Akam 531 PPT CH1 6

Data Acquisition Systems
Photogrammetric Bundle Adjustment

Traditional Mapping Cameras
Large Format Imaging Systems
Chapter 1
Low-Cost Digital Cameras

Medium and Small Format Digital Imaging Systems
Advanced Photogrammetric Techniques
Ayman F. Habib
Ayman F. Habib
Terrestrial (Close Range) Imagery
Overview
Photogrammetry: Definition and applications.
Photogrammetric tools:
Rotation matrices.
Photogrammetric orientation: interior and exterior
orientation.
Collinearity equations/conditions.
Photogrammetric bundle adjustment.

Structure of the design and normal matrices.
Special cases:
Resection, intersection, and stereo-pair orientation.
Ayman F. Habib
Photogrammetry
Ayman F. Habib
Classical Definitions:
The art and science of determining the position and
shape of objects from photography.
The process of reconstructing objects without touching
them.
Non contact positioning method.
Contemporary Definition:
The art and science of tool development for automatic
generation of spatial and descriptive information from
multi-sensory data and/or systems.
Ayman F. Habib
Ayman F. Habib
Input Stereo Imagery

Ayman F. Habib
10
Ayman F. Habib
Output Three-Dimensional Model

Ayman F. Habib

Experiments:
11
Ayman F. Habib
Aerial Imagery
Test
Descriptions
1
Subject 1: No smile & Smile
2
Subject 1: Time 1 & Time 2
3
Subject 2 & Subject 3
Results:
2
Test 3
1
Green: Reference
Blue: Matches
Red: Non-matches
Ayman F. Habib
12
Ayman F. Habib
Aerial Imagery
Photography
d c
Image Space
Lens (Perspective Center)
Ayman F. Habib
13
Satellite Imagery
Object Space
Ayman F. Habib
16
Photogrammetry
Conjugate Points
a
Object Point (A)
The position and the attitude of the two camera stations have
to be known: Geo-referencing problem.
Ayman F. Habib
14
Satellite Imagery
IKONOS
Ayman F. Habib
Photogrammetry
QUICKBIRD
15
17
Ayman F. Habib
Overlap
18
Ayman F. Habib
Primary Rotation ()
Photogrammetry
Z Z
X & X
19
Ayman F. Habib
Ayman F. Habib
22
Primary Rotation ()
Photogrammetry
0
0 x
x 1
y = 0 cos sin y

z 0 sin cos z
x
x
y = M y

z
z
20
Ayman F. Habib
Photogrammetry: Necessary Tools
0
x 1
y = 0 cos

z 0 sin
x
x
y = R y

z
z
23
0 x
sin y
cos z
Ayman F. Habib
Secondary Rotation ()
Rotation matrices:
Expresses the mathematical relationship between two
coordinate systems.
In a three-dimensional space, a rotation matrix involves
at most three independent rotation angles.
z
z
Photogrammetric orientation:
Internal characteristics: Interior Orientation Parameters
(IOP).
External characteristics: Exterior Orientation Parameters
(EOP).
y & y
Collinearity condition:
The general mathematical model relating the image and
ground coordinates of corresponding points.
21
Ayman F. Habib
x
24
Ayman F. Habib
Rotation in Space
Secondary Rotation ()
x cos

y = 0
z sin

0 sin x
1
0 y
0 cos z
x cos
y = 0

z sin
x
x

y =M y
z
z

0 sin x

1
0 y
0 cos z
x
x
y =R y

z
z

// to the image coordinate system
x
x
y =R R R y

z
z
Z & Z
Y
26
Ayman F. Habib
sin
cos
0
x
x

=
y
M
y
z
z
27
m
= M = m
m
11
12
13
21
22
23
31
32
33
cos
sin + sin
= sin sin cos
= cos sin
= cos cos sin
= sin cos + cos
= sin
= sin cos
= cos cos
11
= cos
12
= cos
13
21
22
23
31
32
33
sin cos
sin cos
sin sin
sin sin
Ayman F. Habib
29
Rotation in Space
R
sin
cos
0
x
x

