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Dr.Phisan Santitamnont 1Aug 2007 Dr.Phisan Santitamnont 1
Geometric and Modeling of High-resolution Satellite Imageries
Dr. Phisan SantitamnontSurvey Engineering, Chulalongkorn University
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Dr.Phisan Santitamnont 2
Chronology
• 1960 The first remote sensing satellite• Cold War era, high-resolution satellite
imagery for surveillance and reconnaissance– 1960-1972 Corona Program – 800,000 images ,
12 years• 1970s Landsat Satellites
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Dr.Phisan Santitamnont 3Dr.Phisan Santitamnont
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Dr.Phisan Santitamnont 4
Corona 1960s
Aug 2007 4
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Dr.Phisan Santitamnont 5
The US. Land Remote Sensing Policy Act of 1992
• Landsat program returned to government operation, mandated that its data be made available at cost
• provision for the licensing of commercially operated remote sensing satellites
• 1999 commercial IKONOS satellite launched
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Dr.Phisan Santitamnont 6
Chronology
• 2000s many commercial high-resolution launched
• 2005 Google Earth 3.0 becomes the major user of high-resolution satellite
• 2008 signed agreement with GeoEye-1 and prepare 2012 GeoEye-2 mission
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Dr.Phisan Santitamnont 7Aug 2007 Dr.Phisan Santitamnont 7
Quickbird #0.61 m (2001)
GeoEye-1
#0.41 m (2008)
IKonos-2
#1 m (1999)
SPOT-5
#2.5 m (2003)
WorldView-1
#0.5 m (2008)
THEOS ธ�ออส#2 m (2008)
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Dr.Phisan Santitamnont 8
High-resolution Satellite Imageries
• 1999 : IKONOS Pan#1.0 m• 2001 : QuickBird Pan#0.61 m• 2002 : SPOT-5 Pan#2.5 m• 2006 : ALOS Pan#2.5 m• 2007 : WorldView-1 Pan#0.4 m• 2008 : THEOS Pan#2 m• 2008 : GeoEye-1 Pan#0.43 m• 2012: GeoEye-2 Pan# 0.25 m ??
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Dr.Phisan Santitamnont 9
Sensor Model• Rigorous Parametric Model (Orbital Model)
– For SPOT-5,ALOS,THEOS– perspective projection by frame e.g. aerial photography – Perspective projection line-by-line , push-broom,
moving single linear detector array on the focal plane• Replacement ( Rational Function Model : RFM)
– case : QuickBird,IKONOS– 3-D Rational function supplied with product– 3-D Rational function computed from GCPs
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Dr.Phisan Santitamnont 10
ราคาแผนท�จากภาพถ�ายดาวเท�ยมรายละเอ�ยดส�ง
1,000 Baht/Sq.KM 10,000 Baht/Sq.KM.+/50-100 m. +/-1..0.4 m.
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Dr.Phisan Santitamnont 11
ความส�มพ�นธ�ระหว�างพ�ก�ดอ�มเมจก�บพ�ก�ดว�ตถ�
Rational Function Model(cubic polynomials)
)3939~(:..,..,..,..
),,(:,,
),(::,
Zd Xd XYZd YZd XZd XYd Zd Yd Xd 1Zc Xc XYZc YZc XZc XYc Zc Yc Xc c
Zb Xb XYZb YZb XZb XYb Zb Yb Xb 1Za Xa XYZa YZa XZa XYa Za Ya Xa a
191190191190
319
287654321
319
2876543210
319
287654321
319
2876543210
+
+…++++++++++…+++++++++=
+…++++++++++…+++++++++=
polynomialcubictscoefficienfunctionrationalddccbbaa
elevationlongitudelatitudescoordinateobjectZYXcolumnlinescoordinateimageyx
y
x
pp
p
p
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Dr.Phisan Santitamnont 1212
Normalized Rational Function
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Dr.Phisan Santitamnont 13
RPC Biases
• DigitalGlobe’s WorldView-1 Satellite: Increased Image Collection Opportunity, by Philip Cheng and Chuck Chaapel
...
...
