THE EFFECT OF FORWARD MOTION COMPENSATIDN (FMC) ON RESOLVING
POWER OF AERIAL PHOTOGRAPHS
J. Hakkarainen, University of Joensuu, Finland
M. Schroeder, DFVLR, FR Germany
Abstract:
Test flights with aerial survey cameras equipped with
Forward Motion Compensation were carried out in May 1987 in
Finland. To determine the resolving power a bar test pattern
with low, medium and high contrast was used.
Different film types were tested and the camera was operated
with FMC on and off. The scale of the photographs was
approx. 1 : 10 000.
This paper presents the test results for a camera of 150 mm
focal length ..
1. Introduction
In May 1987 a test flight campaign was carried out at
Nummela airfield (West of Helsinki) to determine the
resolving power of various combinations of Aerial Survey
Cameras and Aerial Films. In particular the effect of
Forward Motion Compensation on resolving power should be
investigated. The following cameras and films were used:
Cameras: RMK A 15/23, RMK A 30/23, RMK A 8.5/23
Films:
Panatomic-X, Plus-X, Double-X, CIR-2443,
SO-131, SO-242 ..
The cameras were operated in a two engine turboprop aircraft
of the type Do 228/100 in an unpressurized cabin. The aircraft and the cameras were provided by the German Aerospace
Research Establishment (DFVLR).
To determine the resolving power aerial photographs were
taken over a resolution test field on the ground. This test
field was produced by J. Hakkarainen, University of Joensuu.
The films were developed at the photo lab of the National
Board of Survey and Topographic Service, Helsinki.
In this report only results for the RMK A 15/23 camera will
be presented.
2. The Test Field
A sketch of the test field used to determine the resolving
power is shown in Fig. 1. The test field was produced of 30
hard board plates, which were painted with mat paint. It
also comprised a 6-step grey wedge for controlling the film
development.
1... 1
At an image scale of 1 : 10 000 the spatial frequencies of
the bar test pattern corresponded to 20, 30, 40, 50, 60, 70
and 80 lp/rnrn which were arranged in five parallel rows each
with a different contrast. The test field was composed of
two identical sets of these bar test pattern arranged perpendicular to each other. The various contrasts of the bar
test pattern are given in Table 1.
In this report not all contrasts have been used for data
evaluation; for the black/white films only 1 : 20, 1 : 3 and
5 : 1 contrasts have been applied and
the colour films
only the 1 : 20, 1 : 3 and green/red contrasts.
No.
Background
Density
Bars
Density
Contrast
Density Difference Ratio
Remarks
1
black
1.60
white
0.30
1 .. 30
1
high contrast
2
grey
0.85
black
1 .. 60
0 .. 75
5 .. 5
3
grey
0.85
white
0.30
0 .. 55
1
3.5
low contrast
4
blue
0 .. 85
yellow
0 .. 15
0.70
1
5
colour contrast I
5
green
0.80
red
0.60
0 .. 20
1
1.5
colour contrast II
Table 1:
20
1
shadow contrast
Contrast ratios for the bar test pattern8
3. Test Flight Program
Table 2 gives an overall view on the flights, which were
carried out with the RMK A 15/23.
The nominal flight altitude was 1530 m over ground to obtain
an image scale of 1 : 10 000. Only for the flights with the
50-131 and 50-242 films the altitude was increased because a
higher resolution than 80 lp/rnrn was expected.
To image the test field at different look angles four
consecutive overflights were made with an overlap of the
photographs of 90 % and higher. The flight pattern which was
applied for every flight series is shown in Fig. 2.
1... 1
Date
Time
Sun
Elevation
Altitude
[m]
over ground
Film
Fileer
f-Stop I lit
FMC
No. of
Images
28
14
Yes
No
48
42
12
12
Yes
No
14
Imaqe Motion
[urn]
12.10-12.24
12.28-12.40
44·
45"
1530
1530
PAN X
PAN X
B
B
5.6 I 250
12.44-12.54
12.55-12.59
45"
45"
1530
1530
DX
DX
B
B
5.6 I 600
14.32-14.46
14.49-14.59
43"
42"
1530
1530
Plus-X
Plus-x
B
B
5.6 I 450
16
16
Yes
No
52
43
9 May 87
15.03-15.13
15.17-15.29
41"
40·
1530
1530
CIR-2443 B
CIR-2443 B
5.6 I 250
5.6 I 350
28
20
Yes
Yes
41
54
10 May 87
10.07-10.20
34"
2020
SO-131
KL
4.0 I 100
53
Yes
46
10 May 87
10.24-10.39
36"
2020
SO-242
KL
4.0 I 100
53
Yes
60
8 May 87
8 May 87
9 May 87
4.0 I 500
5.6 I 600
5.6 I 450
34
Table 2: Parameters of Test Flights with the RMK A 15/23.