=
y
R
y
z
z

0 x

0 y
1 z
x cos

y = sin
z 0

Ayman F. Habib
Tertiary Rotation ()
x cos

y = sin
z 0
where
// to the image coordinate system
28
Rotation in Space
Tertiary Rotation ()
// to the ground coordinate system
// to the ground coordinate system
Ayman F. Habib
25
x
x

y =M M M y
z
z
Ayman F. Habib
0 x
0 y
1 z
r 11
= R = r 21
r 31
r12
r 22
r 32
r 13
r 23
r 33
:
where
r 11 = cos cos
r 12 = cos
sin
sin + sin
= cos cos sin
= sin cos
= sin sin cos
= sin cos + cos
= cos cos
r 13 = sin
r 21 = cos
r 22
r 23
r 31
r 32
r 33
30
sin cos
sin sin
sin cos
sin sin
Ayman F. Habib
Rotation Angles (Azimuth, Pitch, Roll)
Orthogonality Conditions
r11
R = r21
r31
r12
r22
r32
r13
r23
r33
r 112 + r 212 + r 312 = 1

r 122 + r 222 + r 322 = 1
r 132 + r 232 + r 332 = 1
r 11 r 12 + r 21 r 22 + r 31 r 32 = 0
r 11 r 13 + r 21 r 23 + r 31 r 33 = 0
r 12 r 13 + r 22 r 23 + r 32 r 33 = 0
Azimuth Yaw
Ayman F. Habib
31
34
Ayman F. Habib
Interior Orientation Parameters
Positive Rotation Angles

(Right Handed System)
Interior Orientation Parameters (IOP) describe the

internal characteristics of the implemented camera.
IOP include the principal distance, principal point

coordinates, and distortion parameters.
IOP are determined using a calibration procedure.
+ve
y
+ve
+ve
x
Ayman F. Habib
32
Rotation Angles (, , )
Alternative procedures for camera calibration are

well established.
z
z
Ayman F. Habib

y
35
Laboratory camera calibration (Multi-collimators).

Indoor camera calibration.
In-situ camera calibration.
90
-20
33
Ayman F. Habib
36
Ayman F. Habib
Laboratory Calibration: Multi-Collimators

IOP together with the image coordinates of selected
features define a bundle of light rays (image bundle).
pc (xp, yp, c)
37
Ayman F. Habib
Indoor Camera Calibration
Ayman F. Habib
40

Target function of the Interior Orientation:
The defined bundle by the IOP should be as similar as possible to
the incident bundle onto the camera at the moment of exposure.
a
d c b
a
d c b
Image Space
Image Space
Lens
Lens
A
38
Ayman F. Habib
In-Situ Camera Calibration
Establishing IO
41
Object Space
Photography
Ayman F. Habib
Exterior Orientation Parameters

Exterior Orientation Parameters (EOP) define the
position and the attitude of the image bundle
relative to the ground coordinate system.
The position of the bundle is defined by (XO, YO, ZO).
The attitude of the bundle (image coordinate system)
relative to the ground coordinate system is defined by
the rotation angles (, , ).
EOP can be either:

Indirectly estimated using Ground Control Points
(GCP), or
Directly measured using GPS/INS units onboard the
imaging platform.
39
Ayman F. Habib
42
Ayman F. Habib
Exterior Orientation Parameters

z
ZG
Collinearity Equations
y
pc
R ( , , )
Objective:
Mathematically represent the general relationship
between image and ground coordinates.
YG
Concept:
Zo
Image Point, Object Point, and the Perspective Center

are collinear.
Xo
Yo
EOP:
XG
Indirectly estimated (indirect geo-referencing), or

Directly measured (direct geo-referencing).
43
Ayman F. Habib
Indirect Geo-Referencing
Ayman F. Habib
46
(a) Image Point

