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A bird's eye view on Switzerland in the 18th century: 3D recording and analysis of a historical relief model
Abstract
The relief of Franz Ludwig Pfyffer, constructed between 1762 and 1786, is considered the world's oldest large landscape model and a pioneering work of Swiss cartography. Based on Pfyffer's own measurements, the 6.6 x 3.9 m 2 big masterpiece represents a fascinating bird's eye view of the Alps. The relief is not only an extraordinary topographic but also a cultural achievement: It has once been an attraction for numerous representatives of European social and scientific life. This paper reports about the procedures for the digital recording and quantitative evaluation of the Pfyffer's relief, which are part of a broad interdisciplinary research. For the first time, the results of the photogrammetric 3D reconstruction and accuracy analysis of the whole object are presented. The DTM, the orthoimage and the complete vector data set were archived for the documentation of the cultural heritage. For the reason of project publicity, the derivation of high quality visualization products such as flyovers and interactive models was an important issue, too. In the second part the paper describes methods for the comparison of the virtual historical model with current map information. The procedures are based on a 9-parameter transformation of identical points between two three-dimensional datasets. In particular, a new procedure for the transformation of historical height and image data has been developed and evaluated. Furthermore, a novel method for analysis of the lake contours accuracy in the old relief or in the old map respectively is suggested. The procedures enable visualization of relief distortions (including a distortion grid), overlays with current vector data as well as direct comparison of the digital terrain models. The results of the analysis bring new surprising information concerning geometric accuracy, metric parameters and building strategy of the Pfyffer's relief.
... Rješenje devetparametarske transformacije privuklo je širok raspon istraživanja u raznim poljima geodezije [6] [7], navigaciji [8], medicini [9] [10] [11], računarskoj analizi slike [12] i modeliranju površina [13] i [14]. Kod tradicionalne sedamparametarske transformacije pored grešaka položaja zajedničkih tačaka u dva koordinatna sistema, javlja se i različitost u razmeri, po tri ose. ...
The most commonly used method for establishing the mathematical basis of surveying and spatial data collection is the method of Global Navigation Satellite Positioning System (GNSS). However, these data relate to the World Geodetic Date WGS84 which is different from the State geodetic network,. As a part of realization the project of determining spatial local reference network Mrkonjić Grad the GNSS observations on 15 trigonometric points whose position is known to the State system of coordinates (x, y, h) were made. For the purpose of coordinate transformation between the two system two different transformation models were anlyzed. Beside the most commonly used Helmert seven parameter transformation, afina nine parametric transformation was tested. Comparing the two transformations models, conclusion was made that showes some benefits of using affina nine parameter transformation models in Republic of Serpska.
... Langweil model of Prague [16]) or view of the country (e.g. Switzerland in the 18th century [18]). ...
The objective of the project was to create 3D visualization of an extinct village and its evaluation using eye-tracking. As an area of interest, the extinct village of Cistá was selected. The village was located in Karlovy Vary Region in the Czech Republic and was destroyed in 1948. The village was destroyed to primarily to establish a military training area. Secondly, it was destroyed to create an instructional video for military purposes called "Fight in the settlement". During the creation of this video, the village was destroyed. The main content of the project was to create an interactive web application that includes a 3D model of the extinct village of Cistá. As base data, aerial photos made in 1947 and stable cadastre from 1841 were used. Buildings were made according to historical photographs and screen shots from the instructional video "Fight in a settlement." The resulting 3D model and underlying data were loaded into Google Earth API and are available for the general public now. The second part of the project was to test the model usability using eye-tracking. In total, 28 respondents participated in the experiment. The experiment contained two parts - the overall views of the village and tasks, where users were searching for a particular building. Recorded eye-tracking data were statistically and graphically analyzed. The results indicate that a 3D model was the most usable type of visualization for respondents. A link to the application was placed on the web site of the project of an educational trail about extinct villages in the Slavkov Forest area. The created 3D model and application present the extinct village of Cistá to potential visitors of the educational trail.