0
0
+⋅⋅+⋅+⋅+=∆+⋅⋅+⋅+⋅+=∆
LineSampleBLineBSampleBBRLineSampleALineASampleAAP
SLLs
SLLs
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Dr.Phisan Santitamnont 14
WorldView-1 Sensor Refinementafter Cheng&Chaapel
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Dr.Phisan Santitamnont 15
Example RPC from IKONOSO F F S E T
LINE_OFF: +5540.00 pixelsSAMP_OFF: +5470.00 pixels
LAT_OFF: +18.74020004 degreesLONG_OFF: +98.94059753 degreesHEIGHT_OFF: +842.000 meters
S C A L E
LINE_SCALE: +6972.00 pixelsSAMP_SCALE: +7703.00 pixels
LAT_SCALE: +0.06040000 degreesLONG_SCALE: +0.05480000 degreesHEIGHT_SCALE: +600.000 meters
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Dr.Phisan Santitamnont 16
Example : IKONOS RPC - LineLINE_NUM_COEFF_1: +5.126440082676709E-04LINE_NUM_COEFF_2: +8.107643723487854E-01LINE_NUM_COEFF_3: -2.017990797758102E-01LINE_NUM_COEFF_4: -7.095409557223320E-03LINE_NUM_COEFF_5: +1.357850385829806E-03LINE_NUM_COEFF_6: -1.415262522641569E-05LINE_NUM_COEFF_7: -1.002094995783409E-05LINE_NUM_COEFF_8: -1.903933589346707E-04LINE_NUM_COEFF_9: -3.566308005247265E-04LINE_NUM_COEFF_10: +8.047554160839354E-07LINE_NUM_COEFF_11: +1.648443088697604E-07LINE_NUM_COEFF_12: -5.703462875317200E-07LINE_NUM_COEFF_13: +1.151551623479463E-05LINE_NUM_COEFF_14: -3.738494172011997E-07LINE_NUM_COEFF_15: +5.723961294279434E-06LINE_NUM_COEFF_16: -3.347716074131313E-06LINE_NUM_COEFF_17: +1.011000705375409E-07LINE_NUM_COEFF_18: -1.910687615236384E-06LINE_NUM_COEFF_19: -8.052054312202017E-08LINE_NUM_COEFF_20: +3.335755671685092E-09
LINE_DEN_COEFF_1: +1.000000000000000E+00LINE_DEN_COEFF_2: -2.402324898866937E-04LINE_DEN_COEFF_3: +1.970350043848157E-03LINE_DEN_COEFF_4: -9.962612530216575E-04LINE_DEN_COEFF_5: +6.829987796663772E-06LINE_DEN_COEFF_6: -2.126053459505783E-06LINE_DEN_COEFF_7: -2.352771389269037E-06LINE_DEN_COEFF_8: +3.301248625575681E-06LINE_DEN_COEFF_9: +2.234998464700766E-05LINE_DEN_COEFF_10: -3.700658339766960E-07LINE_DEN_COEFF_11: -6.862588719513951E-09LINE_DEN_COEFF_12: +1.931878212957372E-09LINE_DEN_COEFF_13: +2.601792781220524E-09LINE_DEN_COEFF_14: +1.781106817588807E-09LINE_DEN_COEFF_15: +1.046838615792467E-08LINE_DEN_COEFF_16: +1.526291271147784E-08LINE_DEN_COEFF_17: +4.082192639476290E-10LINE_DEN_COEFF_18: +2.580622604497762E-09LINE_DEN_COEFF_19: -2.583811742340458E-08LINE_DEN_COEFF_20: +2.116114783401457E-10
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Dr.Phisan Santitamnont 17
Example : IKONOS RPC - SampleSAMP_NUM_COEFF_1: -1.008798699331237E-05SAMP_NUM_COEFF_2: +1.578782796859741E-01SAMP_NUM_COEFF_3: +8.484598994255066E-01SAMP_NUM_COEFF_4: -6.666941102594137E-03SAMP_NUM_COEFF_5: +5.125267853145488E-05SAMP_NUM_COEFF_6: +5.131273610459175E-06SAMP_NUM_COEFF_7: -1.126090413890779E-03SAMP_NUM_COEFF_8: +1.051116050803103E-04SAMP_NUM_COEFF_9: +1.713753445073962E-03SAMP_NUM_COEFF_10: +7.220215138659114E-06SAMP_NUM_COEFF_11: -1.375646434098599E-06SAMP_NUM_COEFF_12: -1.728069918272013E-07SAMP_NUM_COEFF_13: +8.261971743195318E-06SAMP_NUM_COEFF_14: -1.224103698405088E-07SAMP_NUM_COEFF_15: +5.640218205371639E-06SAMP_NUM_COEFF_16: +2.094774754368700E-05SAMP_NUM_COEFF_17: +6.102967020638062E-09SAMP_NUM_COEFF_18: +2.125393166352296E-06SAMP_NUM_COEFF_19: -2.417262976450729E-06SAMP_NUM_COEFF_20: +4.360036220951713E-10
SAMP_DEN_COEFF_1: +1.000000000000000E+00SAMP_DEN_COEFF_2: -2.402324898866937E-04SAMP_DEN_COEFF_3: +1.970350043848157E-03SAMP_DEN_COEFF_4: -9.962612530216575E-04SAMP_DEN_COEFF_5: +6.829987796663772E-06SAMP_DEN_COEFF_6: -2.126053459505783E-06SAMP_DEN_COEFF_7: -2.352771389269037E-06SAMP_DEN_COEFF_8: +3.301248625575681E-06SAMP_DEN_COEFF_9: +2.234998464700766E-05SAMP_DEN_COEFF_10: -3.700658339766960E-07SAMP_DEN_COEFF_11: -6.862588719513951E-09SAMP_DEN_COEFF_12: +1.931878212957372E-09SAMP_DEN_COEFF_13: +2.601792781220524E-09SAMP_DEN_COEFF_14: +1.781106817588807E-09SAMP_DEN_COEFF_15: +1.046838615792467E-08SAMP_DEN_COEFF_16: +1.526291271147784E-08SAMP_DEN_COEFF_17: +4.082192639476290E-10SAMP_DEN_COEFF_18: +2.580622604497762E-09SAMP_DEN_COEFF_19: -2.583811742340458E-08SAMP_DEN_COEFF_20: +2.116114783401457E-10
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Dr.Phisan Santitamnont 18Dr.Phisan Santitamnont
Example with HypercubeReading IKONOS TIFF and RPC
line,sample, h φ, λ h = N+H ;H≡0 (assuming flat area)
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Dr.Phisan Santitamnont 19
IKONOS
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Dr.Phisan Santitamnont 20
Geo Product
• Most affordable but lowest positioning accuracy
• Not corrected for terrain distortions , RMSExy=50m CE90%
• No RPCs !!! Need to solve 39+39 unknowns , thus need 39 GCPs
• Cheap, 500-1,000 Baht per Sq.Km.
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Dr.Phisan Santitamnont 21
Geo Ortho KIT
• Geo imagery with Image Geometry Model (IGM) ‘terrain independent’ virtual sensor model RPC
• Allow generation of precise ortho using local DEM and GCPs
• Expensive ! 62-98 USD/sq.km.
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Dr.Phisan Santitamnont 22
GEOMETRIC PROCESSINGOF IKONOS GEO IMAGES WITH
DEMThierry Toutin
Natural Resources Canada, Canada Centre for Remote Sensing588 Booth Street, Ottawa, Ontario, Canada, K1A 0Y7
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Dr.Phisan Santitamnont 23
Test
• Geo Product with full-scene 100 sq.km.• Two GCPs dataset
– RMSE +-4 m from map– RMSE +-1 m from GPS capture
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Dr.Phisan Santitamnont 24
GCP RMSE=4m ; need 15-20 GCPsGCP RMSE=1m ; need 10 GCPs
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Dr.Phisan Santitamnont 25
QuickBird
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Dr.Phisan Santitamnont 26
QuickBird
• Basic Imagery Product– must order full-scene (US$ 6120)– Least processed , for later advanced processing– Including RPCs
• Ortho-ready Standard Product – Not include topography correction– can be ordered by sub-scene , B/W US$ 22 per
sq.km. (minimum 25 sq.km.)
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Dr.Phisan Santitamnont 27
QuickBird End-Product
Orthorectified Product– Orthorectified with GTOPO30 and resample
into a cartographic project– Positional accuracy of 23m (CE90%)– Serveral level of refinements with more
accurate DEM and GCP– Price ranges from US$40 to US$90 per sq.km.– Cannot be further orthorectified
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Dr.Phisan Santitamnont 28
Quickbird along-track viewing angle = -27.24/26.35
RPC Solution is dramatically improve starting with only one GCP!
ICP = Independent Check Point
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Dr.Phisan Santitamnont 29
Geometrical Processing of Quickbird High-Resolution Satellite Data
F.Volpe, Eurimage S.p.A., ROMA, [email protected]
• Two type of GCPs and Terrain tested with QB Basic Product
GCPs from 1:5,000 topo map # 0.3175 meter , DEM raster 10 meter posting RMSEz< 5 m. LE90% applied to QB over 150-840m relief
GCPs from GPS collected points RMSExy<1m. RMSEz<2m applied to QB over 13-125 m. relief
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Dr.Phisan Santitamnont 30Dr.Phisan Santitamnont
Geometrical Processing of Quickbird High-Resolution Satellite Data
F.VolpeEurimage S.p.A., ROMA, [email protected]
1
2
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Dr.Phisan Santitamnont 31
Processing with PCI
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Dr.Phisan Santitamnont 32
Processing Quickbird with PCIToutin’s model (Satellite Orbital
Modeling)
• Minimum 6 accurate GCPs
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Dr.Phisan Santitamnont 33
RPC processing with PCI
• Where GCPs is inadequate• Typical 1 to 4 GCPs are recommended• RPCs files are store outside the image file
– For QuickBird *.RBP– For IKONOS *_rpc.txt
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Dr.Phisan Santitamnont 34
Processing RPCs
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Dr.Phisan Santitamnont 35
Orthorectification
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Dr.Phisan Santitamnont 36
Influence of DEM Accuracy and Orthorectification
อ�ทธ�พลของความละเอ�ยดถ�กต�องของแบบจ�าลองระด�บ
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Dr.Phisan Santitamnont 37
แบบจ�าลองระด�บ (DEM in Thailand)
• MoAC Mapping Project : จากโครงการแผนท�#ฯของกระทรวงเกษตรและสหกรณ( (กรมพ�ฒนาท�#ด�น)– ระวางละ 2 x 2 ตร.กม (1,000 บาทต*อระวาง)– DEM GSD= 5 เมตร� σHor = 1 m ; σver = 2-4 m
• แบบจ�าลองระด�บ SRTM หร+อ DTED-2 (1:50,000)– DEM GSD =30 /90 เมตร� σHor = 20 m ; σver = 15 m
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Dr.Phisan Santitamnont 38
ASTER Global Digital Elevation Model (ASTER G-DEM)
• MITI/Japan ร*วมก�บ NASA/JPL• ใช� VNIR / ASTER Stereo (Band 3N/3B) #15
m• จะได� DEM ท�#วโลก ท�#ความระยะห*างจ�ดระด�บ 30 เมตร• ความละเอ�ยดถ�กต�องค*าระด�บ 7-10 เมตร• ให�ใช�ฟร�
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Dr.Phisan Santitamnont 39Aug 2007 Dr.Phisan Santitamnont 39
เส�นช�!นความส�ง SRTM-3 (1:50,000) ก�บ LDD DEM/Ortho (1:4,000)
Using Dept. of Land Development ‘s DEM at scale 1:4,000
SRTM-3(1:50,000)
LDD DEM/Ortho1:4,000
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Dr.Phisan Santitamnont 40
ความคลาดเคล$อนของจ&ดภาพ Δr เน$องจากความส�งต(าของภ�ม)ประเทศ
Relief Displacement
∆H
HAGL
P
P′
O
O′
H
f
p′p
R
r′
H-∆H
r
∆r
O″
O′″
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Dr.Phisan Santitamnont 41
QB Supplemental Files
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Dr.Phisan Santitamnont 42
Product Levels
Ortho Kit
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Dr.Phisan Santitamnont 43
Sensor Model and Minimum GCPs
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Dr.Phisan Santitamnont 44
Virtual GCP 3D Registration
1,4000 LDD DEM
1:4,000 Ortho map Satellite Image
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Dr.Phisan Santitamnont 45
Field of ViewAerial Camera
VSSatellite Sensor
2-4 กม
600-800 km
2-4 กม
FOV
1-2°
FOV
75-90°
10-20 กม
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Dr.Phisan Santitamnont 46
DEM Accuracy (∆H), off-nadir (∆η)
η
Off-nadir
∆X
∆H
δ incident angle
and plan. Error(∆X)
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Dr.Phisan Santitamnont 47
Viewing Angle Versus Incident Angle
γ
ι
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Dr.Phisan Santitamnont 48Dr.Phisan Santitamnont
Planimetric accuracy on orthophoto results from DEM quality and
viewing angle