4. Data Evaluation Method
4.1 Abreveations
T-lines: bars of the test pattern perpendicular to the
flight direction
R-lines: bars of the test pattern parallel to the flight
direction
T:
R:
Resolution in lp/mm for the T-lines
Resolution in lp/mu for the R-lines
Average Resolution
= AritlliTletric
Mean of T and R
~T:
Improvement in Resolution with FMC for T
r:
radial distance from the image center
G/R:
Green/Red-contrast
4.2 Determination of the Resolving Power (RP)
The following criteria were used for determining RP:
1. A bar target ist accepted as resolved, if the nwTlber of
lines is correct, all lines of the test figure are
recognizable and not more than 20 % of the target is
damaged .
2. A target ist not accepted as resolved, if the preceding
target was not acceptable.
3. Visual interpolation is uSed between two targets, if the
resolving power is obviously between these two targets.
1-1
1
For visual interpolation every interval of 10 lp/mm was
subdivided in 4 sections of 2.5 lp/mm and the following
rules were applied (e.g. for 30 and 40 lp/mm targets):
30
lp/mm
40
still acceptable
clearly seen
very clearly seen
very clearly seen
very clearly seen
fully grey
fully grey
fully grey
direction of lines seen
still acceptable
30 .. 0
32.5
35.0
37.5
40.0
The determination of the RP was made from the original films
by means of a binocular microscope with a 20 x magnification;
only for the Panatomic-X and the SO-242 films the
magnification was increased. Both authors made the
observation indepently, Juhani Hakkarainen in June 87 in
Joensuu, Finland and Manfred Schroeder in July 87 in Oberpfaffenhofen, FRG. Final RP values are average values of
both observers.
For those points for which the difference between the RP of
the two observers was more than 25 % the RP was determined
for a second time by both observers. Such cases were less
than 5 % of all observations. For the controlled points 4
observations were then availablee The highest and lowest
value were then dropped as a cross error control and the
final RP was the average of the two center values.
For scale control the image scale was determined by
measuring the size of the test field in two images per test
flight strip. A scale correction was needed only for few
flights ..
The RP values can be plotted as function of the radial
distance; this is shown e.g. for the Plus-X film with FMC
'on' in Fig. 3 a. The dispersion of the RP points is considerable. For fitting a curve through these points the RP
values were averaged for radial intervals of !:i r;:;; 25 mm;
the average RP points were then connected resulting in the
'resolution curve' (Fig. 3 b).
The standard deviation of the resolution curve is indicated
in Fig. 3 c.
4.3 Area Weighted Average Resolution (AWAR)
If R (r) is the resolution as function of the radial
distance then the AWAR is given by
AWAR
= old
R (r)·
G (r) dr ; d
=
162,6 mm
G (r) is the Area Weighting Function and is given by:
1-172
=
G (r)
=
and G (r)
S
=
21T
(
e
r
for 0 < r < S
F
s
1T /2 - 2 arccos r)
·
r
for S < r < d
F/4
F: total area of photograph
115 rom
=
(230)2 rom 2
The AWAR was determined for T - and R-lines from the
resolution curves (s. 4.2); the RP was determined
graphically from this curves at distances of b. r = 15 rom. For
numerical integration the following values for G(r)edr were
used:
r
G( r)
edr
0.027
0.053
0.080
15 rom
30
45
r
G·dr
r
G-dr
60
75
90
0.107
0.134
0.160
105
120
145
0.187
0.142
0.100
For determination of the RP for r > 120 rom the resolution
curves were graphically extrapolated is some cases.
AWAR values will be given in the next section (5).
5. Resolving Power Results
5.1 Panatomic-X Film
For the Panatomic-X film two flight series were carried out:
one with FMC 'on' and the settings 5.6 - 1/250 and
another with FMC 'off' at 4 - 1/500.
The results are shown in Fig. 4.
For all contrast the T-lines are better resolved with FMC
'on'. For the R-lines the resolution is better in the center
(r < 50 rom) with FMC 'off', whereas it is the same for the
other part of the image ( r > 50 rom). The difference in the
center part can be explained by the shorter exposure time
for the flights with FMC 'off', which minimize the influence
of aircraft attitude movements. For the R-resolution the
curves from the flights with FMC 'off' can be regarded as
the more representative values.
