ce 59700: digital photogrammetric systems...ce 59700: digital photogrammetric systems 4 ayman f....
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CE 59700: Digital Photogrammetric Systems Ayman F. Habib1
CE 59700: Digital Photogrammetric Systems
Fall 2018
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CE 59700: Digital Photogrammetric Systems Ayman F. Habib2
Contact Information• Instructor:
– Ayman F. Habib– Office: HAMP 4108 & DLRC 204D– Tel: (765) 496-0173– E-mail: [email protected]– Lectures (HAMP 2123):
• Monday, Wednesday & Friday (8:30 a.m. – 9:20 a.m.)
– Office Hours: • Monday & Wednesday(9:30 a.m. – 10:30 a.m.)
• Course webpage:– http://purdue.edu/CE/DPRG
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CE 59700: Digital Photogrammetric Systems Ayman F. Habib3
Course Objectives• Gain familiarity with the basic principles of
photogrammetric operations• Emphasis:
– Definition and possible applications,– Electromagnetic radiation,– Optical principles, film development, and digital cameras,– Vertical photography,– Image coordinate measurement and reduction,– Mathematical and geometric principles,– Theory and procedures of photogrammetric orientation,– Photogrammetric geo-referencing,– Digital image matching, and– Digital orthophoto generation.
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CE 59700: Digital Photogrammetric Systems Ayman F. Habib4
Course Notes and Textbooks• Material presented in class, as well as supplemental
notes, will be available through the course webpage.– Contains all the required material for the assignments and
exams.
• Supplementary References (optional):– Mikhail, E., Bethel, J., McGlone, J., 2001. Introduction to Modern
Photogrammetry. John Wiley & Sons, Inc.– McGlone, C, Mikhail, E., Bethel, J., 2012, Manual of Photogrammetry, Sixth
Edition, American Society for Photogrammetry and Remote Sensing.– Wolf, P., Dewitt, B., 2000. Elements of Photogrammetry with Applications in GIS.
McGraw-Hill.– Krauss, K., 1993. Photogrammetry, Volume 1: Fundamentals and Standard
Processes. Dummler/Bonn.– Krauss, K., 1997. Photogrammetry, Volume 2: Advanced Methods and
Applications. Dummler/Bonn.
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CE 59700: Digital Photogrammetric Systems Ayman F. Habib5
Grading Scheme• Assignments: (25% of Total Grade)
– Assignments will be due within roughly two weeks after they are handed out. Grades for late assignments will be reduced by 10% per day for each day overdue.
– Some assignments will require computer programming (Mat lab, C, or C++) and submissions must include a softcopy of the source code (well documented) and the program output.
• Mid-Term Exam: (25% of Total Grade)• Final Exam: (50% of Total Grade)
– Exams are closed book/notes• Bonus points for class participation
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CE 59700: Digital Photogrammetric Systems Ayman F. Habib6
Syllabus (Course Content)• Chapter 1: Introduction
– Definition, concepts, and applications
• Chapter 2: Electro-Magnetic Radiation– Energy sources and radiation principles
• Chapter 3: Basic Optics– Principles of geometric optics and important optical
conditions for photogrammetric applications
• Chapter 4: Film Development & Digital Cameras– Development of B/W and color films– Digital cameras (frame and line cameras)
• Chapter 5: Vertical Photography– Basic definitions, image scale, image to ground coordinate
transformation, relief displacement
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CE 59700: Digital Photogrammetric Systems Ayman F. Habib7
Syllabus (Course Content)• Chapter 6: Image Coordinate Measurements
– Measurements and necessary reductions of image coordinates• Chapter 7: The Mathematical Model
– Rotation matrices, the collinearity equations (concept and derivation)
– Projective transformation, DLT, and RFM• Chapter 8: Theory of Orientation
– Interior, relative, and absolute orientation• Chapter 9: Photogrammetric Bundle Adjustment
– Sequential reconstruction of the normal equation matrix and derivation of the unknown parameters
• Chapter 10: Photogrammetric Geo-Referencing– Integrated sensor orientation and direct geo-referencing
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Syllabus (Course Content)• Chapter 11: Digital Image Matching
– Identification of conjugate points in overlapping images (cross correlation and least-squares matching)
• Chapter 12: Digital Orthophoto Generation– Polynomial rectification, differential rectification, and true
orthophotos
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CE 59700: Digital Photogrammetric Systems Ayman F. Habib9
Ch 1: Introduction• Definition & Objectives• Applications:
– Reconnaissance– Production of Topographic Maps– DEM Generation– Close Range Photogrammetry:
• Precision survey of buildings and engineering objects• Documentation of historical buildings• Medical applications• Mapping of roads and nearby objects (mobile mapping systems)
