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Using of Laser Scanning and Dense Stereo Matching for 3D Documentation

and Virtual Reconstruction of the Ancient Sama Monastery/ Jordan

Article in International Journal of Remote Sensing Application · February 2016

DOI: 10.14355/ijrsa.2016.06.003

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International Journal of Remote Sensing Applications (IJRSA) Volume 6, 2016 www.ijrsa.org
doi: 10.14355/ijrsa.2016.06.003

Using of Laser Scanning and Dense Stereo

Matching for 3D Documentation and Virtual
Reconstruction of the Ancient Sama
Monastery/ Jordan
A'kif Al-Fugara*1, Rida Al-Adamat2,Mwfeg Al Haddad3, Yahya Al–Shawabkeh4, Mohammed El-Khalili4,
Daifallah Obaidat5
1Department of Surveying Engineering, Faculty of Engineering, Al al-Bayt University, Mafraq, Jordan
Department of GIS and Remote Sensing, Institute of Earth and Environmental Sciences, Al al-Bayt University,
2

Mafraq, Jordan
3Architecture Department, Faculty of Engineering, Al-Balqa’ Applied University, Salt, Jordan
4Queen Rania Institutes of Tourism & Heritage, the Hashemite University, Zarqa, Jordan
5 Department of History, Faculty of Arts and Humanities, Al al-Bayt University, Mafraq, Jordan

Abstract

Sama Monastery is one of the best preserved architecture built in the third century AD at Jordan’s eastern desert. Before the
twentieth century, the roofing materials of Monastery, even most of the arch stones, were carried off for the construction of
bridges and ferries above the valleys and water channels in the region. Documenting the Monastery which remains in scientific
and precise ways is an important goal in order to protect and preserve this important part of the cultural heritage of Jordan. In
this study, laser scanner and digital photogrammetry have been used for this purpose. In spite of the potential of each single
approach, the integration aims at supporting the visual quality as well as the geometric accuracy of the collected textured 3D
models. The purpose of such visual information will serve as a tool for the identification of the nature, extent and severity of the
deterioration.

Keywords

Sama Monastery; 3D Laser Scanning; Dense Stereo Matching; 3D Virtual Reconstruction; Combined Approach

Introduction
As an archive gathered over time, the 3D models provide valuable information when restoration is required. Such
photorealistic models have to offer geometrical documentation of archaeological monuments means by providing
high geometric accuracy measurement and presentation to determine the present state, i.e., the dimension, shape
and position, of a historical or a cultural structure in a three-dimensional space as to enable their reconstruction
when they fall into ruins or tumbledown by natural phenomena and human activities [1;2;3]. Different methods
have been employed by archaeologists to record and model historical buildings based on the level of details and
the purpose of documentation. Traditional CAD (Computer Aided Design) is the classic and the most common
approach for creating digital 2D and 3D models of buildings. In archaeological applications with complex
structures, CAD modeling is generally not considered to be the appropriate modeling method.
Recently, due to the fast development in computer science , different contact-free techniques have been used for
generating realistic 3D models of the historical buildings such as digital photogrammetry which introduces non-
contact, flexible and accessible surveying tools for 2D–3D archaeological recordation [4;5;6;7]. 3D data collection
using laser scanning has become an additional standard tool for the generation of high quality of 3D models of
cultural heritage sites and historical buildings [8;9;10]. This technique allows further quick and reliable
measurement of millions of 3D points based on the run-time of reflected light pulses, which is then used to
effectively generate a dense representation of the respective surface geometry.
Integrating photogrammetry and laser scanning vision presents an effective data collection procedure which
generates precise 3D surface representations. The final product allows the creation of detailed and inclusive facade

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plans, which are both graphically superior and geometrically accurate [9]. Although present laser scanners
generate intense information along homogeneous surfaces, the resolution of this data can still be inadequate. In
contrast, digital photogrammetry is more accurate if such outlines have to be measured. However, image-based
modeling alone is difficult or even impractical for surface parts, which contain irregular and unmarked geometric
details [8;11]. So it is therefore the combination of both techniques that will be beneficial for accurate and complete
description of the object space. The disadvantages of one approach can be compensated for by the advantages of
the other technique. By these means, object geometry which is not available in the range data due to occlusions is
provided based on photogrammetric measurements [12;13].
In this research, an approach combining in situ different surveying techniques were applied in order to provide
sufficient and comprehensive data regarding the documentation and evaluation of the status of the west
Monastery. The purpose was not only to record the damage, but also to make a first step towards creating a 3D
reconstruction and monitoring program of the deterioration rate. Additionally, the 3D digital model can provide
reference data as an exact guide to the restoration needed. In order to support the visual presentation of 3D surface
details, a hybrid approach combining data from laser scanning and digital imagery was implemented. A complete
description of the work carried out is presented, including the acquisition of laser scan and image data, co-
registration of point clouds, 3D modeling and texture mapping. The acquisition of the relevant image and laser
scanning data besides data pre-processing, which is mainly required for a perfect alignment of laser and image
data for high quality mapping as well as texture mapping, is presented.

