Developing Tools for Image-Based 3D Reconstruction: Palace Pena Case Study

This paper reviews the recent works on developing photogrammetric tools for image based 3D modeling and heritage documentation. Describing the case study of Pena Palace in Sintra in Portugal some important aspects concerning image orientation algorithms and stereo restitution will be discussed. At first the general photogrammetric workflow is shortly addressed and then some mathematical aspects related to orientation of close range images are provided. Afterwards the process of acquiring images of palace courtyard is given in details. Results of bundle adjustment are shortly mentioned. Drawings of some architectural details are shown, followed by discussion concerning problems brought on by geometry of image acquisition.