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Art and science of tool development for automatic generation of spatial and descriptive information from
multi-sensory data and/or systems
Ch 1: Introduction
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Ch 2: Electro-Magnetic Radiation• Bands of the electro-magnetic radiation:
– Radio waves– Microwaves– Infrared radiation– Visible light– Ultraviolet rays– X-rays– Gamma rays
• Properties of the electro-magnetic radiation• Passive versus active remote sensing systems
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Ch 2: Electro-Magnetic Radiation
http://foto.hut.fi/opetus/350/k04/luento6/luento6.html
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Active Versus Passive Sensors
http://www.neis.gov.cn/kjddYG/index.jhtml
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Ch 3: Basic Optics• Basic camera components• Reflection and refraction• Lenses: Definitions• Lens equation, aberrations, and distortions• Diffraction• Resolving power of optical systems
– Depth of focus and depth of field– Motion blur
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Ch 3: Basic Optics
http://www.dpreview.com/reviews/sonydscf828/3
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Ch 4: Film Development & Digital Cameras• Photographic film components• Processing of Black and White (B/W) film
– Negative film & inverse film
• Nature of color• Processing of color film
– Negative film & inverse film
• Digital cameras– Frame cameras– Line cameras (push-broom, three-line, and panoramic
scanners)
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http://www.dpreview.com/reviews/sonydscf828/3
Ch 4: Film Development & Digital Cameras
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Negative Film Positive Filmhttp://www.beautiful-landscape.com/
Ch 4: Analog Cameras
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Frame Camera: Scene Acquisition
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Line Camera: Scene Acquisition
Different PC
Image #
1D Images
Scene
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Ch 5: Vertical Photography• Image versus map characteristics• Vertical photography: definitions and characteristics• Image scale• Mathematical relationship between corresponding
image and ground coordinates• Relief displacements
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Ch 5: Vertical Photography
http://civisit.com/blog/?p=52
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CE 59700: Digital Photogrammetric Systems Ayman F. Habib23
X
Positive diapositive contact print
Perspective center
Negative plane
f
f
Flying height (H)
Groundlevel
Y
xy
A
B
C
cb
a
a
bc
p
Ground Coordinates from Image Coordinates
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Ch 6: Image Coordinate Measurements• Image coordinate measurements in analog, analytical,
and digital environments• Comparators: mono and stereo-comparators• Comparator to image coordinate transformations• Reduction/refinement of image coordinate
measurements:– Radial and de-centering lens distortions– Atmospheric refraction– Earth curvature
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Ch 6: Image Coordinate Measurements
x
y
x
y
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Ch7: Mathematical Model• Objectives: Derive the general mathematical
relationship between corresponding image and object space coordinates
• Projection alternatives• Rotation matrices (2-D and 3-D)
– Derivations and characteristics
• Collinearity equations– Concept and derivation
• Projective transformation, DLT, and RFM• Least-squares adjustment in photogrammetry
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7575 8092 8686
7582 8086 8692
Ch7: Mathematical Model
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Ch7: Mathematical Model
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Ch 8: Theory of Orientation• Objective: Transform centrally projected images into a
three-dimensional model which we can use to plot an orthogonal map
• Interior orientation• Exterior orientation:
– Relative orientation• X versus y-parallax
– Absolute orientation
• Aerial Triangulation: Strip and block triangulation
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Ch 8: Theory of Orientation
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Ch 9: Bundle Block Adjustment• Objective: Mathematical manipulation of the
observation equations to speed up the– Formation of the normal equation matrix, and– Derivation of the unknown parameters
• Special cases:– Single photo resection,– Spatial intersection,– Relative orientation, and– Stereo-pair orientation
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• 2 cameras• 4 images• 16 points
• All the points appear in all the images.• Two images were captured by each camera.