Perspective Center
Straight Line
(A) Object Point

Ground Control Points.
Tie Points.
44
Ayman F. Habib
Direct Geo-Referencing
Ayman F. Habib
47
a
o
oa = oA
These vectors should be defined w.r.t.

the same coordinate system.
45
Ayman F. Habib
48
Ayman F. Habib
Frame Camera
The Vector Connecting the Perspective

Center to the Image Point
Negative
Perspective Center
Diapositive
xa
r
vi = ya
0
x p xa x p
y = y y
p a p
c c
w.r.t. the image coordinate system
Foot Print
Ayman F. Habib
49
Negative Versus Diapositive Films
Diapositive
Ayman F. Habib
50
(Perspective Center)
yi
zi
c
R( , , )
a (xa, ya)
pp
The Vector Connecting the Perspective

Center to the Object Point
o
X X X XO
r A O A
Vo = YA YO = YA YO
Z A ZO Z A ZO
YG
ZO
ZA
XA
XO
YO
Ayman F. Habib
r
r
vi = M ( , , ) VO
m12
m22
m32
m13 X A X O
m23 YA YO
m33 Z A Z O
Questions:
Can you come up with an average estimate of ?
Is constant for a given image? Why?
XG
51
53
Where: is a scale factor

YA
OG
xa x p m11
y y = m
a p 21
c m31
xi
Oi
Ayman F. Habib
52
w.r.t. the ground coordinate system
Negative Film
ZG
Ayman F. Habib
54
Ayman F. Habib
xa =xp c
m11 ( X A XO )+m12 (YA YO )+m13 (Z A ZO )

ya = y p c

xa =xp c
r11 ( X A XO )+r21 (YA YO )+r31 (Z A ZO )

ya = y p c

55
Ayman F. Habib
r ( X X )+r (Y Y )+r (Z Z )
xa =xp c 11 A O 21 A O 31 A O
ya = y p c

Involved parameters:
Bundle Block Adjustment
Image coordinates (xa, ya).

Ground coordinates (AA, YA, ZA).
Exterior Orientation Parameters (XO, YO, ZO, , , ).
Interior Orientation Parameters (xp, yp, c).
56
Ayman F. Habib
60% Overlap and 20% side lap

58
Ayman F. Habib

Direct relationship between image and ground
coordinates.
We measure the image coordinates in the images
of the block.
Using the collinearity equations, we can relate the
image coordinates, the corresponding ground
coordinates, the IOP, and the EOP.
Using a simultaneous least squares adjustment, we
can solve for the:
The ground coordinates of the tie points.
The EOP.
The IOP (Camera Calibration Procedure).
59
Ayman F. Habib
Bundle Block Adjustment: Concept
The image coordinate measurements and the IOP

define a bundle of light rays.
The EOP define the position and the attitude of the
bundles in space.
During the adjustment: The bundles are rotated
(, , ) and shifted (Xo, Yo, Zo) until:
Conjugate light rays intersect as well as possible at the
locations of object space tie points.
Light rays corresponding to ground control points pass
through the object points as close as possible.
57
Ayman F. Habib
60
Ayman F. Habib
10
Unknown Parameters
Unknown parameters might include:
Ground coordinates of tie points (points that
appear in more than one image).
Exterior orientation parameters of the involved
imagery.
Interior orientation parameters of the involved
cameras (for camera calibration purposes).

Tie Points.
61
Ayman F. Habib
62
Observable Quantities
Ayman F. Habib
Least Squares Adjustment in

Photogrammetry
Prior to the adjustment, we need to identify:
The unknown parameters.
Observable quantities.
The mathematical relationship between the unknown
parameters and the observable quantities.
Linearize the mathematical relationship (if it is not

linear).
Apply least squares adjustment formulas.
63
Ayman F. Habib
Observable quantities might include:

The ground coordinates of control points.
Image coordinates of tie as well as control
points.
Interior orientation parameters of the involved
cameras.
Exterior orientation parameters of the involved
imagery (from a GPS/INS unit onboard).