From the curves in Fig. 4 the following AWAR-values can be
derived:
FMC on
Contrast
1
5
1
20
1
3
R
T
M
FMC off
T
60 lp/mm
43
50
65
51
55
63
47
53
53
39
47
1-173
b.T
23 %
31 %
17 %
The T-resolution with FMC is always higher than the Rresolution. The improvement in T-resolution with FMC varies
between 17 % and 31 %.
Curves for the average resolution (with FMC) for different
contrasts are shown in Fig. 5.
5.2 Plus-X Film
Two flights series - one with FMC 'on' and one with FMC
'off' - were carried out with the Plus-X film. The exposure
settings for both series were 5.6 - 1/450.
The obtained resolution curves are shown in Fig. 6.
For all contrasts the T-lines are better resolved with FMC
'on'. For the R-lines there is no difference in resolution
between FMC 'on' and FMC 'off'. From the curves in Fig. 6
the following AWAR-values were derived:
FMC on
Contrast
1
5
1
20
1
3
R
T
M
39 lp/mm
25
42
27
32
34
41
26
33
FMC off
T
36
25
30
!1T
17 %
8 %
13 %
With FMC 'on' the T-resolution is slightly higher than the
R-resolution, whereas with FMC 'off' R is slightly higher or
equal T. The increase in T-resolution with FMC 'on' is
between 8 and 17 %.
5.3 Double-X Film
For the two flight series with the Double-X film - one with
FMC 'on' and one with FMC 'off' - the exposure settings were
5.6 - 1/600. Due to the short exposure time the image
motion, which had to be compensated for, was only 12 ~.
The resolution curves for the T- and R-lines are shown in
Fig. 7. For the FMC-off flights only 14 points were
available to derive these resolution curves.
For the T-lines the resolution for the FMC-on flights is
slightly higher for all contrasts for radial distances
r < 90 mm, wheras for r > 90 rom the resolution seems to be
the same. For the R-lines there is no significant difference
in resolution.
From the curves in Fig. 7 the following AWAR-values were
obtained:
1... 174
FMC on
Contrast
1
20
5
1
3
1
R
T
M
FMC off
T
35 lp/mm
23
27
39
26
31
37
25
29
37
22
30
llT
5 %
18 %
3 %
The gain in resolution for the T-lines can clearly be
observed only for the 5 : 1 contrast.
5.4 CIR-2443 Film
Two flight series with FMC 'on' were carried out for the
CIR-2443 film with different exposure settings: 5.6 - 1/250
and 5.6 - 1/350. As no significant difference in resolution
was observed for the two exposure times, the data sets from
both flights were jointly evaluated. The results are shown
in Fig. 8.
The resolution for T- and R-lines are nearly the same,
although T is always slightly higher than R.
The following AWAR-values were derived from the curves in
Fig. 8.
Contrast
1 :: 20
1::
3
G/R
R
T
M
28 lp/mm
24
25
30
26
27
29
25
26
The resolution for the G/R-contrast is nearly the same as
for the 1 :: 3 black and white contrast.
5.5 CIR - SO-131 Film
The 50-131 film was flown with FMC 'on' and an exposure of
4 - 1/100. At this exposure time 53 ~ image motion had to
be compensated for. The resolution curves are shown in
Fig. 8. No distinct difference in resolution between Rand T
can be observed.
For determining the AWAR the curves in Fig. 8 were linearly
extrapolated. The following AWAR-values were obtained:
Contrast
1 : 20
1:
3
G/R
R
T
M
33 lp/mm
28
33
34
28
34
34
28
34
The resolution for 1 : 20 black and white - and for the
G/R-contrast is the same. For R- and T-lines resolutions
between 50 and 60 lp/mm can be reached in the image center.
1. . 175
5.6 Colour 50-242 Film
The 50-242 film was exposed with 4 - 1/100 and with FMC on.
The image motion at this exposure time was 53 ~. The
resolution curves are shown in Fig. 9.
The T-lines are for all contrasts better resolved than the
R-lines.
For determining the AWAR the curves were linearly
extrapolated and the following AWAR-values were obtained:
Contrast
1 : 20
1:
3
G/R
R
T
M
52 lp/mm
49
57
55
55
52
40
44
42
For the high contrast the T-lines reach over 80 lp/mm in the
image center. There is only a slight difference in resolution between contrasts 1 : 20 and 1 : 3.
