xx (2007) xxx–xxx

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AUTCON-00891; No of Pages 10

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Automation in Construction

Documentation of historical caravansaries by digital closerange photogrammetry

H.M. Yilmaz a,⁎, M. Yakar b,1, F. Yildiz b,1

a Aksaray University, Engineering Faculty, Department of Geodesy and Photogrammetry, 68100, Aksaray, Turkeyb Selcuk University, Engineering Faculty, Department of Geodesy and Photogrammetry, 42120, Konya, Turkey

Accepted 10 September 2007

Abstract

Heritage and culture are two important components in life of societies. Monuments and monumental groups are constructions of great valuebecause of they represent the history and memory of the communities where they are placed. Heritage is our legacy from the past, what we livewith today, and what we pass on to future generations. Conservation of cultural heritage is a major issue for modern societies, both fromeconomical and cultural viewpoints. Caravansaries are one of the cultural heritages.

Caravansary means home or shelter for caravans (“caravan” meaning a group or convoy of soldiers, traders or pilgrims engaged in longdistance travel). Caravansaries supported the flow of commerce, information and people across a network of trade routes of Asia, North Africaand South-Eastern Europe.

There are several documentation techniques available in order to document cultural heritage. These techniques are indispensable tools for theconservation of heritage monuments. These methods and equipment commonly are used for the documentation and surveying of buildings. Digitalclose range photogrammetry is one of the most important methods in documenting of cultural heritage.

In this study, historical Zazadin Caravansary (Khan) on Silk Road was evaluated and documented by digital close range photogrammetry. It hasshown that this method is very efficient compared with traditional method in documenting cultural heritage.© 2007 Elsevier B.V. All rights reserved.

Keywords: Cultural heritage; Digital photogrammetry; 3D visualization; Documenting; Preservation

1. Introduction

Heritage and culture are two important components in life ofsocieties. Monuments and monumental groups are construc-tions of great value, because they represent the history andmemory of the communities where they are placed [13]. Manyfeatures of cultural heritage may be classified as public goods,and despite the fact that there are insufficient public resources toguarantee their maintenance and preservation, cultural andheritage goods provide certain benefits and externalities to theareas in which they are located [3]. Culture (and relatedactivities) not only creates significant economic flows, but may

⁎ Corresponding author. Tel.: +90 3822150341; fax: +90 3822150592.E-mail addresses: hmyilmaz@nigde.edu.tr (H.M. Yilmaz),

yakar@selcuk.edu.tr (M. Yakar), fyildiz@selcuk.edu.tr (F. Yildiz).1 Tel.: +90 3322410041; fax: +90 3322410635.

0926-5805/$ - see front matter © 2007 Elsevier B.V. All rights reserved.doi:10.1016/j.autcon.2007.09.003

Please cite this article as: H.M. Yilmaz, et al., Documentation of historical carav(2007), doi:10.1016/j.autcon.2007.09.003

also be used as a means of transforming certain geographicareas, and therefore, forms part of many local and regionaleconomic development strategies [6,9,20].

UNESCO (1946) and the Council of Europe have formedspecialized organizations for this goal. ICOMOS (InternationalCouncil for Monuments and Sites) is the most important one,but also CIPA (International Committee for ArchitecturalPhotogrammetry), ISPRS (International Society for Photogram-metry & Remote Sensing), ICOM (International Council forMuseums), ICCROM (International Centre for the Conserva-tion and Restoration of Monuments) and UIA (InternationalUnion of Architects) are all involved in this task.

The documentation of a cultural heritage may be defined as[8]: The action of acquiring, processing, presenting and recordingthe necessary data for the determination of the position and theactual existing form, shape and size of a monument in the three-dimensional space at a particular given moment in time.

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There are several documentation techniques available [4].Such techniques are indispensable tools for the conservation ofheritage monuments. The conservation has to be carried outprior to the buildings' destruction, transformation or undertak-ing of any intervention. These methods are envisaged to providethe building with a coordinates system (X,Y,Z) [17]. Thesemethods and equipment commonly used for the documentationand surveying of buildings are [18]: traditional manualmethods, topographic methods, photogrammetric methods andscanning methods.