Study Area Description

The west Monstary of Sama is one of the main archaeological sites located in southern edge of the basaltic area of
Hora Mount [14], about 12 km to the north east of Mafraq city (Fig. 1). Sama (called now Sama El-Sarhan) can be
reached through Amman – Zarqa's highway that passes through Mafraq towards the Syrian borders in north
through the town of Jaber that is located directly on the Jordanian-Syrian borders. Most of archeological remains
were built of basaltic stones; the main construction material is possibly only used in architectural residues in all
Horan area sites in general [15]. Basalt stones available in the local environment are left by ancient volcanic
activities based in Mount of Horan which is covering a wide area, stretching south of Damascus across the
northeastern part of Jordan to the northern regions of Saudi Arabia [16;17].

35°0'0"E

Turkey
·
35°0'0"N Cyprus 35°0'0"N
Syria

Lebanon

Iraq

West Bank
Gaza Strip Jordan
Israel

30°0'0"N 30°0'0"N

Egypt
Saudi Arabia

35°0'0"E
0 60 120 240 360 480
KM

FIG. 1 SAMA WEST MONASTERY LOCATION

The archeological remains have been exposed to the destruction operations in the past; the building stones were
used in other facilities, such as the train railway bridges in the early twentieth century [18], as can be shown in Fig.

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(2.a). Unfortunately, this important part of the world’s cultural heritage is gradually being diminished due to
modern houses surrounding archaeological sites, as several of the buildings built up over the archaeological
structures residues. In addition, the roads that were constructed recently have caused further destruction of
archeological site ruins as can be depicted in Fig.(2.b) .

a b

FIG. 2.A ONE OF THE TRAIN RAILWAYS BRIDGES WITH ANCIENT ARCHITECTURAL STONES;
FIG. 2.B: MODERN RESIDENTIAL HOUSES SURROUNDING THE ARCHAEOLOGICAL SITE

Methodological Work
The process of creating a 3D Virtual Restoration and Visualization of Sama west monastery can be subdivided into
the stages of the acquisition of laser scanning and image data, co-registration of point clouds, 3D modeling and
texture mapping and 3D buildings reconstructions; the workflow of the data collection is summarized in Fig. (3).
Each step of the 3D model generation and restoration will be briefly discussed in the following text.

Data acquisition

Laser scanner Photogrammetry Historical Field Investigation

Architectural Analysis

No. of scan stations No. of photos covering

covering the whole site the whole site

Scans Registration Visual SFM software

matching the cloud points

Target Based/ Point SURE software dense

Cloud Matching image matching

Data cleaning on entire Clouds compare software

3D points cloud model 3D point cloud visualization

Holes and missing data Data cleaning on entire 3D

detection points cloud model

3D Models integration
- Transformation both final data sets in one coordinate system.
- Merging two data sets TLS and SFM.
-Registration using cloud compares software.
-Defining tls data as reference point. 3D MAX CAD
- Setting both Cloud points to one scale. 3D Model
- Pasting Cloud points on the 3D model where the missing data are restoration
exist.
- Integrated 3D model meshing generation 3D Model restoration
FIG.3 FLOW CHART OF METHODOLOGICAL FRAMEWORK

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3D Digital Modeling Using Laser Scanning Technique

The main steps on 3D modeling by TLS are: data collection using overlapped laser scanning, Point cloud
registration, Mesh creation, Texture mapping, 3D virtual model, and identifying Occlusion areas not covered with
TLS measurement.

Data Collection Using Overlapped Laser Scanning

3D laser scanning system C10 manufactured by Leica was employed. This scanner features a field of view of 360°
in the horizontal direction and 270° in the vertical direction, enabling the collection of full panoramic view. The
scanning range of the system allows distance measurements between 0.1 to 300 m, with high scan speed (50k
pts/sec). The distance measurement is realized by the time of flight measurement principle based on green laser at
532 nm. The accuracy of single distance measurements is 4 mm. During data collection, a calibrate video snapshot
of 1920×1920 pixel resolution was additionally captured, which was automatically mapped to the corresponding
point measurement. For the objects with complex shapes, a series of scans must be applied, and scans should have
been available in local coordinate system [19]. In this project 22 scans were taken from outside of the Monastery
buildings and 10 scans from the inside. With this number of scans, the whole site is supposed to be covered.
However, there is a limitation which discourages this result like the wrecked top roof and the gaps between these
ruins, and complex motif and sculptures on the high roof.

