODs
and SBs.
RIGID TRANSFORMATION RESIDUALS FROM UW to ABOVE WATER RSs
SURVEY OF THE 52m LEAK OF COSTA CONCORDIA
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Aligned dense point clouds and camera station positions, reference system for object
coordinates and position of the ODs and SBs.
TO IMPROVE THE ACCURACY OF THE TRANSFORMATION A FURTHER ADJUSTMENT OF 6DOF OF EACH OD, UW AND
ABOVE WATER REFERENCE SYSTEMS WAS PERFORMED USING INDEPENDENT MODEL TRIANGULATION
THE ANALYSIS OF RESULTS IS STILL UNDER INVESTIGATION!
SURVEY OF THE 52m LEAK OF COSTA CONCORDIA
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Dimensions of the deformed area, length of principal leak and position of minor cracks
relative to ship’s frame 52
Measurement of 3D coordinates of reference marks welded on the hull surface to perform the 3D
similarity transformation which takes the photogrammetric reference system
to be coincident with the design plane reference system
SURVEY OF THE 52m LEAK OF COSTA CONCORDIA
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A: 112 cm
MINOR ISOLATED CRACKS AND LACERATIONS AROUND THE
MAIN LEAK INVOLVING THE DOUBLE BOTTOMS
E: 34 cm
B: 114 cm
C: 15 cm D: 96 cm
SURVEY OF THE 52m LEAK OF COSTA CONCORDIA
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Unique point cloud with highlighted cracks and deformations
SURVEY OF THE 52m LEAK OF COSTA CONCORDIA
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3D DEFORMATIONS WITH RESPECT TO THE 3D DESIGN PLAN
mm
SURVEY OF THE 52m LEAK OF COSTA CONCORDIA
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5 m2 23,6 m2
2,1 m2
23,1 m2
1,3 m2
0,18 m2
𝒇𝒍𝒐𝒘 𝒓𝒂𝒕𝒆 = 𝒌 𝑺 𝟐 𝒈 𝒉
AREA OF LACERATIONS AND INVOLVED COMPARTMENTS
HIGHLIGHTED IN THE DESIGN PLANS
SURVEY OF THE 52m LEAK OF COSTA CONCORDIA
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• A new method for surveying floating and semi-submerged objects with high
level of detail (2pts/cm) has been presented.
• The photogrammetric procedure consists of two separate image acquisition
stages, one above the sea level and one underwater. The two surveys are
aligned in a unique reference frame by means of special rigid Orientation
Devices (ODs) measured a priori in laboratory with high accuracy.
• A relative accuracy of 1:4300 using approximated similarity transformation to the
ODs was obtained. By applying an independent model triangulation to the ODs a
1:10000 relative accuracy can be obtained (the worst relative accuracy)
• The proposed photogrammetric methodology is replicable, accurate and
reliable and allowed to derive metric results useful for naval as well as judicial
analyses.
CONCLUSIONS
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ACKNOWDLEGMENTS
• A special thank to Mr. Bruno Felleca, Mariano Rovito, Ferdinando Sposito, Dr. Silvio
Del Pizzo and the Italian Coast Guard and Army units for their valuable
collaboration
• Manfrotto, a Vitec Group company, for their kind support
• You all for the kind attention!!!
Bruno
Mariano Ferdinando Silvio
Italian Coast Guard and
Army
The survey of the leak of the “Costa Concordia” Cruise Ship was supported by
the agreement between the Department of Applied Sciences of the Parthenope
University of Naples and the Court of Grosseto
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The ISPRS Technical Commission V Symposium will take place in Riva del Garda (Italy) on 23-
25 June, 2014. The Symposium will feature 3 days with plenary and parallel sessions, invited
speakers from research and commercial domains and an exhibition of the most important business
players in the close-range domain. The main topics of the Symposium are:
- Vision metrology and industrial applications
- Cultural Heritage data acquisition and processing
- Terrestrial 3D imaging and sensors
- Algorithms and methods for terrestrial 3D modeling
- Mobile mapping and unmanned vehicle systems for 3D surveying and mapping
Important dates:
- Abstract or full paper submission: March 7th, 2014
- Notifications to the authors: April 25th, 2014
- Final paper submission: May 12th, 2014
ISPRS Technical Commission V Symposium