Tie Points.
64
Ayman F. Habib
65
Ayman F. Habib
Mathematical Model
xa =xp c
r11( X A XO )+r21(YA YO )+r31(ZA ZO )

+ x + ex
r13 ( X A XO )+r23 (YA YO )+r33 (ZA ZO )
ya =yp c

+ y + ey
ex
1
2
e ~ (0, o P )
y
66
Ayman F. Habib
11
Mathematical Model
Least Squares Adjustment
x = x Radial Lens Distortion + x Decentric Lens Distortion

+ x Atmospheric Refraction + x Affine Deformation
+ etc.
x = ( AT PA) 1 AT Py
D{x}= o2 ( AT PA) 1
e~ = y Ax
y = y Radial Lens Distortion + y Decentric Lens Distortion

+ y Atmospheric Refraction + y Affine Deformations
+ etc.
Ayman F. Habib
67
o2 = (e~ T P~
e ) / ( n m)
Distortion Parameters
xRadial Lens Distortion = x (k1 r +k2 r + k3 r +....)

2
yRadial Lens Distortion = y (k1 r +k2 r + k3 r +....)

2
xDecentric Lens Distortion =(1+ p32 r 2 ){ p1 (r 2 + 2 x 2 ) +2 p2 x y }

yDecentric Lens Distortion =(1+ p32 r 2 ){2 p1 x y + p2 (r 2 + 2 y 2 )}
)2
where: r = {(x - xp
+ (y -
yp)2}0.5
x = x xp
68
a ( X ) is the non linear function

We use Taylor Series Expansion
Y a( X o ) +
a
X
(X Xo)+ e
(We ignore higher order terms)
Xo
Where :
X o is approximat e values for the unknown parameters
Y a( X o ) =
a
X
(X Xo)+ e
Xo
y= Ax+e
Where :
y = Y a( X o )
a
X
Xo
Iterative solution for the unknown parameters.

When should we stop the iterations?
Ayman F. Habib
Least Squares Adjustment

Gauss Markov Model
Observation Equations
y= Ax+e
Non Linear System
Y = a( X ) + e
A=
y = y yp
e ~ (0, o2 P 1 )
n 1 observatio n vector
n m design matrix
m 1 vector of unknowns
n 1 noise contaminat ing the observatio n vector
o2 P 1 n n variance covariance matrix of the noise vector
Example (4 Images in Two Strips)

1
II
I
3
Ayman F. Habib
Tie Point
III
69
Ayman F. Habib
71
Control Point
y
A
x
e
Ayman F. Habib
70
IV
72
Ayman F. Habib
12
Balance Between Observations & Unknowns
Structure of the Normal Matrix

I
Number of observations:
II
III
IV
4 x 6 x 2 = 48 observations (collinearity equations).
Number of unknowns:
N11
N T
12
4 x 6 + 3 x 4 = 36 unknowns
Redundancy:
12.
N12
=
N 22
Assumptions:
IOP are known.
3 4 5 6
Ayman F. Habib
73
Structure of the Design Matrix (BA)
76
Ayman F. Habib
Sample Data:
e ~ (0, 2 P-1).
Y = a(X) + e
2 cameras.
4 images.
16 points.
Using approximate values for the unknown

parameters (Xo) and partial derivatives, the above
equations can be linearized leading to the
following equations:
e ~ (0, 2 P-1).
y48x1 = A48x36 x36x1 + e36x1
All the points appear in all the images.
Two images were captured by each camera.
Ayman F. Habib
74
Structure of the Design Matrix