... Except a digital representation of the contemporary state, which can be used e.g. for educational purposes [20,21], it is possible to use 3D maps to represent the historic city's face e.g. [16] or country's [17]. ...
Olomouc, nowadays a city with 100,000 inhabitants, has always been considered as one of the most prominent Czech cities. It is a social and economical centre, which history started just about the 11th century. The present appearance of the city has its roots in the 18th century, when the city was almost razed to the ground after the Thirty years'war and a great fire in 1709. After that, the city was rebuilt to a baroque military fortress against Prussia army. At the beginning of the 20th century the majority of the fortress was demolished. Character of the town is dominated by the large number of churches, burgher's houses and other architecturally significant buildings, like a Holy Trinity Column, a UNESCO World Heritage Site. Aim of this project was to state the most suitable methods of visualization of spatio-temporal change in historical build-up area from the tourist's point of view, and to design and evaluate possibilities of spatial data acquisition. There are many methods of 2D and 3D visualization which are suitable for depiction of historical and contemporary situation. In the article four approaches are discussed -comparison of historical and recent pictures or photos, overlaying historical maps over the orthophoto, enhanced visualization of historical map in large scale using the third dimension and photorealistic 3D models of the same area in different ages. All mentioned methods were geolocalizated using the Google Earth environment and multimedia features were added to enhance the impression of perception. Possibilities of visualization, which were outlined above, were realized on a case study of the Olomouc city. As a source of historical data were used rapport plans of the bastion fortress from the 17th century. The accuracy of historical maps was confirmed by cartometric methods with use of the MapAnalyst software. Registration of the spatio-temporal changes information has a great potential in urban planning or realization of reconstruction and particularly in the propagation of the region and increasing the knowledge of citizens about the history of Olomouc.
... Langweil model of Prague [11] or view of the country (e.g. Switzerland in the 18th century [12]). ...
The objective of the project was to create 3D visualization of extinct village and its evaluation using eye-tracking. As an area of interest, extinct village Čistá was selected. The village was located in Karlovy Vary Region in Czech Republic and was destroyed in 1948. The purpose of destroying the village was emerging of military training area. Second purpose was to create instructional video for military purposes “Fight in the settlement”. During the creation of this video, the village was destroyed.
The main content of the project was to create an interactive web application that includes 3D model of the extinct village Čistá. As underlying data, aerial photos made in 1947 and stable cadastre from 1841 were used. Buildings were made according to historical photographs and screen shots from instruction video “Fight in a settlement”. Resulting 3D model and underlying data were loaded into Google Earth API and are available for the general public now.
The last part was to test the model usability using eye-tracking. In total, 28 respondents participated in the experiment. The experiment contained three parts - the overall views of the village, details of the model and tasks, where users were searching for particular building. Results from testing were of statistical and graphical nature.
Link to the application was placed on the web site of the project of an educational trail about extinct villages in Slavkov forest area. Created 3D model and application present the extinct village Čistá to potential visitors the educational trail.
... In theory, one of the major advantages of non-contact 3D digitizers is that they operate without touching the object being digitized and therefore present minimal risk to that object. Non-contact 3D digitizers are an interesting alternative to close-range photogrammetric reconstruction (Niederöst 2003), as they are quick, easy to operate, and allow for verifying the digital model on the spot using a connected laptop computer. ...
Whilst Swiss cartographers are rightly regarded as pioneers of mountain cartography and their innovative methods of depict- ing relief have been emulated throughout the world, this paper evaluates the signifi cance of one Swiss model maker to the de- velopment of mountain cartography. Joachim Eugen Müller (1752-1833) was born in Engelberg and worked as a carpenter. After acting as a mountain guide for Johann Rudolf Meyer (1739-1813) and Johann Heinrich Weiss (1758-1826), he was commissioned by Meyer to con- struct a terrain model of a signifi cant section of Switzerland, which he fi nished in 1797 at a scale of 1:60,000. Th is model formed the basis for the "Atlas Suisse par Meyer et Weiss" at a scale of approximately 1:120,000 and would continue to be the most accurate map of Switzerland until the production of the Dufour map some 50 years later. Using non-contact 3D digitizing techniques to create digital replicas of the models, this paper evaluates the signifi cance of Müller's work by assessing the accuracy of his models in relation to modern digital elevation data. Th e results provide objective testimony to the skill and endeavour of Joachim Eugen Müller. He provided Weiss with data of hitherto unparalleled accuracy using primitive techniques by modern standards. Th e results also demonstrate that non-contact 3D digitizing techniques not only provide a suitable data capture method for analytical work but also provide a potential means of preserving digital facsimiles of precious artefacts of the development of mountain cartography.