6. Conclusions
o
The FMC has only an effect on the lines perpendicular to
the flight direction.
o
With FMC the resolution of the lines perpendicular to the
flight direction (T) is always higher than for the lines
parallel to the flight direction (R).
Without FMC T is less or equal R.
o
The improvement in resolution perpendicular to the flight
direction (T) can be as much as 30 % depending on the
contrast. This effect is most pronounced for the PAN-X
film, less pronounced for the Plus-X film and is
relatively weak for the Double-X film.
o
Improvement of the AWAR for lines perpendicular to the
flight direction (T) for the various contrasts:
Film\Contrast
1 : 20
1 : 3
5 : 1
PAN-X
Plus-X
Double-X
23 %
17 %
17
31
13
5 %
3
8
18
o
With the PAN-X film and the 50-242 film resolution values
over 80 lp/mm can be obtained for high contrast in the
central part of the image.
1. . 176
o
The ranking of the films by AWAR-values is as follows:
black/white-films
PAN-X
Plus-X
Double-C
1 : 20
1 : 3
5 : 1
63 lp/mm
41
37
53
33
29
47
26
25
1 : 20
1 : 3
G/R
55 lp/mm
34
29
52
28
42
34
26
Colour-films
SO-242
50-131
CIR-2443
25
Plots of the average resolution (M) for different film
types for a contrast 1 : 3 are shown in Fig. 10.
o
The gain in resolution with the PAN-X film in comparison
to the Plus-X and Double-X is between 50 and 80 %
depending on the contrast.
o
With the Colour 50-242 film nearly the same resolution
can be obtained as with the PAN-X film.
o
The gain in resolution with the SO-131 film in comparison
to the CIR-2443 film is not as high as one would expect
because of their difference in granularity. The reason
for this is obviously that the resolution for ColourInfrared films is limited by the inadequate colour
correction of the lens.
o
For exposure times longer than 1/300 sec it was often
observed that also the lines in flight direction were
partly deteriorated by pitch movements of the aircraft.
References
M. Schroeder, Auflosungstests mit ReihenmeBkammern aus
groBer Flughohe. Proceedings of the 37th Photogrammetric
Week, Stuttgart 24.-28.09.1979.
J. Hakkarainen, Resolving Power of Aerial Photographs,
Surveying Science in Finland, Vol. 4, No.2, Nov. 1986.
1... 177
Fig. 1:
ratios@
50, bU,
details
Test field with bar targets of different contrast
The spatial frequencies correspond to 20, 30, 40,
70 and 80 lp/mm for a 1
10 000 scale. For more
refer to Table 1.
r-:=~
I
(I
I
I
I"
:
I
I
I
I
:
I
:
'--.
I
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A
1-+-------11----__'.- +,
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l"
~
I
+- - ---+
END
)l
-- - - 1- - - - - - -...,
I
I
I
Fig. 2: Flight pattern for recording the test field on
consecutive image frames during four overflights.
100
PAN-X
90
a
~
...J
o
(J)
50
40
30
lJJ
n:::
20
10
00000
N
m
..q-
IJ1
RADIAL DISTANCECmm)
Fig. 5: Average Resolution (M) of PJ~K A 15/23 with
Panatomic-X film for the contrast ratios 1 : 20, 1
5
1.
1. . 1
3 and
;~[J.J
100
PLUS-X
PLUS-X
90
90
80
EE
80
EE
70
"-0...
::
60
a) 15
50
~
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o
Ul
W
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RADIAL DISTANCE(mm)
. __ ._..l_.-,...~O R
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RADIAL DISTANCE(mm)
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RADIAL DISTANCE(mm)
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RADIAL DISTANCE(mm)
15
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01
RADIAL DISTANCE(mm)
Fig. 3. Data Evaluation Method: (a) Resolving Power for
various radial distances. (b) Deriving 'resolution curves'
by averageing over radial intervals of ~ r ~ 25 rrm. (c)
Standard deviation of resolving power values.
Left: Lines in flight direction (R)
Right: Lines perpendicular to flight direction (T).
1... 1
o
lfJ
lSS
9:J
8::;
E
E
~
"-CL
Z
0
68
5S
I-
:::J
-l
0
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.:;.0
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W
0::
RADIAL DISTANCECmm)
RADIAL DISTANCECmm)
;00
90
80
E
E
~C
"-CL
60
Z
0
I-
50
:::J
40
UJ
30
-l
0
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0::
2D
is
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t
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t.