I
II
III
IV
77
Ayman F. Habib
Structure of the Normal Matrix: Example
3456
y=
A=
75
Ayman F. Habib
78
Ayman F. Habib
13
Observation Equations
yn1 = A1n6 m x16 m 1 + A2 n3 m x23 m 1 + en1
yn1 = A1n6 m
A2 n3 m
x16 m11
x
+ en1
23 m21
n Number of observations (image coordinate measurements).

m Number of unknowns:
m1 Number of images 6 m1 (EOP of the images).
m2 Number of tie points 3 m2 (ground coordinates of tie points).
m = 6 m1 + 3 m2.
Ayman F. Habib
79
Normal Equation Matrix

AT
N ( 6 m1 +3m2 )( 6 m1 +3m2 ) = 1T P [ A1
A2
N126 m13 m2
N11
N = T 6 m16 m1
N
N
22 3 m23 m2
123 m26 m1
C( 6 m1 +3m2 )1
x16 m11
x
=
23 m21
Solving for x2 first:
(
= (N
= (N
)
) (C
)
N12T 3 m26 m1 N1116 m16 m1 C16 m11 N1116 m16 m1 N126 m13 m2 x 23 m21 + N 223 m23 m2 x 23 m21 = C23 m21
x23 m21
x16 m 1
1
223 m23 m2
1
116 m16 m1
T
123 m26 m1
1
116 m16 m1
1
116 m16 m1
C16 m 1 N
1
N126 m13 m2
23 m21
N12T 3 m26 m1 N1116 m16 m1 C16 m11
C16 m11
C
23 m21
N126 m 3 m x23 m 1
1
3m2 < 6m1.

Remember: N11 is a block diagonal matrix with 6x6 sub-blocks
along the diagonal
Ayman F. Habib
82
Reduction of the Normal Equation Matrix

N116 m16 m1 x16 m11 + N126 m13 m2 x 23 m21 = C16 m11
N12T 3 m 6 m x16 m 1 + N 223 m 3 m x 23 m 1 = C23 m 1
1
Solving for x1 first:
N11 is a block diagonal matrix with 6x6 subblocks along the diagonal.
N22 is a block diagonal matrix with 3x3 subblocks along the diagonal.
N126 m13 m2
N 223 m23 m2
N116 m16 m1 x16 m11 + N123 m23 m2 N 2213 m23 m2 C23 m21 N 2213 m23 m2 N12T 3 m26 m1 x16 m11 = C16 m11
N116 m16 m1
T
N
123 m26 m1
Ayman F. Habib
80
N12T 3 m 6 m x16 m 1 + N 223 m 3 m x 23 m 1 = C23 m 1
A2 ]
AT
AT Py C1
= 1T P y = 1T = 6 m11
A2
A2 Py C23 m21
N116 m16 m1 x16 m11 + N126 m13 m2 x 23 m21 = C16 m11
e ~ (0, o2 P 1 )
yn1 = Anm xm1 + en1

1
(
= (N
) (C
x )
x16 m11 = N116 m16 m1 N126 m13 m2 N 2213 m23 m2 N12T 3 m26 m1
x23 m 1
2
1
223 m23 m2
C23 m 1 N 2213 m 3 m N12T 3 m 6 m

2
16 m11
N126 m13 m2 N 2213 m22 m2 C23 m21
16 m11
6m1 < 3m2.

Remember: N22 is a block diagonal matrix with 3x3 sub-blocks
along the diagonal
Ayman F. Habib
83

Variance covariance matrix of the estimated parameters:
D{x16 m 1 } = o2 N116 m16 m1 N126 m 3 m N 2213 m 3 m N12T 3 m 6 m

1
D{x 23 m 1 } = o2 N 223 m 3 m N12T 3 m 6 m N1116 m 6 m N126 m 3 m

2
Question: Under which circumstances will we deviate from

this structure?
81
Ayman F. Habib
84
Ayman F. Habib
14
Building the Normal Equation Matrix

