Arnadi Murtiyoso

Arnadi Murtiyoso
ETH Zurich | ETH Zürich · Institute of Terrestrial Ecosystems

Ph.D.

About

63
Publications
26,001
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516
Citations
Introduction
Arnadi Murtiyoso has a PhD in photogrammetry and geomatics from the University of Strasbourg, France. Research interests include close range and aerial photogrammetry, in particular its uses in cultural heritage documentation. Current research involves photogrammetric bundle adjustment, point cloud segmentation and classification, and automation in 3D modelling for heritage objects and sites.
Additional affiliations
November 2018 - present
National Institute of Applied Science
Position
  • Lecturer
Description
  • Temporary contractual lecturer in charge of courses on photogrammetric bundle adjustment.
December 2016 - February 2017
National Institute of Applied Science
Position
  • Engineer
Description
  • 3D recording (laser scanning + photogrammetry) of the Maison Blanche World War I caves in Neuville Saint-Vaast, Northern France for the centenary of the Battle of Vimy Ridge (1917).
February 2016 - July 2016
Drone Alsace
Position
  • Master's Student
Description
  • Development of protocols for the 3D modeling of remarkable buildings in Strasbourg using UAVs, comparative study of software solutions and calibration of cameras.
Education
April 2017 - July 2020
University of Strasbourg
Field of study
  • Photogrammetry and Geomatics
September 2013 - September 2016
August 2007 - July 2011
Bandung Institute of Technology
Field of study
  • Geodesy and Geomatics