Ch 9: Bundle Block Adjustment
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Ch 9: Bundle Block Adjustment
N C
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Ch 10: Photogrammetric Geo-Referencing• Objective: Define the position and orientation of the
different images at the moment of exposure– Exterior Orientation Parameters (EOP)
• Geo-referencing alternatives:– Indirect geo-referencing,– Integrated Sensor Orientation (ISO), and– Direct geo-referencing
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CE 59700: Digital Photogrammetric Systems Ayman F. Habib35
c-frame
m-frame
)(trmc
)(tRmc
Ch 10: Photogrammetric Geo-Referencing
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Indirect Geo-Referencing
Ground Control PointsTie Points
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Indirect Geo-Referencing
Signalized Targets
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Natural Targets
Indirect Geo-Referencing
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Direct Geo-Referencing
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CE 59700: Digital Photogrammetric Systems Ayman F. Habib40
c-frame
m-frame
GPS antenna
IMU b-frame
bcr
bcR
)( tr mc
)(trmb
)(tRmb
)(tRmc
Direct Geo-Referencing
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GPS Antenna
Camera
INS PC
Two Base Stations
GPS Receiver
Direct Geo-Referencing: Airborne System
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CE 59700: Digital Photogrammetric Systems Ayman F. Habib42
Direct Geo-Referencing: Land-Based System
Digital camera
GPS antenna
INS
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Direct Geo-Referencing: Land-Based System
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Ch 11: Digital Image Matching• Objective: Automated identification of conjugate points
in overlapping images• Terminology• Issues affecting the complexity of the matching problem• Area-based matching:
– Cross correlation, and– Least-squares matching
• Image resampling according to epipolar geometry
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Image Matching
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Image Matching
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Image Matching
Template Matching WindowSearch Window
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Original Images• Conjugate points do not have the same y-coordinates.
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Normalized Images• Conjugate points have the same y-coordinates.
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CE 59700: Digital Photogrammetric Systems Ayman F. Habib50
3D Reconstruction
Object Point (A)
Conjugate Points
• The interior orientation parameters of the involved cameras have to be known.• The position and the orientation of the camera stations have to be known.
a a´
Camera Calibration (IOP) Geo-referencing (EOP)
Camera
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CE 59700: Digital Photogrammetric Systems Ayman F. Habib51
Ch 12: Digital Orthophoto Generation• Objective: Manipulate a perspective image to remove
the sensor tilt and terrain relief effects• Image resampling: Interpolation of intensity values• Image transformation: Direct and indirect
transformation• Image Rectification:
– Polynomial rectification,– Differential rectification, and– True orthophoto generation
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Perspective Image
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True Orthophoto
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CE 59700: Digital Photogrammetric Systems Ayman F. Habib54
CE 59700: Roadmap• Chapter 1: Introduction• Chapters 2 – 4: Data acquisition• Chapters 5 – 12: Data manipulation
– Chapter 5: Vertical imagery– Chapter 6: Image coordinate measurements and refinements– Chapters 7 - 10: Mathematical model, bundle block
adjustment, integrated sensor orientation, and direct geo-referencing
– Chapter 11: Digital image matching– Chapter 12: Production of map-like images (orthophotos)