We would like to investigate the possibility of
sequentially building up the normal equation
matrix without fully building the design matrix.
(xij, yij) image coordinates of the ith point in the jth
image.
y21ij = A126 x161 + A2 23 x231 + e21ij

ij
y21ij = A126ij
ij
A2 23ij
N116 m16 m1
T
N123 m26 m1
N126 m 3 m
1
2
N 223 m 3 m
2
2
x161 j
x + e21ij
231i
85
Ayman F. Habib
86
Ayman F. Habib
N11( 6 m16 m1 )
m2
N11i1
i = 1
= 0
M
M
0
m2
87
11i 3
i =1
M
M
M
M
Ayman F. Habib
89
N22 - Matrix
A1T62 Pij y21ij
T ij
A232ij Pij y21ij
N 22( 3 m23 m2 )
Ayman F. Habib
m2
0
L L
L L
0
M M
M
M M
M
m2
L L N11im1
i =1
L L
11i 2
i =1
N 221 j
j =1
= 0
M
M
m1
Note: We cannot solve this matrix for the:

The Exterior Orientation Parameters of the jth image.
The ground coordinates of the ith point.
If all the points are not common to all the images:

The summation should be carried over all the points
that appear in the image under consideration.

A1T62 Pij A126
A1T62 Pij A2 23 x161
ij
ij
ij
j =
T ij
T
A232ij Pij A126ij A232ij Pij A223ij x231i
N11ij N12ij x161 j
C1ij
T
x = C
N12ij N 22ij 99 231i 91 2ij 91
Ayman F. Habib
88
N11 - Matrix
x1
A2 23 61 j + e21ij
ij
x231i
T
A1T62
x1 A162
T ij Pij A126 A2 23 61 j = T ij Pij y21ij
ij
ij
x
A232ij
231i A232ij
A1T62 Pij A126
A1T62 Pij A2 23 x161 A1T62 Pij y21ij
ij
ij
ij
ij
T
j = T ij
T
A232ij Pij A126ij A232ij Pij A223ij x231i A232ij Pij y21ij
ij
C16 m11
C
23 m21
Question: How can we sequentially build the above matrices.

Assumption: All the points are common to all the images.

y21ij = A126
x16 m11
x
=
23 m21
m1
N
j =1
22 2 j
m1
j =1
M
M
M
M
L L
0
L L
0
M M
M
M M
M
m1
L L N 22m2 j
j =1
L L
223 j
If all the points are not common to all the images:

The summation should be carried over all the images
within which the point under consideration appears.
90
Ayman F. Habib
15
N12 - Matrix
N12( 6 m13 m2 )
N1211
N
1212
N12
= 13
M
M
N121m1
Accuracy of Bundle Block Adjustment
N12m2 1
N12m2 2
N12m2 3
M M
M
M M
M
L L N12m2m1
L L
L L
L L
N1221
N1222
N1223
N1231
N1232
N1223
M
M
M
M
N122 m1
N123 m1
If point i does not appear in image j:

(N12)ij = 0.
Bundle block adjustment with additional parameters

that compensate for various distortions.
Regular blocks with 60%overlap and 20% side lap.
Signalized targets.
XY = 3 m
Z = 0.003% of the camera principal distance (NA and WA cameras)
Z = 0.004% of the camera principal distance (SWA cameras)
These accuracies are given in the image space
Ayman F. Habib
91
Accuracy of a single model: If we have
C - Matrix
C16 m11
m2
C1i1
im= 1
2
C1i 2
im=21
= C1
i
3
i =1
M
M
m2
C1im1
i = 1
Ayman F. Habib
94
Camera Classification
C23 m 1
2
m1
C21 j
j =1
1
C2 2 j
j =1
m1
= C2
j =1 3j
M
M
m1
C2m2 j
j = 1
< 75 Normal angle camera (NA).