... In a previous publication (Niederöst, 2003) the methods for the digital recording of Pfyffer's Relief and the quantitative evaluation of the virtual relief and related old maps were presented (they are shortly summarized in Section 2). The analysis yields a number of statistic and visual products, which have a great potential for the research in the history of cartography. ...
Digital photogrammetry offers effective and accurate procedures for the preservation and inventory of cultural heritage. In case of two- and three-dimensional products of early mapmaking the application of these methods goes far beyond documentation and visualization: it primarily aims at the derivation of new information. This paper reports on conclusions which can be drawn from the quantitative evaluation of one of the most spectacular relief models in history, the relief of Franz Ludwig Pfyffer constructed between 1750 and 1786. At first, the techniques and results of image-based reconstruction and accuracy analysis of this masterpiece are briefly summarized. Due to the lack of written documentation concerning the relief and its constructor, the virtual Pfyffer's Relief and the products of image processing represent a great potential for research in the history of cartography. Thus, the main focus of the paper is the reconstruction of Pfyffer's surveying procedures and the interpretation of the reached accuracy in context of European mapmaking of that period. The work leads to a new knowledge about the cartographic, spatiotemporal but also social and political aspects of the relief creation. As opposed to the previous assumptions it can be concluded that Pfyffer performed systematic and repetitive triangulation and height measurements. His procedures, instruments and results correspond with the scientific status quo in the last quarter of the 18th century, whereas his area-wide height survey was a pioneering achievement at that time.
... In this case, transforming the coordinates of one configuration to those of another will require, in addition to rotation and translation elements, the solution of scale parameters s 1 , s 2 , s 3 corresponding to the 3 (X, Y, Z ) dimensions . The 9-parameter transformation is used in the fields of geodesy (Antonopoulos, 2003; Watson, 2006), navigation (Forsberg, 1991), medicine (Piperakis and Kumazawa, 2001; Pfefferbaum et al., 2006; Sun et al., 2007), computer image analysis (Ashburner and Friston, 1997) and surface modelling (Niederoest, 2003; Gruen and Akca, 2005 ). Furthermore, the 9-parameter transformation is included in several geodetic coordinate transformation ages, which use iterative approaches requiring initial starting values (e.g., Mathes, 2002; Fröhlich and Bröker, 2003). ...
The Procrustean "matching bed" is employed here to provide direct solution to the 9-parameter transformation problem inherent in geodesy, navigation, computer vision and medicine. By computing the centre of mass coordinates of two given systems; scale, translation and rotation parameters are optimised using the Frobenius norm. To demonstrate the Procrustean approach, three simulated and one real geodetic network are tested. In the first case, a minimum three point network is simulated. The second and third cases consider the over-determined eight-and 1 million-point networks, respectively. The 1 million point simulated network mimics the case of an air-borne laser scanner, which does not require an isotropic scale since scale varies in the X , Y , Z directions. A real network is then finally considered by computing both the 7 and 9 transformation parameters, which transform the Australian Geodetic Datum (AGD 84) to Geocentric Datum Australia (GDA 94). The results indicate the effectiveness of the Procrustean method in solving the 9-parameter transformation problem; with case 1 giving the square root of the trace of the error matrix and the mean square root of the trace of the error matrix as 0.039 m and 0.013 m, respectively. Case 2 gives 1.13×10 −12 m and 2.31×10 −13 m, while case 3 gives 2.00×10 −4 m and 1.20 × 10 −5 m, which is acceptable from a laser scanning point of view since the acceptable error limit is below 1 m. For the real network, the values 6.789 m and 0.432 m were obtained for the 9-parameter transformation problem and 6.867 m and 0.438 m for the 7-parameter transformation problem, a marginal improvement by 1.14%.