Publications

Publications (63)
Article
Full-text available
3D heritage documentation has seen a surge in the past decade due to developments in reality-based 3D recording techniques. Several methods such as photogrammetry and laser scanning are becoming ubiquitous amongst architects, archaeologists, surveyors, and conservators. The main result of these methods is a 3D representation of the object in the fo...
Article
Full-text available
The 3D documentation of heritage complexes or quarters often requires more than one scale due to its extended area. While the documentation of individual buildings requires a technique with finer resolution, that of the complex itself may not need the same degree of detail. This has led to the use of a multi-scale approach in such situations, which...
Article
Three-dimensional (3D) documentation of heritage buildings has long employed both image-based and range-based techniques. Unmanned aerial vehicles (UAVs) provide a particular advantage for image-based techniques in acquiring aerial views, which are difficult to attain using classical terrestrial-based methods. The technological development of optic...
Article
The main purpose of this article is to show that photogrammetric bundle-adjustment computations can be sequentially organized into modules. Furthermore, the chain rule can be used to simplify the computation of the analytical Jacobians needed for the adjustment. Novel projection models can be flexibly evaluated by inserting, modifying, or swapping...
Article
Full-text available
Close-range photogrammetry as a technique to acquire reality-based 3D data has, in recent times, seen a renewed interest due to developments in sensor technologies. Furthermore, the strong democratization of UAVs (Unmanned Aerial Vehicles) or drones means that close-range photogrammetry can now be used as a viable low-cost method for 3D mapping. In...
Article
Full-text available
Construction progress monitoring is an important process throughout the project timeline towards its successful completion. Among imaging techniques, photogrammetry is considered as economical and effective method. However, few studies can be found on construction progress monitoring via photogrammetry; thus, not much guideline is available for thi...
Article
Full-text available
In the last few years, a number of low-cost 3D scanning sensors have been developed to reconstruct the real-world environment. These sensors were primarily designed for indoor use, making them highly unpredictable in terms of their performance and accuracy when used outdoors. The Azure Kinect belongs to this category of low-cost 3D scanners and has...
Article
Full-text available
During the last decade, the use of semantic models of 3D buildings and structures kept growing, fostered in particular by the spread of Building Information Models (BIMs), becoming quite popular in several civil engineering and geomatics applications. Nevertheless, semantic model production usually requires quite a lot of human interaction, which m...
Article
Full-text available
In the geomatics domain the use of deep learning, a subset of machine learning, is becoming more and more widespread. In this context, the 3D semantic segmentation of heritage point clouds presents an interesting and promising approach for modelling automation, in light of the heterogeneous nature of historical building styles and features. However...
Article
Full-text available
The development and management of green open spaces are essential in overcoming environmental problems such as air pollution and urban warming. 3D modeling and biomass calculation are the example efforts in managing green open spaces. In this study, 3D modeling was carried out on point clouds data acquired by the UAV photogrammetry and UAV LiDAR me...
Article
Full-text available
The interest in high-resolution semantic 3D models of historical buildings continuously increased during the last decade, thanks to their utility in protection, conservation and restoration of cultural heritage sites. The current generation of surveying tools allows the quick collection of large and detailed amount of data: such data ensure accurat...
Article
Full-text available
The use of AI in semantic segmentation has grown significantly in recent years, aided by developments in computing power and the availability of annotated images for training data. However, in the context of close-range photogrammetry, although working with 2D images, AI is still used mostly for 3D point cloud segmentation purposes. In this paper,...
Article
Full-text available
Developments in the field of artificial intelligence have made great strides in the field of automatic semantic segmentation, both in the 2D (image) and 3D spaces. Within the context of 3D recording technology it has also seen application in several areas, most notably in creating semantically rich point clouds which is usually performed manually....
Article
Full-text available
The rapid development of 3D scanning technology is a welcome progress in the field of tangible cultural heritage documentation. While active sensors such as handheld Time-of-Flight (ToF) cameras and lidar have recently generated much hype, developments in low-cost imaging sensors have also seen long strides in recent decades. This paper aims to see...
Article
Full-text available
Documentation of heritage objects has advanced significantly with the invention and development of many 3D sensors and processing algorithms. These technical advancements are of the utmost interest for cultural heritage stakeholders; knowledge transfer between key players is therefore essential and is indeed the main philosophy behind the CIPA Heri...