100 > > 75 Wide angle camera (WA).
> 100 Super wide angle camera (SWA).
Once again, we assumed that all the points are common to all
the images.
92
Ayman F. Habib

The accuracy of the estimated EOP as well as the
ground coordinates of tie points can be obtained
by the product of:
The estimated variance component, and
The inverse of the normal equation matrix (cofactor
matrix).

z
PC
y
X = x * Z / c.
Y = y * Z / c.
x
Z
Y
Z
x
c
Z
Y = y
c
X =
The accuracy depends on the following factors:

Geometric configuration of the image block.
Base-Height ratio.
Image scale.
Image coordinate measurement accuracy.
93
Ayman F. Habib
Ayman F. Habib
95
A
XA
ZA
YA
X
96
Ayman F. Habib
16
Photogrammetric Compilation

Vertical Accuracy
Flight Direction x-axis
B
c
Px = x - x
Px / B = c / H
H = B c / Px
97
Ayman F. Habib
100
Ayman F. Habib
Disadvantages of Bundle Block Adjustment
Vertical Accuracy
Z =
Z Z
p
c B x
B
Model is non linear: approximations as well as

partial derivatives are needed.
Requires computer intensive computations.
Analogue instruments can not be used (they
cannot measure image coordinate measurements).
The adjustment cannot be separated into
planimetric and vertical adjustment.
98
Ayman F. Habib
Advantages of Bundle Block Adjustment

Most accurate triangulation technique since we have direct
transformation between image and ground coordinates.
Straight forward to include parameters that compensate for
various deviations from the collinearity model.
Straight forward to include additional observations:
GPS observations at the exposure stations.
Object space distances.
Can be used for normal, convergent, aerial, and close range

imagery.
After the adjustment, the EOP can be set on analogue and
analytical plotters for compilation purposes.
99
Ayman F. Habib
101
Ayman F. Habib
Bundle Adjustment: Final Remarks
Elementary Unit: Images.

Measurements: Image coordinates.
Mathematical model: Collinearity equations.
Instruments: Comparators, analytical plotters, and
Digital Photogrammetric Workstations (DPW).
Required computer power: Very large.
Expected accuracy: High.
102
Ayman F. Habib
17
Special Cases
Resection - Critical Surface
Resection.
Intersection.
Stereo-pair orientation.
Relative orientation.
Discussed in ENGO 431: Principles of
Photogrammetry.
Question: Which one of the EOP cannot be determined?

Ayman F. Habib
103
Resection
Intersection
We are dealing with one image.

We would like to determine the EOP of this image
using GCP.
Q: What is the minimum GCP requirements?
At least 3 non-collinear GCP are required to estimate
the 6 EOP.
At least 5 non-collinear (well distributed in 3-D) GCP
are required to estimate the 6 EOP and the 3 IOP (xp,
yp, c).
Critical surface:
The GCP and the perspective center lie on a common
cylinder.
Ayman F. Habib
104
Ayman F. Habib
106
We are dealing with two images.

The EOP of these images are available.
The IOP of the involved camera(s) are also
available.
We want to estimate the ground coordinates of
points in the overlap area.
For each tie point, we have:
4 Observation equations.
3 Unknowns.
Redundancy = 1.
Non-linear model: approximations are needed.

Resection
Ayman F. Habib
107
Intersection
exterior orientation
interior orientation
a
PC
PC
Object Point (A)
105
Ayman F. Habib
108
Ayman F. Habib
18
Intersection: Linear Model

B
Ol
Or
X X Ol
Y = Y + R
(l ,l , l )
Ol
Z Z Ol
Vl
Or:
Vr
X X Or
Y = Y + R
( r , r , r )
Or
Z Z Or
X
Y

Z
109
Ayman F. Habib
X X Ol
r Or
These vectors are given w.r.t.the
B = YOr YOl
ground coordinate system.
ZO ZO
l
r
xl x p
r
Vl = R(l , l , l ) yl y p
c
r
Vr = R(r , r , r )
xr x p
y y
p
r
c
110
xl x p
y y
p
l
c
xr x p
y y
p
r
c
112
Ayman F. Habib
Stereo-pair Orientation
Given:
Stereo-pair: two images with at least 50% overlap.
Image coordinates of some tie points.
Image and ground coordinates of control points.
Required:
The ground coordinates of the tie points.
The EOP of the involved images.
Mini-Bundle Adjustment Procedure.