Point Cloud Registration and Matching

The first step in generating a 3D model is the registration of the individual scans acquired in the field. The scans
need to be brought into a common reference system to create a contiguous point cloud. This involves the
transformation of all scans into a single uniform coordinate system. Registration is a fundamental element in the
data processing, as the precision achieved in this stage influences all subsequent processing steps [20]. Cyclone-
Model was employed for the registration tasks. It is a 3D Point Cloud Processing Software form Leica Geosystems
that is widely used for surveying terrestrial applications. Cyclone offers two approaches to combine the individual
scans into a single co-ordinate system. One approach relies on target-based registration. This method uses targets
as common points for the registration. The other depends on selecting corresponding cloud point features using
Iterated Closest Point algorithm. The precision of the resulting transformation depends on the accuracy of scanned
targets. In this study, target based registration is used. The final registered point cloud model is shown in Fig.(4).

FIG.4 3D REGISTERED POINT CLOUD OF THE WEST MONASTERY

Cloud Point's Colure Texture Mapping

The purpose of texture processing is to integrate the 3D measurements from the laser scanner with 2D information
taken with an external or internal camera. In this study, the texture was added to the coded subject using the
scanner's integrated camera that provides model-registered colour texture by capturing the RGB values of each
cloud point [21]. Figures below show the result for the outer facades and part of a top view to the church with real
texture. In addition, the view from the inside of the site is depicted in (Fig.5).

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FIG.5 3D REGISTERED COLORED POINT CLOUD OF THE WEST MONASTERY

Mesh creation and Surface Modeling

Surfaces can either be formed by directly connecting points which then become parts of the surface [22;23] or by
creating a best-fit surface through the points [24]. The first method allows the creation of the model from a
complete, unstructured point cloud, but it has the disadvantage of being very susceptible to instrument noise and
scan alignment errors. While the best-fit surface generating algorithms perform noise reduction automatically by
approximating the surface and as a result remove noise. However, the risk in all smoothing functions is the
possible loss of relevant detailed features. In this study, the triangular irregular network (TIN) meshing was used
for producing the surfaces of the west Monastery. The final 3D meshed model is depicted in Fig.(6 ).

FIG. 6 THE FINAL 3D MESHED SURFACE MODEL OF THE WEST MONASTERY WITH FULL OF RUINS (BEFORE CLEANING IRRELEVANT POINT CLOUD)

Cleaning of Point Clouds

The cleaning of the data, i.e. the removal of objects not relevant to the documentation, is an important step in the
3D modeling. Pre-model cleaning results in smaller models, especially on sites with full of ruins as in the case of
west monastery (Fig. 6). Cleaning of scans can be performed on individual scans or on the complete point cloud.
However, the cleaning was performed on the complete point clouds to reduce cleaning time as objects appearing in
multiple scans which were removed in one operation Figs (7 and 8).

FIG. 7 THE FINAL 3D MESHED SURFACE MODEL OF THE WEST MONASTERY (AFTER REMOVING IRRELEVANT CLOUD POINTS)

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FIG. 8 TOP VIEW OF 3D MESHED SURFACE MODEL OF THE WEST MONASTERY (AFTER REMOVING IRRELEVANT CLOUD POINTS)

Surface Augmentation (Whole Filling)

Due to the horizontal and vertical limitations range of the laser scanner field of view, holes occur especially when
scanning very complex and irregular objects, or wherever a surface is invisible to the scanner. Typical examples are
ornamental structure facades or upward facing faces where no scan positions can be found above the surface, such
as window ledges, scanner station location and roofs (Fig.9). If no scan data is available, methods for automated
hole-filling or surface augmentation have been developed [25]. However, the generated surfaces will not represent
the correct geometry of the structure and their using in heritage documentation is questionable. Therefore,
different methods for automated hole-filling or surface augmentation have been developed by integrating points
cloud generated from laser scanning and close range photogrammetry [8;25]. In this study, the laser scan holes and
missing data were filled using Dense Stereo Matching (DSM) Technique. The integration between the two
techniques is important in order to have a detailed structure reconstruction and modeling. This work
demonstrated the potential and the benefits of integrating laser scanning (TLS) and dense stereo matching (DSM)
technique to form a complete and detailed representation of Sama west Monastery.

FIG. 9 SCREENSHOT OF HOLES IN 3D MODEL BASED LASER SCANNER

3D Digital Modeling Using Dense Stereo Matching Technique

Recently, photogrammetric matching algorithms are capable of producing dense 3D point clouds with full
automation process in matching the images in wise pixel resolution [26]. There are many tools and softwares
available for dense image matching modeling whether web-based or open source with high level of automation [22;
27]. In this study, the multi views stereo (MVS) method developed by [26] was used for the generation of precise
and dense 3D point clouds. The implementation is based on the Semi-Global matching algorithm developed by
Hirschmuller [28]. Different high-resolution images with sufficient overlapping have been collected for the missed
data areas using portable calibrated camera, Canon EOS 1100D, which provides a resolution of 4272 x 2848 pixels
with a focal length of 18 mm.