Article
Full-text available
The task of semantic segmentation is an important one in the context of 3D building modelling. Indeed, developments in 3D generation techniques have rendered the point cloud ubiquitous. However pure data acquisition only captures geometric information and semantic classification remains to be performed, often manually, in order to give a tangible s...
Article
Full-text available
Close-Range Photogrammetry (CRP) technology advanced rapidly along with the development of camera sensors. CRP has many advantages over other methods in terms of technical data acquisition, product quality, and cost. Because of these advantages, the CRP method can be used in various applications. In this study, the CRP method is used to monitor the...
Article
Full-text available
Heritage documentation has benefitted greatly from significant developments in sensor technology during the past two decades. Miniaturisation of sensors is also an important aspect in the development of low cost sensors, always interesting in heritage projects where budgetary constraints are often present. Among these sensors, the solid-state lidar...
Article
Full-text available
CityGML merupakan model data yang bersifat terbuka untuk memodelkan wilayah perkotaan maupun lanskap secara 3D. Dari lima tingkat perincian/Levels of Detail (LOD) pada CityGML, LOD2 menjadi tingkat perincian yang penting karena ketersediaan informasi atap bangunan. Informasi ini merupakan syarat dasar data untuk pelaksanaan aplikasi seperti perenca...
Article
Full-text available
Developments in UAV sensors and platforms in recent decades have stimulated an upsurge in its application for 3D mapping. The relatively low-cost nature of UAVs combined with the use of revolutionary photogrammetric algorithms, such as dense image matching, has made it a strong competitor to aerial lidar mapping. However, in the context of 3D city...
Article
Full-text available
La documentation du patrimoine bâti a beaucoup évolué ces dernières années grâce au développement de nouveaux capteurs 3D et de nouvelles techniques de relevé 3D. Les données 3D contribuent à la création d'archives fiables et tangibles des sites et des monuments historiques. Vu l'importance des données 3D dans la documentation du patrimoine bâti, l...
Article
Full-text available
Temporary surface water monitoring can provide accurate and reliable information about the spatio-temporal level of surface water. This is very important for various environmental applications, such as flood monitoring. Remote sensing data such as Synthetic Aperture Radar (SAR) is very useful for a large-scale flood monitoring. SAR sensors offer cl...
Article
Full-text available
The lack of benchmarking data for the semantic segmentation of digital heritage scenarios is hampering the development of automatic classification solutions in this field. Heritage 3D data feature complex structures and uncommon classes that prevent the simple deployment of available methods developed in other fields and for other types of data. Th...
Article
Full-text available
One of the major quality control parameters in bundle adjustment are the posterior estimates of the covariance of the estimated parameters. Posterior covariance computations have been part of the open source Damped Bundle Adjustment Toolbox in Matlab (DBAT) since its first public release. However, for large projects, the computation of especially t...
Thesis
Full-text available
The documentation of built heritage has seen a significant development these past few decades due to advancements in new 3D sensors and 3D recording techniques. 3D data serve as reliable and tangible archive for historical sites and monuments. Since 3D data have such importance in the field of heritage documentation, quality control is paramount an...
Article
Built heritage documentation involves the 3D modelling of the geometry (typically using 3D computer graphics, photogrammetry and laser scanning techniques) and information management of semantic knowledge (i.e., using Geographic Information System (GIS) and ontology tools). The recent developed Building Information Modelling (BIM) technique combine...
Poster
Full-text available
Fish-eye lenses offer an alternative solution in modeling architectural heritage especially to survey small and narrow spaces where conventional methods are facing certain limitations. Their wide field of view allows to drastically reduce the number of shots taken, decreases the acquisition time and therefore the processing time. The objectives of...
Article
Full-text available
Buildings are an important focus that needs to be modeled in three-dimensional (3D) city model. 3D models of buildings can be used to assist the construction and maintenance of cities. Currently there are many technologies that can be used to manage data and information from buildings or cities, such as Geographical Information System (GIS) and Bui...
Article
Full-text available
The Damped Bundle Adjustment Toolbox (DBAT) is a free, open-source, toolbox for bundle adjustment. The purpose of DBAT is to provide an independent, open-source toolkit for statistically rigorous bundle adjustment computations. The capabilities include bundle adjustment, network analysis, point filtering, forward intersection, spatial intersection,...
Article
Full-text available
The use of photogrammetry in 3D heritage documentation has matured over the recent years. In the same time, many types of sensors have also been developed in the field of imaging. While photogrammetry is considered as a low-cost alternative to TLS, several options exist in terms of sensor type with trade-offs between price, ease of use, and quality...
Article
Full-text available
Nowadays, in light of the latest development in three-dimensional (3D) modeling technology, an essential role is given to the research and development of fully-automated or semi-automated processes in order to increase workflow effectiveness. A key challenge is thus to automate the process leading to the geometric model which supports the Building...
Article
Full-text available
The introduction into the commercial market of affordable and off-the-shelves Unmanned Aerial Systems (UAS), have lately boosted the mapping capabilities of archaeologists. Hardware solutions have been indeed supported by more accurate flight planning software allowing to increase the reliability of 3D models in terms of spatial resolution and geom...
Poster
Full-text available
Before the introduction of UAS (Unmanned Aerial Systems), traditional aerial archaeological documentation was mainly realized through (i) light aircrafts; (ii) kites; (iii) balloons; (iv) poles. This study aims to assess the Bundle Adjustment (BA) accuracy and the reliability of the photogrammetric reconstruction by reprocessing various dataset col...
Article
Full-text available
Laser scanning and photogrammetry methods have seen immense development in the last years. From bulky inaccessible systems, these two 3D recording systems has become more or less ubiquitous, which is also the case in the heritage domain. However, automation in point cloud classification and semantic annotation remains a much studied topic. In this...
Article
Full-text available
3D recording is an important procedure in the conservation of heritage sites. This past decade, a myriad of 3D sensors has appeared in the market with different advantages and disadvantages. Most notably, the laser scanning and photogrammetry methods have become some of the most used techniques in 3D recording. The integration of these different se...
Article
Full-text available
The segmentation of a point cloud presents an important step in the 3D modelling process of heritage structures. This is true in many scale levels, including the segmentation, identification, and classification of architectural elements from the point cloud of a building. In this regard, historical buildings often present complex elements which ren...
Article
Full-text available
In the context of architectural heritage preservation, constructing building information models is an important task. However, conceiving a pertinent model is a difficult, time consuming and user-dependent task. Our laboratory has been researching methods to decrease the time and errors inferred by manual segmentation of point clouds. In the perspe...
Article
Full-text available
Built heritage has been documented by reality-based modeling for geometric description and by ontology for knowledge management. The current challenge still involves the extraction of geometric primitives and the establishment of their connection to heterogeneous knowledge. As a recently developed 3D information modeling environment, building infor...
Article
Full-text available
Point cloud segmentation is an important first step in categorising a raw point cloud data. This step is necessary in order to better manage the data and generate other derivative products, e.g. 3D GIS or HBIM. The idea presented in this paper involves the use of 2D GIS to help in the segmentation, classification, as well as (early) semantic annota...
Article
Full-text available
In this paper we investigate how the residuals in bundle adjustment can be split into a composition of simple functions. According to the chain rule, the Jacobian (linearisation) of the residual can be formed as a product of the Jacobians of the individual steps. When implemented, this enables a modularisation of the computation of the bundle adjus...
Article
Full-text available
In the field of 3D heritage documentation, point cloud registration is a relatively common issue. With rising needs for Historic Building Information Models (HBIMs), this issue has become more important as it determines the quality of the data to be used for HBIM modelling. Furthermore, in the context of historical buildings, it is often interestin...
Article
Full-text available
An underwater imaging system with camera and lens behind a flat port does not behave as a standard pinhole camera with additional parameters. Indeed, whenever the entrance pupil of the lens is not in contact with the flat port, the standard photogrammetric model is not suited anymore and an extended mathematical model that considers the different m...
Article
Full-text available
Since its first inception, aerial photography has been used for topographic mapping. Large-scale aerial photography contributed to the creation of many of the topographic maps around the world. In Indonesia, a 2013 government directive on spatial management has re-stressed the need for topographic maps, with aerial photogrammetry providing the main...
Preprint
AbstrakDewasa ini teknik pencocokan citra banyak dimanfaatkan dalam fotogrametri. Metode yang berasal dari ranah penglihatan komputer ini dapat mempermudah sejumlah tugas dalam fotogrametri yang sebelumnya harus dikerjakan secara manual. Fotogrametri sendiri merupakan teknik yang sering digunakan dalam dokumentasi cagar budaya dan arkeologi untuk m...
Article
Full-text available
Photogrammetry has recently seen a rapid increase in many applications, thanks to developments in computing power and algorithms. Furthermore with the democratisation of UAVs (Unmanned Aerial Vehicles), close range photogrammetry has seen more and more use due to the easier capability to acquire aerial close range images. In terms of photogrammetri...
Chapter
The use of laser scanning techniques has become a common way to measure the real world. Millions of points could be generated by this system, which brings forth the problem of visualizing and eventually performing analyses on them. In the open source domain, various software packages exist to visualize 3D point clouds. However, most of these softwa...
Chapter
Spherical photogrammetry (SP) is an efficient method in 3D model acquisition. The SP method is fast, low cost, and the resulting of 3D model is reliable. SP has many advantages, but it also has many disadvantages. Since it uses panoramic images as the basic information, significant distortion within the panoramic image causes the accuracy of the 3D...
Article
Full-text available
The Battle of Vimy Ridge was a military engagement between the Canadian Corps and the German Empire during the Great War (1914-1918). In this battle, Canadian troops fought as a single unit and won the day. It marked an important point in Canadian history as a nation. The year 2017 marks the centenary of this battle. In commemoration of this event,...
Article
Full-text available
Photogrammetry has seen an increase in the use of UAVs (Unmanned Aerial Vehicles) for both large and smaller scale cartography. The use of UAVs is also advantageous because it may be used for tasks requiring quick response, including in the case of the inspection and monitoring of buildings. The objective of the project is to study the acquisition...
Conference Paper
Full-text available
Close-range photogrammetry is an image-based technique which has often been used for the 3D documentation of heritage objects. Recently, advances in the field of image processing and UAVs (Unmanned Aerial Vehicles) have resulted in a renewed interest in this technique. However, commercially ready-to-use UAVs are often equipped with smaller sensors...
Article
Full-text available
Dewasa ini teknik pencocokan citra banyak dimanfaatkan dalam fotogrametri. Metode yang berasal dari ranah penglihatan komputer ini dapat mempermudah sejumlah tugas dalam fotogrametri yang sebelumnya harus dikerjakan secara manual. Fotogrametri sendiri merupakan teknik yang sering digunakan dalam dokumentasi cagar budaya dan arkeologi untuk menghasi...
Conference Paper
The use of image-based techniques to document heritage sites has seen a resurgence in recent years with advancements in optical sensors as well as computing power. The rise of UAVs (Unmanned Aerial Vehicles) also complements this technique, by providing the advantage of aerial view over traditional terrestrial image acquisition. Recently UAVs began...
Conference Paper
The use of image-based techniques to document heritage sites has seen a resurgence in recent years with advancements in optical sensors as well as computing power. The rise of UAVs (Unmanned Aerial Vehicles) also complements this technique, by providing the advantage of aerial view over traditional terrestrial image acquisition. Recently UAVs began...
Thesis
Full-text available
L'utilisation de la photogrammétrie pour la documentation du patrimoine s'est répandue ces dernières années, en partie grâce au développement des capteurs optiques et à l'amélioration de la puissance de calcul. L'essor des drones accompagne ces progrès grâce au potentiel des vues aériennes en complément des méthodes terrestres classiques. Plus réce...
Conference Paper
Full-text available
Aerial photography has a long history of being employed for mapping purposes due to some of its main advantages, including large area imaging from above and minimization of field work. Since few years multi-camera aerial systems are becoming a practical sensor technology across a growing geospatial market, as complementary to the traditional vertic...
Conference Paper
Full-text available
Three dimensional (3D) modeling has been an important process in documenting archeological sites. Unlike conventional 2D drawings, 3D models provide both archeologists and future reconstruction workers with accurate geometrical data of the object in digital form, thus enabling various experiments and research. For this cause, archeological institut...

Questions

Question (1)
Question
Hello everyone, I'm curious if anyone knows the basic technology behind 2020's iPad and iPhone's lidar sensor. Upon seeing it first hand, I'm inclined to say that it's a kind of miniaturised ToF camera (the likes of Kinect/SwissRanger), but maybe anyone has other educated guess or confirmation on this? Also any reference on the subject would be appreciated.
Secondary question regarding the quotation marks: do you think that the technical term "lidar" applies to the iPad and iPhone's sensor? Does it really use laser or just infrared waves?
Best,
Arnadi

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Projects

Projects (2)
Project
The aim of the project is to develop simple algorithms to help in the automatisation effort of point cloud processing in the context of cultural heritage. This includes among others segmentation, semantic annotation, and 3D primitive generation. GitHub link: https://github.com/murtiad/M_HERACLES
Project
The goal of DBAT is to provide an open source, reference implementation of a statistically rigorous Bundle Adjustment (BA). Of particular importance is the computation of quality indicators such as posterior variances and correlations coefficients. Another goal is to be able to process projects from closed-source software such as PhotoModeler and PhotoScan.