Ayman F. Habib
113
Ayman F. Habib
Stereo-pair Orientation
r r r
Vl = B + Vr
X or X ol
Yor Yol = R(l , l , l )

Zo Zo
l
r
xl x p
y y R
p
(r , r , r )
l
c
xr x p
y y
p
r
c
Example:
Given:
1 Stereo-pair.
20 tie points.
No ground control points.
Question:
Three equations in two unknowns (, ).

They are linear equations.
Can we estimate the ground coordinates of the tie points as

well as the exterior orientation parameters of that stereo-pair?
Answer:
NO.
111
Ayman F. Habib
114
Ayman F. Habib
19

Akam 531 PPT CH1 6

Enviado por

Dados do documento

Título original

Direitos autorais

Formatos disponíveis

Compartilhar este documento

Compartilhar ou incorporar documento

Opções de compartilhamento

Você considera este documento útil?

Este conteúdo é inapropriado?

Direitos autorais:

Formatos disponíveis

Akam 531 PPT CH1 6

Enviado por

Direitos autorais:

Formatos disponíveis

Data Acquisition Systems

Photogrammetric Bundle Adjustment

Low-Cost Digital Cameras

Advanced Photogrammetric Techniques

Terrestrial (Close Range) Imagery

Photogrammetric bundle adjustment.

Advanced Photogrammetric Techniques

Terrestrial (Close Range) Imagery

Advanced Photogrammetric Techniques

Terrestrial (Close Range) Imagery

Terrestrial (Close Range) Imagery

Input Stereo Imagery

Terrestrial (Close Range) Imagery

Advanced Photogrammetric Techniques

Terrestrial (Close Range) Imagery

Output Three-Dimensional Model

Terrestrial (Close Range) Imagery

Advanced Photogrammetric Techniques

Advanced Photogrammetric Techniques

Advanced Photogrammetric Techniques

Lens (Perspective Center)

Advanced Photogrammetric Techniques

Advanced Photogrammetric Techniques

Object Point (A)

Advanced Photogrammetric Techniques

Advanced Photogrammetric Techniques

Advanced Photogrammetric Techniques

Advanced Photogrammetric Techniques

Photogrammetry: Necessary Tools

Advanced Photogrammetric Techniques

Advanced Photogrammetric Techniques

// to the image coordinate system

Advanced Photogrammetric Techniques

Advanced Photogrammetric Techniques

Advanced Photogrammetric Techniques

Advanced Photogrammetric Techniques

// to the image coordinate system

// to the ground coordinate system

// to the ground coordinate system

Advanced Photogrammetric Techniques

Rotation Angles (Azimuth, Pitch, Roll)

r 112 + r 212 + r 312 = 1

Advanced Photogrammetric Techniques

Interior Orientation Parameters

Positive Rotation Angles

Interior Orientation Parameters (IOP) describe the

IOP include the principal distance, principal point

Advanced Photogrammetric Techniques

Alternative procedures for camera calibration are

Interior Orientation Parameters

Laboratory camera calibration (Multi-collimators).

Advanced Photogrammetric Techniques

Advanced Photogrammetric Techniques

Laboratory Calibration: Multi-Collimators

Interior Orientation Parameters

Advanced Photogrammetric Techniques

Indoor Camera Calibration

Advanced Photogrammetric Techniques

Interior Orientation Parameters

In-Situ Camera Calibration

Advanced Photogrammetric Techniques

Exterior Orientation Parameters

EOP can be either: