Photogrammetry Principle point (PP) Image measurements and corrections

3D object or scene reconstruction from (2D) imagery • point of intersection of normal to image planepassing
through the perspective centre (PC) origin for lens Pixel to comparator coordinates
What is Photogrammetry Used For? distortion
• Topographic mapping Fiducial centre (FC) 2D similarity transformation
• Terrain modelling • centroid of fiducials
• 3D modelling • usually not equals PP
• Pedestrian navigation Principle distance (c)
How does Photogrammetry work? • normal distance between PC and image plane similar to
• Image acquisition focal length
• Identify and measure conjugate pts in overlapping • aka. camera coust.
images Nadir point (N)
• Pinhole camera model • point of intersection of image plane and plumb line
• - collinearity condition: a, PC and A lie on a straight passing through the PC
line • Not equal to PP nor FC
• Functional model • origin for relief displacement
• Stochastic model for random measurement errors
• Ray intersection from 2+ images Digital Images
• Image position and orientation • coordinate system: Left-handed
• Ext orientation parameters • Column = x, Row = y 2D affine transformation
• Int. orientation parameters
• Quality assurance: Calibration, Network design
• Quality control: Stat testing, accuracy assessment

Sensors

Active sensors emit an EMR signal that is backscattered

and received to form an image.
E.g. RADAR, LIDAR, TOF camera
Passive sensors receive a reflected or an emitted EMR
signal from the surrounding environment.
E.g. digital cameras

Optics
2D projective transformation
Aim of Photogrammetry:
• To reconstruct the 3D world from (2D) images Scaled and reflected coordinates
• Accurate x, y image point co-ordinate measurements RH:
are needed
Summary of corrections:
Monochromatic Aberrations Image Scale
1. Spherical Aberrations
2. Astigmatism Principal point offset correction
3. Coma
4. Curvature of Field
5. Distortion Radial lens distortion correction
Radial Lens Distortion
• Negative distortion ↑
n
• Positive distortion V
Decentering Lens Distortion Ground Sample Distance (GSD) Decentring lens distortion correction
Chromatic Aberrations • projection of pixel size into object space
• GSD =S Δ
Effects of varying the aperture: Atmospheric refraction correction
• Large aperture: bright image, small depth of field Relief Displacement
• Small aperture: dark image, large depth of field • Inherent to central perspective imagery
• Points are displaced radially relative to the nadir point
Vertical Imagery • It causes occlusions Earth curvature correction
Pinhole Camera model Building heights

Rotation In 3D:

Right-handed coord. system Rotation of frame:

- stationary points
- counter-clockwise as +ve
- original view from pt on rot axis

Ground coordinates from image coordinates’

Near-vertical Image
Summary of Rotation Matrix Equations:
Ground Coverage

Overlapping Ground Coverage

Base distance B = G - EL (end lap)

Base-to-Height Ratio (B/H)

Ground coordinates from a stereo pair and precision

Image measurements and corrections

Metric Camera
• Designed specifically for photogrammetry Object points
• Has known and stable interior geometry • known control points
• Has fiducial marks or réseaux marks/crosses - known x, y & a
• Usually has low radial lens distortion - signalized or other features
Fiducial marks - Required for image orientation (resection)
• evaluate stability • Unknown tie points
• transform measurements into camera systems - determined by photogrammetry (intersection)
• Check points
Image coordinate system - used for accuracy assessment
Defined by fiducials (fids) • conjugate points
x axis: - Same object point appearing in a pair of images
• line joining mid point fiducials • Interest points
• parallel to flight direction - distinct from its surroundings
y axis:
• perpendicular to c axis (right-hand)
• may pass through fids

1 inch = 0.0254 m