• Traditional manual methods: The equipment used is verysimple (tape measure, plumbs, manual laser distance measure-ment). Some information is lost in the transmission of datafrom the original to the theoretic model. This reduction–addition process is unintentional [23]. Massive utilization ofthese methods is justified because of economic causes and lackof necessary formation. Nickerson [24] estimates the degreeof precision obtained in someworks carried out with traditionalmanual methods, whose values are compared in several cases.

• Topographic methods: The equipment used are tachometersand/or total stations. When the point to be determined isinaccessible (upper parts of facades, cornices, etc.) indirectmethods are used (intersection). For further information seeChueca et al. [25]. New developments have been incorpo-rated into laser total stations, such as the measurement ofdistances without reflector element by means of laser rays.This technology is suitable for documentation works. Thus,when distances are not too large direct contact is not neededto locate the object points.

• Close range photogrammetric methods: The short duration offield work measuring time is a remarkable feature ofphotogrammetry. Photogrammetric works are normally per-formed without any contact with the object. For furtherinformation see Kraus v.1 [26] and v.2 [27]. Photogrammetricmethod is more accurate, faster, more economic and morereliable than other documentation techniques. The final resultcan be registered in the “construction photogrammetric files”.These files are of great importance because they hold all theinformation needed to make any measurement or plan whenrequired, either immediately subsequent to the surveying orlater. The files assure the “intellectual conservation” ofthe object in its real state at a precisemoment of its history [31].

The documentation records the present of cultural heritage,as this has been shaped in the course of time and is the necessarybackground for the studies of their past, as well as the studies fortheir future. Documentation should be considered as an integralpart of a greater action in general documentation of the culturalheritage. This comprises, among others, the historical docu-mentation, the architectural documentation, the bibliographicdocumentation etc. [8]. Cultural heritage protection is a keyissue around the world today. The increase in public awarenessover recent years that these kinds of monuments constitute animportant part of our past [16].

The effective documentation and display of ancient artifactsand antiquities is an essential task in the field of cultural heritage

Please cite this article as: H.M. Yilmaz, et al., Documentation of historical carav(2007), doi:10.1016/j.autcon.2007.09.003

conservation. Traditional methods are slow, time-consumingand present a number of evident limitations. A digital archive ofhigh quality three-dimensional models would constitute a greatimprovement in this field. Digital archives are durable andunalterable, and thus can be used as reference for degradationmonitoring and restoration of works [14].

Today, the 3D reconstruction and visualization techniquesbecame very popular and useful methods in the field of digitalclose range photogrammetry. 3D drawing and saving indifferent formats have become widespread using 3D recon-struction and visualization. The other advantage of techniques isthat the object has been visualized at different points of view.3D modeling and visualization of historical objects are verysophisticated and complex procedures in the job of documen-tation of cultural heritage [12,21]. Digital close rangephotogrammetry is very effective and useful in documentationof cultural heritage. Work like this is one of the most importantapplications of digital close range photogrammetry. Digitalphotogrammetric systems allow the use of conventional digitalcameras and consequently lower costs (about 600 €) [28].

Caravansary means home or shelter for caravans (“caravan”meaning a group or convoy of soldiers, traders or pilgrimsengaged in long distance travel). Caravansaries supported theflow of commerce, information and people across a network oftrade routes of Asia, North Africa and South-Eastern Europe.

Caravansaries provided water for drinking (for animals andpeople), and for washing and ritual ablutions. Sometimes theyeven had elaborate baths. They also kept fodder for animals andhad shops for travellers where they could acquire new supplies.In addition, there could be shops where merchants coulddispose some of their goods.

Most typically it is a “building” with a square or rectangularwalled exterior, with a single portal wide enough to permit largeor heavily laden beasts such as camels to enter. The courtyard isalmost always open to the sky, and along the inside walls of theenclosure are ranged a number of identical stalls, bays, niches orchambers to accommodate merchants and their servants, theiranimals and merchandise [19].

In this study, 3D model of the Zazadin Caravansary has beenconstructed by digital close range photogrammetry. Facade of theZazadin Caravansary was drawn as 3D and covered with phototexture. Figure of antique stones was drawn and documented.

2. Digital close range photogrammetry

Digital close range photogrammetry measures objectsdirectly from photographs or digital images captured with acamera at close range [2,7]. The basic model in digital closerange photogrammetry is the central perspective projection. Theprimary coordinate system is positioned arbitrarily in objectspace, while the secondary system as its origin at theperspective camera center O, its z-axis coincides with theprincipal axis and is directed away from the projection (image)plane (Fig. 1). The scale factor is set to unity [2,29].

In the primary system we have the coordinates of theperspective center,O, and an object point in space, A: (X0,Y0,Z0)and (XA,YA,ZA), respectively. The projection of A, through O, in

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24

Fig. 2. Intersection.Fig. 1. The central perspective projection.

Fig. 3. Coplanarity.

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the image plane, expressed in the secondary system, gives thecoordinates of point a: (xa,ya,−c), where “c” is the principaldistance (sometimes called effective focal length), between Oand the principal point, PP. Points A and a are calledhomologous. Thus, we have: XA=X0+ (−μ)Rt xa, where μ is apositive scalar quantity proportional to the object distancefrom A to O.

The reverse transform is then given as

xaya�c

35 ¼ l�1

g11 g21 g31g12 g22 g32g13 g23 g33

24

35 XA � X0

YA � Y0ZA � Z0

24

35: ð1Þ

Note that the vectors (XA−X0), xa are collinear but ofopposite sense.

The 3rd equation of the reverse transform above can bewritten explicitly in terms of the scaling μ and substituted in theother 2 equations, leading to the collinearity equations:

xa ¼ �c g11 X0 � XAð Þ þ g12 Y0 � YAð Þ þ g13 Z0 � ZAð Þ½ �g31 X0 � XAð Þ þ g32 Y0 � YAð Þ þ g33 Z0 � ZAð Þ½ �

and

ga ¼�c g21 X0 � XAð Þ þ g22 Y0 � YAð Þ þ g23 Z0 � ZAð Þ½ �g31 X0 � XAð Þ þ g32 Y0 � YAð Þ þ g33 Z0 � ZAð Þ½ � : ð2Þ

2.1. Camera calibration — interior parameters

The central perspective projection model is only anidealization (and simplification) of the actual optical geometrycommonly found in cameras. Camera calibration is concernedwith identifying how much the geometry of image formationdiffers in a real camera.

2.2. Resection — exterior parameters

Once the interior (calibration) parameters are known, thereremain 6 exterior orientation parameters to determine (3Dtranslation and rotation). This evaluation is called resection. At

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least 3 non-collinear targets such as point A above, calledcontrol points are needed.

When more than 3 control points are available, a morerigorous statistical approach can be used. For example thecollinearity equations above can be linearized and a LSE (LeastSquare Estimation) was used. Good initial values are requiredhowever, for the LSE process to converge to appropriate values[2,29].

2.3. Intersection

Having an object point A and two homologues a1 and a2,projected in 2 images assumed calibrated and resected, thecollinearity equations are used to retrieve the 3D spacecoordinates of A, a process called intersection (Fig. 2). Theproblem is over-constrained; having 4 equations and 3unknowns, and LSE can be used again.

2.4. Coplanarity equation

Relative orientation is the evaluation of the exteriororientation elements of one camera w/r to the photo coordinatesystem of another camera.

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Fig. 4. A view of Silk Road.

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Consider once again the target A with images at a1 and a2.Then the vectors:

a1 ¼ �kð Þ x1y1 �c1ð Þ½ �t; a2 ¼ �lRtð Þ x2y2 �c2ð Þ½ �t;

b ¼ bxbybz� �t ð3Þ

are coplanar, where b is the camera base (of the stereo pair).They lie in the epipolar plane of A and the 2 perspective centers(Fig. 3).

Fig. 5. Location of the Z

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Assuming that the base vector is non-zero and usingRta2=a′2=[x′2y′2z′2]

t we get the coplanarity equation for target A:

det

1 x1 xV2bybx

y1 yV2bzbx

�c1 zV2

26664

37775 ¼ 0: ð4Þ

At least 3 targets are necessary (i.e., 6 constraints orcoordinates) to determine the 5 elements of relative orientation:(by/bx,bz/bx,ω,φ,κ).

azadin Caravansary.

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Fig. 7. Figure of antique rocks in North external side.

Fig. 6. South side and entrance of the Zazadin Caravansary.

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After relative orientation has been performed, we can use themeasured photo-coordinates of the 2 homologues of a target inorder to evaluate, by intersection, its coordinates relative to the(x1,y1,z1) axes. Such coordinates are called model coordinates[2,5,29].

When compared to traditional surveying methods, digitalclose range photogrammetry is efficient and rapid, significantlyreducing the time required to collect data in the field.Measurements collected in less than 3 days in the field wouldhave taken 10 days in a conventional survey. This method isconsiderably safer. All surveyors can obtain precise measure-ments without physically accessing each measurement point.Finally, the process produced a comprehensive visual record ofexisting site conditions from which any identifiable features canbe measured or geometrically assessed at a later date. Digitalclose range photogrammetric measurements can be integratedwith 3D modeling and reverse engineering processes. Theacquired data is infinite and the cost savings substantial. One ofthe main features of photogrammetric methods is the shortlength of time required on-site to carry out measurements [3].This method has, however, some limitations when applied to tallconstructions, because a plumb line of great length has to beused in order to prevent unbalance. Office work during theevaluation stage is actually longer [29,30].

Digital close range photogrammetric methods have beensuccessfully applied to projects in archaeology, architecture,automotive and aerospace engineering, and accident recon-struction [2,5,11,22].

It is defined that a research in Austria with the equal numberof workers is done and all measurements are taken in traditionaland also in photogrammetric methods. And at the end of theresearch, it is concluded that photogrammetric method is more

Please cite this article as: H.M. Yilmaz, et al., Documentation of historical carav(2007), doi:10.1016/j.autcon.2007.09.003

efficient than conventional methods 100–130 times, 2–5 timesgraphically, and also accuracy 10 times more than traditionalmethods [32].

3. Case study (the Zazadin Caravansary)

The Zazadin Caravansary on Silk Road (Fig. 4) is 22 kmaway from Konya, and 5 km to adjacent Tomek village fromAksaray–Konya road, and also known as Saadeddin KopekKhan. Zazadin Caravansary is constructed in year 1236 bySaadeddin who is an architect and also vizier of AlaaddinKeykubad sultan of Seljuk (Fig. 5). Open division corolla doorat south side, which is near to the closed division, is constructedby white and light brown rocks (Fig. 6). During the constructionof south side, a lot of processed antique rock (probableByzantine reuse stones) is used. Antique rock is used in otherexternal sides of Zazadin Caravansary as well [10]. The vaults,walls and dome of Zazadin Caravansary, which were collapsed,

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Fig. 8. Corolla door in south side. a) 3D drawing, b) 3D model with covered photo texture.

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have been refined by stone masonry. There are numerousantique stones in the external facade. Dimensions of ZazadinCaravansary:

Total external area: 2680 m2

Area of hall: 620 m2

Area of courtyard: 1625 m2

East–West dimension: 93.60 mNorth–South dimensions: 32.60 m (at the east)

25.10 m (at the west).

There is a small mosque in Zazadin Caravansary. It has a richrock adornment. The door of the mosque, which no longerexists, is above the right corner of entrance door of the coveredarea. There is a similar mosque above at the left corner ofentrance door of the covered area.

The Zazadin Caravansary is constructed in order to use in thespring and summer seasons. There is an open courtyard at the

Fig. 9. 3D drawing of the

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right of the corolla door south of the Zazadin Caravansary. Thecourtyard is surrounded by small halls (62 m×27 m). The smallhall, which is near the entrance, is a worship area.

The west part of the building is a closed area (25 m×32 m)which is used by merchants and merchant's animals. Upperrooms are used by merchants. The other rooms are for theanimals. There is a corridor in the central part. The structure has4 vaults and an octagon dome in its closed area. There are slitholes in the closed area instead of windows. There are dippers inthe right and left of the entrance of the closed area.

4. Data acquisition

In order to carry out the photogrammetric study, it isnecessary to define a set of control points in a reference system.In this study, ground control points are measured in TurkishNational coordinate system as three dimensions (X,Y,Z) byTopcon GPT 3007 Total Station instrument which has

Zazadin Caravansary.

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Fig. 10. 3D visualization with covered photo texture of west and north sides.

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reflectorless measurement ability. Distance measurement accu-racy of the Topcon GPT 3007 Total Station;

ms ¼ F 2mmþ 2ppm⁎Dð Þ reflectorlessmodeð Þms ¼ F 2mmþ 5ppm⁎Dð Þ reflectormodeð Þ

D: Measurement distance (km) and angle measurementaccuracy is 1cc.

10 traverse points were established surrounding the object.86 control points were signalized on the object surfaces. 68 ofthese points were used for photogrammetric adjustment. 18points were accepted to determine the evaluation accuracy as acheck points. Ground control points were measured fromtraverse points. Their coordinates were measured in reflector-less mode. Ground control points were selected from at leastnine points in every model.

Photographs of the object have been taken in order to obtain3D model of the object. Commercial digital cameras provide asufficient resolution for architectural photogrammetric applica-tions [1]. The photographs have been taken with Nikon Coolpix5200 non-metric digital camera. The object has large, height andindented structure. Therefore, a lot of photograph was taken inorder to object model. Especially, many photographs were takento determine the characteristic of the corolla door at south sideof the object (Fig. 6). Over one hundred photographs have been

Fig. 11. 3D visualization with cove

Please cite this article as: H.M. Yilmaz, et al., Documentation of historical carav(2007), doi:10.1016/j.autcon.2007.09.003

taken for the entire object for take precaution. 64 of these photoshave been used in the project to obtain 3D mode of the object.

5. Photogrammetric evaluation

Photomodeler software by EOS Systems Inc. was used forphotogrammetric evaluation. Photomodeler software package iswell-known as being a low cost 3D measurement tool forarchitectural and archeological applications [15]. Camera wascalibrated by Photomodeler calibration software.

The whole project has been divided to sub-projects. Because,the object was very big and wide. Photographs were selected forevery sub-project. Selected 64 photographs were transferred tothe photogrammetric software. Every sub-project has beenprocessed independently. All sub-projects have been mergedafter photogrammetric restitution of every sub-project wascompleted. Then 3D model of the whole object has beenobtained. Details of the object surface and figures of antiquestones have been drawn (Fig. 7). Drawing of flat surfaces havebeen accomplished by surface define tool and all surfaces havebeen textured with photo. Created 3D models of the object weretransferred to 3D DXF and other digital formats. 3D caddrawings and textured 3D model of the corolla door, which is onthe south façade, is seen in Fig. 8. The 3D cad drawings of theZazadin Caravansary are seen in Fig. 9. Photo textured 3D

red photo texture of east side.

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Fig. 12. Detail figures of antique stones in external east side.

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visualizations of west and north façade of the object are seen inFig. 10. Photo textured 3D visualization of east façade of theobject is seen in Fig. 11. Detailed drawings of antique stones inexternal east side of the object are seen in Fig. 12. Detaileddrawings of antique stones in external south side of the objectare seen in Fig. 13. Obtained RMSEs values by photogram-metric adjustment are YRMSE=2.1 mm, XRMSE=2.2 mm andZRMSE=3.6 mm respectively.

XRMSE ¼ffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiXimg � Xreal

� �2n� 1

s

YRMSE ¼ffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiYimg � Yreal� �2

n� 1

s

ZRMSE ¼ffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiZimg � Zreal� �2

n� 1

s ð5Þ

(X,Y,Z)img Image coordinates of check points(X,Y,Z)real Real coordinates of check pointsn Numbers of check points

6. Results and discussion

It is seen that results of digital close range photogrammetryare straighter than conventional method results. One of the most

Fig. 13. Detail figures of antique

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significant advantages of close range photogrammetry indocumentation is giving opportunity to measure buildings orpart of the buildings especially very high, very low, dangerous,not accessible or very detailed surfaces. It is a big facility tomeasure required measurement of the parts of the building fromthe photograph. It's another important thing in documentationthat these data can be used in the future again and they can beshared with other users and they are easy to store in a computer.Another advantage is that documentation gives possibility tostudy in CAD and GIS systems.

Obtained 3D drawings help to understand complex anddetailed surfaces more easily. In conventional methods, varioustechniques are used for measuring them. They are verylaborious, time-consuming and dangerous methods. Actuallyit is not possible to measure. But, thanks to photogrammetry, itis easy to measure them.

Office studies get much time in photogrammetric method. It isa disadvantage for this method. Also, if the number ofphotographs increases in this method, the accuracy decreases.Because, mistakes caused by the number of photographs havebeen affected to accuracy of the whole project. On the other hand,sub-cm accuracy can be reached in this method. There are norestrictions in big structures in terms of technical and practical.Complicated details can be drawn easily. Operator's experienceand resolution of the photographs are important factors in order todraw such details. Nowadays, terrestrial laser scanners have beenused in this kind of studies as well. Due to a new developingtechnology, there is some drawback in documentation. Otherwise,

stones in external south side.

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prices of laser scanner still heighten (∼200,000–300,000 $).However, the price of digital photogrammetric systems areconsiderable reasonable (∼2500–10000 $). Hence, close rangephotogrammetry is much more economical at this kind of studies[33].

As it is in this study, drawing of the huge and tall objects bytraditional methods are rather difficult, time-consuming andrisky. It can be measured much easier, more correct and in ashort time by photogrammetric methods.

Drawing and measuring of the curved and detailed door inthis study, can be completed much more easily by photogram-metric method when compared with the traditional methods. Itis mandatory to build up specific platforms around the object inorder to measure these kinds of constructions. Moreover,neglected details cannot be measured later in accordance totraditional method. Because, it is obligatory to build up specificplatform again. As it is, the cost and time of the study have beenincreased. However, neglected details could be measured anddrawn easily later in photogrammetric methods due to all datathat have digital format. Extra field work is not needed.

Drawings of the curved surfaces are more difficult accordingto flat surfaces. However, by advancing software technology,there are special tools in order to draw curved surfaces. Thesetools enable to draw complex and curved details easily, fast andaccurately.

As explained in Section 2, digital photogrammetry is basedon mathematical basics, and all process is carried out in digitalmedia. Therefore, accuracy of completed project could becalculated according to mathematical equations. It is not possiblein traditional methods to calculate because mathematical equa-tions have not been used in the process of traditional method.

7. Conclusions

Nowadays, cultural heritage protection is a key issue in theworld. The increase in public awareness over recent years thatthese kinds of monuments constitute an important part of ourpast. Documentation of cultural heritage is very important toprotect and restore. Digital close range photogrammetry is aneffective method according to traditional method in documen-tation of cultural heritage. Also, 3D model of the object can becreated .The documented objects can be exhibited on the WorldWide Web visualization in a Web site. Also, restoration expertscan use photogrammetric results for restoration studies.Obtained digital archives by digital close range photogrammetryare durable and unalterable, and thus can be used as reference fordegradation monitoring and restoration of works. The recent fastgrowth of the processing and memory capacity of computers hasmade the acquisition, recording and remote fruition of 3D digitalimages technically feasible, even by relatively inexpensivepersonal computers. Thus, digital close range photogrammetrycan be easily applied for documenting of cultural heritages. Theclassic wire-frame models, recent developments in close rangephotogrammetry allow to obtain new 3D models with photo-realistic textures. Metric proprieties are thus combined withvisual knowledge of the element materials. The main advantagesof this method for the documentation of cultural heritage are its

Please cite this article as: H.M. Yilmaz, et al., Documentation of historical carav(2007), doi:10.1016/j.autcon.2007.09.003

simplicity and low cost. Another beneficial factor is that the userdoes not require specialized knowledge of photogrammetry, andthat no large-scale investments in equipment are needed.Therefore, it is possible to make the most of the technique'spotentialities and improve results significantly.

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