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gabled rooftops from multiple view (non-stereo) aerial images. Kim and Nevatia [4] utilized multiple overlapping images of a scene to model and describe complex 3D buildings.
Fujii and Arikawa [5] proposed a method that utilized airborne laser elevation maps with aerial images for the 3D reconstruction of urban structures.
One common problem with the previous approaches is the
complexity issue that arises by incorporating multiple views
and complicated shapes other than rectangular buildings. Also,
relying on only lines, in some of the previous works, limits the
scope of such height estimation approaches to bulidings with
very simple profiles. Estimation of the height for complicated
buildings is still an open research problem.
1. INTRODUCTION
Automatic 3D map reconstruction has been an active research
subject with a wide range of applications such as urban city
planning, military assessment simulations, and control for disaster preparedness. For many years, 3D building reconstruction, as the most prominent component of 3D map reconstruction, is done through semi-automatic approaches in which an
operator identifies buildings boundaries in a stereo set of
aerial images. Using acquisition geometry, image displacement, and perspective projection the dimension of buildings
are then determined. This process is a time consuming and
tiresome process. The abundance of inexpensive frequently
updated satellite imageries has initiated much work toward
automatic methods for 3D building models generation. While
numerous semiautomatic systems have been developed, only
a limited number of automated systems are reported in the
literature. These systems are still far from being capable of
coping with existing complexities of urban structures.
1.1. Previous Work
Lin and Nevatia [1] presented a method for estimating the
height of rectilinear flat buildings in monocular aerial images using lines. Collins et al. [2] described a system for 3D
representation of rectangular buildings from multiple views.
Noronha and Nevatia [3] proposed a method that detected and
reconstructed 3D models for rectilinear buildings with flat or
Authors would like to acknowledge with gratitude the NSERC Canada
for the support through the NSERC Strategic Grant Program.
c
978-1-4244-3610-1/09/$25.00
2009
IEEE.
125
2. SUGGESTED APPROACH
The main objective of this paper is to present a methodology
for height estimation of buildings with flat polygonal rooftops
using single view satellite/airborne imageries. The assumption made here is that the polygonal definition each rooftop is
provided as an input.
2.1. Acquisition Geometry
The acquisition geometry determines the Jacobian of the ground
to image and ground to shadow transformations (oblique/normal
viewings). It also transforms the geometry into a data structure that is independent of sensor and platform (satellite/airborne).
The input to this process for the satellite imageries are rational function and meta data files. For airborne photos a number
of feature points are selected, manual selection, in a file that
is automatically processed to extract the acquisition geometry [6, 7]. The acquisition calibration consists of the following steps: Determining the direction of gravity, Obtaining the
horizon, Calibrating the camera, Estimating the size of objects in meters, Calculating the vertical scale, and Computing
the direction of the sun.
2.2. Shadow Segmentation
Many shadow segmentation approaches rely on employing
threshold values [8, 9]. Such approaches could fail to identify
WIAMIS 2009
Table 1. Linguistic variables and labels for the fuzzy rulebased fitness function
(a)
(d)
(b)
(e)
(c)
Linguistic Variable
Linguistic Label
Input
Spectral Ratio
Shape Fitness
Small, Large
Small, Medium, Large
Output
Score
(f)
1
true shadows or suffer inaccuracies under varying illumination. In the proposed approach, a threshold independent local
segmentation method is employed to segment only the areas
around each building.
Tsai [10] utilized a segmentation method in an automatic
de-shadowing approach for shadow detection compensation
in color aerial images using spectral ratio with an automatic
thresholding technique. The proposed approach in this work
employs the spectral ratio of (H + 1)/(I + 1) (H and I are
normalized hue and intensity values in [0 1]) to construct a
ratio image. The ratio image is then segmented into regions
Ri using the Mean Shift Segmentation algorithm.
2.3. Expected Shadow Prediction
In this section the expected shadows at each candidate height
is estimated. Figure 1-a shows a polygonal rooftop with its
vertices (the hatching region). When viewing from the top,
the buildings rooftop covers parts of the walls footprint (the
gray region) and shadow areas (the black region), Figure 1a. The walls footprint covers some parts of the shadow areas. The walls footprint and building shadows are obtained
by projecting the rooftop vertices using the image acquisition
and the suns geometries for a given height, Figure 1-b. The
buildings walls and rooftop vertices are combined together
as displayed in Figure 1-c. The rooftop shadows are added to
the walls shadow by connecting lines between walls ground
projections and the expected shadow points, Figure 1-d. The
shadow of walls (Figure 1-d) and rooftops area are then combined to generate region shown in Figure 1-e. By subtracting
the merged rooftops and walls (Figure 1-c) from the resulting
shadow region (Figure 1-e), expected visible shadow regions
of the building are predicted as displayed in Figure 1-f.