I-
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i-
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r
~ ~
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0
-,
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WITH FMC
NO FMC
90
80
70
E
~~~~
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W
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RADIAL DISTANCECmm)
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-tD
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WITH FMC
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y,
N,
9L:
Be;
100
E
T
EE
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3
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WITH F~IC
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50
40
E
50
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30
70
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50
40
30
20
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0
1Il
0
to
0
r--
0
<D
0
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0
0
RADIAL DISTANCECmm)
0
€\I
m
0
"
Fig. 4: Resolution Curves of RV1K A 15/23 with Panatomic-X
film for contrast ratios 1
20, 1
3, 5
1 and for FMC on
and off.
Left: Lines in flight direction (R).
Right: Lines perpendicular to flight direction (T) •
1... 180
0
1Il
100
100
90
90
80
E
E
"-0..
Z
0
-l
0
E
60
"-0...
50
Z
40
~
E
W
0::
40
30
g
0
N
0
en
...
0
0
0
CD
0
0
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0
0
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rn
~
0
g
RADIAL DISTANCE (mm)
If}
IDO
0
0
en
g
~
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N:
50
0
~
(J)
30
E
Z
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0
~
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0
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0::
0
If}
WITH
NO
~
40
30
20
10
10
g
...
~
0
N
0
0
0
fil CD0
" 0:> rn 8
RADIAL DISTANCE(mm)
0
~
0
100
N,
90
0
0
en
y,
PLUS-X
g
0
If}
'"
0
N
0
en
':i
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rn
0
0
0
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RADIAL DISTANCE (mm)
100
WITH
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y,
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N:
90
WITH
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80
80
E
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.,.
0
60
50
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~
70
20
E
0
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80
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0
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RADIAL DISTANCE(mm)
PLUS-X
"0...
::J
0
90
80
60
...
~
0
N
100
WITH
NO
Y:
PLUS-X
90
Z
~----v
10
0
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~~~
20
10
70
60
50
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WITH
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70
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70
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70
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RADIAL DISTANCE (mm)
If}
0
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RADIAL DISTANCE (mm)
Fig. 6: Resolution Curves of RMK A 15/23 with Plus-X film
for FMC on and off.
Left: Lines in flight direction (R) •
Right:: Lines perpendicular to flight direction (T) •
1-181
.,.0
0
If}
100
90
80
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RADIAL DI ST ANCE Cmm)
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RADIAL DI STANCE (mm)
5
100
,
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1
90
WITH
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(j)
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FMC
WITH
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60
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RADIAL DISTANCE (mm)
0
In
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RADIAL DI STANCE (mm)
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RADIAL DISTANCE (mm)
Fig. 7: Resolution Curves of fu~K A 15/23 with Double-X film
for contrast ratios 1
20, 1
J ,
5
1 and for FMC on and
off.
Left: Lines ln flight direction (R).
Right: Lines perpendicular to flight direction (T).
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1... 182
0
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100
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60
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20
20
10
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o
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o
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o
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o
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Fig. 8: Resolution Curves of ru~K A 15/23 with CIR-2443 film
(left) and SO~131 film (right) for the contrast ratios
1
20, 1
3 and green/red (G/R).
1-183
0
lf1
1: 20.
C-5o.-242
100
90
80
80
EE
EE
70
"-0..
"-0..
60
70
60
Z
0
50
is
50
I::J
40
~
40
0
W
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-
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(J)
3.M
M= CR+T) /2
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90
1 :
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o
30
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30
W
0:::
20
20
10
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-
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o
000
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to
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0
Ol
(!)
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RADIAL DI5TANCECmm)
1 : 3
C-5o.-:242
:00
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*--*
90
E
E
70
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C-5o.-242
100
90
E
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---.,.C-So.-242
-~
--~
-------~-5o.-131
~443
RADIAL DISTANCECmm)
0--0
*--*
Fig. 10:
Average Resolution (00) of
RMK A 15/23 with the films
Panatomic-X, Plus-X, Double-X,
CIR-2443, 80-131 and 80-242
for a contrast of 1
3.
R
T
80
"-0..
------------
~
RADIAL DI5TANCECmm)
70
--
----------
10
9
E
3 M
M= CR+T) /2
--~~
80
1 :
100
R
T
~
~
~---~----------
50
~
40
..
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~'---tI
30
20
" t"""",,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,"""""""""
a
0
N
'"
000
m 01
~
o
N
RADIAL DISTANCECmm)
Fig. 9:
Resolution Curves
of RMK A 15/23 with
80-242 film for the
contrast ratios
1
20, 1
3 and
green/ red (G /R) .
1... 184