Point Cloud Generation Using DSM

In order to generate a dense point clouds from the collected images, the camera orientation parameters were
calculated using Visual SFM software developed by [29]. The software improves the efficiency of Structure from
motion matching algorithm by introducing a preemptive feature matching that provides good balance between the

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speed and accuracy. Sparse point clouds for the surface features were extracted as depicted in Fig. (10).

FIG.10 SPARSE POINT CLOUDS AND THE CAMERA POSITIONS USING SFM SOFTWARE

The quality of the point cloud data achieved from Visual SFM software has a large variety. Therefore, The point
cloud data resulted from Visual SFM software were filtered from the remaining outliers by using dense image
matching software developed at IFP and implemented within a software package called SURE [26]. Fig. (11) shows
the result of 3D point cloud for one of the site building facades as shown in SURE software.

FIG.10 3D POINT CLOUDS GENERATED USING SURE SOFTWARE

Then, meshing process was applied for the purpose of surface generation. The resulted 3D points are presented in
Fig. (11).

FIG. 11 3D DENSE POINT OF SAMA USING DSM

Integration of TLS and DSM

The processing started by registration of the TLS point clouds and DSM point clouds into one coordinate system.
The registration was implemented by cloud compare software. For this purpose some corresponding points (at

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least 4 points) were selected. Later, the cloud points were linked and were set to a compatible scale; at last the final
results were pasted on the 3D model where the missing data exist on the façade of the building. The laser scanning
data was selected as a reference points. SFM point cloud was registered using iterative closest point (ICP) to the
TLS reference coordinate system with 0.074 mm mean convergence and 8.2 mm standard deviation. Accuracy
analysis of point cloud registration for the Sama west monastery dataset is done. Mean convergence and standard
deviation values which are calculated by comparing the 3D coordinates of the points were selected manually from
point clouds resulted by the SURE after applying the parameters transformation, and the corresponding 3D
coordinates of the points from laser scanner data, using the latter as a reference. The meshed result obtained from
aligned two data sets from laser scanning and dense image matching techniques as depicted in (Fig. 12).

FIG.12 INTEGRATED 3D POINT CLOUD SETS FOR TLS AND DSM

FIG. 13 INTEGRATED 3D SURFACE FROM TLS AND DSM DATA (WITH FILLED GAPS)

3D Reconstruction of Sama Monastery

The virtual 3D model of the west Monastery was reconstructed using the models generated by TSL and DSM. The
integrated 3D model was exported to the CAD and 3D Max (Fig. 14). In order to ensure the credibility and the
accuracy of the virtual reconstruction, the development of valid virtual 3D model reconstructions of destroyed
Sama west monastery is done. The work was done by interdisciplinary team, which consists of specialists in related
fields: historians, archaeologists, engineers, and architects. The restoration started by reviewing the documentation
of the site, where all the ancient descriptions information is gathered from archives and from the fields
investigation. In the next phase the integrated 3D model was exported to 3D max in Computer Aided Design (CAD)
environment, where several model creation techniques are available. A knowledge database with parameterized
construction elements was created by using integrated 3D model generated (from photogrammetry and laser
scanner) which served as the base model that contains all the existing features that Sama west monastery site has
(Figure 14).
Later, the base model was modified using the user interface of the database using a detailed plans and hand
drawing; this drawing is digitized using a paper scanner for further use in the CAD software, knowing the actual
dimensions of these basalt stones from previous archaeological finds. Archaeological wall drawings database were
created. A series of engineering analyses were made to guarantee the scientific rigorous and to validate on a

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scientific level the virtual reconstruction on the created three dimensional models. Figure illustrates the Virtual
reconstruction for destroyed Sama west monastery using CAD software. The final 3D reconstructed model is
shown in Fig. (15).

FIGURE 14 INTEGRATED 3D MODEL IN 3D MAX SOFTWARE AS BASE MODEL

FIGURE 15 3D VIRTUAL MODEL OF SAMA WEST MONASTERY SITE

Conclusion and Recommendations

In this research, the potential of combining laser scanning and dense stereo matching for the conservation and
documentation of the Sama west Monastery site is discussed. The purposes to bridge gaps in the laser scanner data
resulting from the shadowing affect and add new details, which are not accessible to laser scanner, but they are
necessary for building volume perception. The integration aims at supporting the visual quality as well as the
geometric accuracy of the collected textured 3D models of the Monastery. The purpose of such visual information
may serve as a tool for the identification of the nature, extent and severity of the deterioration.

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