2.4. Fuzzy Rule Based Fitness Function
In this section, a fuzzy rule based function, that plays the evaluation function role in the Genetic Algorithm (GA) [11] optimization process, is defined. This function evaluates build-
126
f2 (x)
f1 (x)
f3 (x)
Small
Medium
Large
1/3
1/2
2/3
x
exp((x c1 )2 /212 ) x c1
1 (x) =
(1)
1
x < c1
exp((x c2 )2 /222 ) x c2
(2)
2 (x) =
1
x > c2
Here x represents the mean value of a region in the ratio
image. To calculate the parameters c1 , c2 , 1 and 2 , the ratio image is clustered first into two clusters by fuzzy c-means
clustering method [12]. The mean value and standard deviation of pixels in each cluster are calculated. The smaller mean
value is set to c1 and the larger one is set to c2 . Three membership functions f1 (x), f2 (x) and f3 (x) are defined for the
Shape Fitness variable as shown in Figure 2. Also five membership functions g1 (x), g2 (x), g3 (x), g4 (x) and g5 (x) are
assumed for the Score variable as depicted in Figure 3.
With the assumption that the related projected shadow of
a height candidate is RShadow , all regions Ri (extracted in
g (x)
1
g2 (x)
g3 (x)
g4 (x)
g5 (x)
N Large
N Small Moderate P Small P Large
-1
-0.5
0.5
x
Fig. 4. Final results for scene 5. The dotted line highlights the
roof top definition. The solid line displays the shadow projection for the optimum height found by the proposed algorithm.
(3)
Moderate Sc
Negative Small Sc
Negative Large Sc
Moderate Sc
Positive Small Sc
Positive Large Sc
Here SR, SF and Sc represent Spectral Ratio, Shape Fitness and Score variables. The membership values in the premise
part are combined through the minimum function to acquire
the strength of each rule [13]. The strength of the above rules
is computed using:
h1 =min(1 (mRi ), f1 (vRi )),
h3 =min(1 (mRi ), f3 (vRi )),
h5 =min(2 (mRi ), f2 (vRi )),
(5)
At this point, the total contribution of all rules is calculated
for all zs in the union of all gi s:
C(z) = max(D1 (z), ..., D6 (z))
(6)
Ri P
Area(RShadow)
(8)
127
Bldg.
Id.
Est.
Height[m]
Actual
Height[m]
Absolute
Diff.[m]
6.5423
6.6797
0.1374
4.6885
5.1404
0.4519
4.9946
5.2500
0.2554
5.6876
5.7388
0.0512
3.55878
3.4999
0.0589
5.5942
5.3341
0.2601
5.6665
5.3891
0.2774
5.2086
5.1404
0.0682
4.6326
4.5211
0.1115
4.2147
4.2112
0.0035
4.3837
4.3293
0.0544
4.3698
4.3682
0.0016
8.4281
8.4302
0.0021
8.8967
8.9072
0.0105
7.1563
6.9359
0.2204
9.4826
8.5375
0.9451
12.3066
7.9688
4.3378
7.7647
7.7266
0.0381
5.2414
5.3047
0.0633
6.6073
6.7524
0.1451
4.1036
4.1719
0.0683
3.8795
4.1450
0.2655
Mean Error:
0.3558
RMS Error:
0.9610
4. CONCLUSIONS
In this paper a height estimation method was presented for
buildings with polygonal rooftops in monocular images. Building shadows and shape constraints were used to estimate the
buildings heights. A fitness function was introduced that employed fuzzy rules to evaluate height candidates. True height
was retrieved using a genetic algorithm in the search space.
5. REFERENCES
[1] C. Lin and R. Nevatia, Building detection and description from a single intensity image, Comput. Vis. Image
Underst., vol. 72, no. 2, pp. 101121, 1998.
[2] R.T. Collins, C.O. Jaynes, Y.Q. Cheng, X.G. Wang, F.R.
128
[10] V.J.D. Tsai, A Comparative Study on Shadow Compensation of Color Aerial Images in Invariant Color
Models, GeoRS, vol. 44, no. 6, pp. 16611671, 2006.
[11] D. E. Goldberg, Genetic Algorithms in Search, Optimization and Machine Learning, Addison: Wesley Publishing, 1989.
[12] R.L. Cannon, J.V. Dave, and J.C. Bezdek, Efficient
Implementation of the Fuzzy C-Means Clustering Algorithm, IEEE Trans. PAMI, vol. 8, no. 2, pp. 248255,
March 1986.
[13] E.H. Mamdani and S. Assilian, An experiment in linguistic synthesis with a fuzzy logic controller, Journal
of Man-Machine Studies, vol. 7, no. 2, pp. 113, 1975.