CONTENTS 1 Introduction 1 1.1 Motivation 1 1.2 Characteristic of video image sequence 2 1.3 Scope and limitations 2 1.4 Research problems 3 1.5 Objective and innovation 4 1.6 Overview of the thesis 4 2 State of the art in building modeling 5 2.1 Feature extraction 6 2.1.1 Point detection and matching 6 2.1.2 Edge detection and matching 7 2.1.2.1 Edge detection 7 2.1.2.2 Straight line extraction 8 2.1.2.3 Edge matching 9 2.2 Structure from motion 10 2.3 Building models 12 2.4 Building reconstruction from optical imagery 13 2.4.1 Semi-automatic building reconstruction 13 2.4.2 Data-driven versus model-driven building reconstruction 14 2.4.3 Terrestrial image sequences or video based 15 2.5 Texture mapping 18 2.6 Conclusion 21 3 Methodology and approach 23 3.1 Outline 23 3.2 Related concepts 23 3.3 Knowledgepresentation 25 3.4 Workflow 28 3.5 Preprocessing 29 4 Feature extraction and grouping 33 4.1 Feature selection and presentation 33 4.2 Point accuracy analysis 35 4.3 Edge generation 38 4.3.1 Edge extraction 38 4.3.2 Edgematching 40 4.3.2.1 3DEdgeEstimation 42 4.3.2.2 Endpoints Decision 43 4.4 Surface patch generation 44 4.4.1 Feature grouping 45 4.4.1.1 Point cloud segmentation 45 4.4.1.2 Two intersecting edges 46 4.4.1.3 Two parallel edges 47 4.4.2 Plane verification and enhancement 47 4.4.3 Plane parameter estimation 48 4.4.4 Outline reconstruction 49 4.4.5 Face culling 49 4.5 Discussion 49 5 Polyhedral model reconstruction 53 5.1 Primary facade elements 54 5.1.1 Relation between surface patches and building structure elements 54 5.1.2 Surface patch presentation 56 5.2 Surface patch verification 58 5.3 Searching the neighboring surface patches 59 5.3.1 Rules for selecting neighboring surface patches 59 5.3.2 Surface patch modification 60 5.3.3 Processing sequence 62 5.4 Constructing a local model 62 5.5 Connecting separate local models 65 5.6 Model Refinement 66 5.6.1 Model constraints 67 5.6.2 Roof improvement 69 5.7 Texture mapping 70 5.7.1 Transform from image to texture 70 5.7.2 Texture generation 72 6 Performance assessment 75 6.1 Data description 75 6.2 Assessment aspects 80 6.3 Results and evaluation 82 7 Conclusions and recommendations 95 7.1 Conclusions 95 7.2 Recommendations 96 Appendix 99 Bibliography 101 List of Figures 117 List of Tables 121 List of Publication 123 Curriculum Vitae 125