... Single structures/buildings: Rock church Bet Georgis of Lalibela/Ethiopia (Buehrer et al. 2001), Bayon Tower, Angkor/Cambodia (Visnovcova et al. 2001) . Statues and other objects: Weary Herakles Antalya Museum/Turkey, Khmer Head, Rietberg Museum Zurich/Switzerland (Akca et al. 2007), Pfyffer Relief, Luzern/Switzerland (Niederoest 2003), A. Escher Statue, Zurich/Switzerland, St. Gallen Globe, Zurich/Switzerland. ...
Digital Earth essentially consists of 3D and moreD models and attached semantic information (attributes). Techniques for generating such models efficiently are required very urgently. Reality-based 3D modelling using images as prime data source plays an important role in this context. Images contain a wealth of information that can be advantageously used for model generation. Images are increasingly available from satellite, aerial and terrestrial platforms. This contribution briefly describes some of the problems which we encounter if the process of model generation is to be automatised. With the help of some examples from Digital Terrain Model generation, Cultural Heritage and 3D city modelling we show briefly what can be achieved. Special attention is directed towards the use of model helicopters for image data acquisition. Some problems with interactive visualisation are discussed. Also, issues surrounding R&D, profes-sional practice and education are also addressed.
This paper explores the problem of symmetric transformation in the presence of outliers for photogrammetric and remote-sensing applications. We propose a point-wise robust objective for symmetric coordinate transformation by assuming the corresponding structure of the down-weighting matrix and choosing the squared Mahalanobis distance as the statistic to evaluate the down-weighting factors. Compared to the previous work, our method regards all the coordinates of one point as a whole. It is practical in principle since the displacement and correspondence relation are point-wise; it is statistically rigorous since the stochasticity of both frames is considered; it is flexible since the incorporated constraints enable all kinds of transformation. By utilizing the parameter partition technique, a more intelligent iteration manner is proposed for the implementation aspect, which specially suits globally distributed geoscience data. The developed method is vetted in the synthetic and real examples including geodetic datum conversion and point cloud registration. The algorithms have potential in many areas, including cross-source registration, image analysis, pattern recognition, surface modeling and remote-sensing image registration.
The modern GNSS technique is one of the most effective geoscience and remote-sensing tool to observe crustal motions and quantify plate tectonics dynamics. Given multiple installed continuously operating GNSS observing stations, the multi-frame transformation is implemented to connect the timevarying GNSS coordinates by the traditional step-wise method. Compared with the step-wise treatment of each pair of frames, the proposed structured total least-squares method considers the combined estimation for all frames, guaranteeing unique and consistent results for the multi-frame symmetric transformation. Furthermore, we introduce the variance component as the nutshell and flexible indicator for land movement. The variance components can quantify the movement coordinate-wise, regional-wise, or frame-wise if the variance components are estimable as we analyze. The simulated experiment shows that the multi-frame symmetric transformation is statistically superior to the traditional stepwise treatment. For the application, the deformation caused by Tohoku earthquake that happened in 2011 in northeast Japan is analyzed.
The relief of Franz Ludwig Pfyffer, constructed between 1762 and 1786, is considered the world's oldest large landscape model and a pioneering work of Swiss cartography. Based on Pfyffer's own measurements, the 26 m 2 big work represents topographically an area of almost 4100 km 2 . The relief, which served as a basis for several printed maps issued at the end of the 18th century, is now a subject of the first quantitative evaluation. Applying principles of aerial photogrammetry, a precise 3D model of Pfyffer's relief is created for the documentation of cultural heritage. As a main research aim, methods for the comparison of the virtual model with current map information are implemented: planar and spatial transformations of identical points and an analysis of digital surface models. In particular, a new procedure for the transformation of historical height and image data has been developed and evaluated. Suggested approaches consider object distortions in all three directions and allow making statements about relief accuracy as well as reconstructing Pfyffer's model building strategy.
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