vii
TABLE OF CONTENTS
CHAPTER
TITLE
PAGE
THESIS STATUS DECLARATION
SUPERVISOR’S DECLARATION
DECLARATION ON COOPERATION WITH
OUTSIDE AGENCIES AND CERTIFICATION OF
EXAMINATION
1
TITLE PAGE
i
DECLARATION
ii
DEDICATION
iii
ACKNOWLEDGEMENTS
iv
ABSTRACT
v
ABSTRAK
vi
TABLE OF CONTENTS
vii
LIST OF TABLES
xi
LIST OF FIGURES
xii
LIST OF ABBREVIATIONS
xv
LIST OF APPENDICES
xvi
INTRODUCTION
1
1.1
Introduction
1
1.2
Problem Statement
2
1.3
Research Objectives
3
1.4
Research Scopes
4
1.5
Contribution
4
1.6
Literature Review
4
viii
1.7
2
The appliances
8
1.7.1
Mapping Sensor
9
1.7.2
GPS Receiver
9
1.7.3
PhotoModeler
9
1.7.4
Matlab
9
1.8
Research Methodology
10
1.9
Thesis Outline
12
CONCEPT AND THEORY
13
2.1
Global Positioning System
13
2.1.1
Concept of GPS Positioning
14
2.1.2
GPS Receivers Consideration
16
2.2
GPS Observation Techniques
17
2.2.1
Static Technique
18
2.2.2
Rapid Static Technique
18
2.2.3
Kinematic Technique
19
2.3
Geographical Information System
19
2.4
Photogrammetry
20
2.4.1
Rotation
21
2.4.2
Orientation
22
Coordinate Transformation
25
2.5.1
26
2.5
Two Dimensional Transformation
2.6
Terrestrial Photogrammetry
27
2.7
Mobile Mapping System
28
2.7.1
Georeferencing
30
2.7.2
Attribute Information in Mobile Mapping
32
2.8
Camera Calibration
33
2.8.1
Laboratory Calibration
33
2.8.2
On-the-job Calibration
35
2.8.3
Self Calibration
35
ix
3
SYSTEM DESIGN, SYSTEM CALIBRATION
AND FIELD PROCEDURE
37
3.1
System Design
37
3.1.1
Post Process Kinematic Positioning
38
3.1.2
Camera Position
38
3.2
3.3
4
39
3.2.1
Calibration Procedure
39
3.2.2
Camera Information
43
Field procedure
44
SOFTWARE AND IMAGE PROCESSING
46
4.1
PhotoModeler
46
4.1.1
Accuracy Factor
46
4.1.2
Project Setup
48
4.1.3
Camera Setup
49
4.1.4
Import Photographs
50
4.1.5
Marking and Referencing
51
4.1.6
Translation
52
4.1.7
Scaling
53
4.1.8
Rotation
54
4.1.9
Point Table
55
4.1.10 Export Coordinate
56
2D Transformation Program
58
4.2
5
Camera Calibration
RESULTS AND ANALYSIS
62
5.1
Camera Calibration
62
5.2
Distance Test
62
5.3
Baseline Test
65
5.4
Base map
67
5.5
Updating Road Database
69
5.6
Updating Infrastructure
71
x
5.7
6
Updating Building
75
CONCLUSIONS AND RECOMMENDATIONS
82
6.1
Conclusions
82
6.2
Recommendations
84
REFERENCES
Appendices A - F
85
89 - 110
xi
LIST OF TABLES
TABLE NO.
TITLE
PAGE
2.1
Example of Available MMS
29
5.1
Camera Calibration Results
62
5.2
Accuracy Assessment of 5 meters
64
5.3
Accuracy Assessment in 10 meters
64
5.4
Accuracy Assessment in 15 meters
64
5.5
Accuracy Assessment in 20 meters
65
5.6
Result of Short Baseline
66
5.7
Result of Long Baseline
67
5.8
Four GPS Checkpoints established in the Study Area
67
5.9
Accuracy Assessment of Road Database
70
5.10
Accuracy Assessment of Road Sign Project
72
5.11
Accuracy Assessment of 5 meters Baseline
78
5.12
Accuracy Assessment of 12.7 meters Baseline
78
5.13
Accuracy Assessment of 22 meters Baseline
78
5.14
Results of Updating Building B
80
xii
LIST OF FIGURES
FIGURE NO.
TITLE
PAGE
1.1
Mobile Mapping System
3
1.2
Basic Concept of Mobile Mapping System
7
1.3
PhotoModeler, Digital Camera, GPS Receiver and Matlab
8
1.4
Flow Chart of Research Methodology
11
2.1
Principle of Satellite Positioning
15
2.2
The Intersection of Surface of Position
based on Range Measurement
17
2.3
Sequential Rotation of Axes in Three Dimensional Spaces
22
2.4
Object Coordinate System
22
2.5
Image Coordinate Frame in Object Coordinate System
23
2.6
Relationships between Different Coordinate System
31
2.7
Laboratory camera calibration in this research
34
3.1
System Design
37
3.2
System Configuration
38
3.3
Calibration Grid
40
3.4
Camera Calibration Project
42
3.5
Processing Finished Dialog Box
43
3.6
Parameters of Calibrated Camera
44
xiii
3.7
Mobile Mapping System in Study Area
44
3.8
System Configuration during Data Acquisition Phase
45
4.1
Accuracy Factor
47
4.2
Set up New Project
48
4.3
Measurement Unit
49
4.4
Camera Review
49
4.5
Import Images
50
4.6
Marking Points in the Middle Image
51
4.7
Marking Points at the Left Angle Image
52
4.8
Setting up the Coordinate
53
4.9
Assigned Camera with Translation Coordinates
53
4.10
Setting up the Scale Factor
54
4.11
Two Cameras are assigned with Scale
54
4.12
X-axes and Z-axes are defined in the Image
55
4.13
Quality Assessment of the Points
56
4.14
Cameras Position
57
4.15
Points Coordinate
58
4.16
Flow Chart of 2D Transformation Program
59
4.17
Program Interface
60
4.18
Import File to the Program
60
4.19
The ‘Quit’ button
61
5.1
Distance Test
63
5.2
Check Points of Distance Test
63
5.3
Set up of Camera Baseline
66
5.4
Study Area Digital Map
68
xiv
5.5
Four GPS Checkpoints of Study Area
68
5.6
Road Database Project
69
5.7
Image of Road Database Project
70
5.8
Road Sign Project
72
5.9
Road Sign in Base Map (scale 1:3900)
73
5.10
Qualitative Accuracy of Road Sign Project (scale 1:300)
73
5.11
Bus Stop in Base Map (scale 1:3900)
74
5.12
Qualitative Accuracy of the Bus Stop Project (Scale 1:300)
74
5.13
Updating ‘Building A’ Project
75
5.14
Image of Building for Part 1
76
5.15
Image of Building for Part 2
76
5.16
Image of Building for Part 3
77
5.17
Location of Check Point 3 in the Image
77
5.18
Building A in Base Map (scale 1:2300)
79
5.19
Updating ‘Building B’ Project
79
5.20
Building B
80
5.21
Building B in Base Map (scale 1:2300)
81
xv
LIST OF ABBREVIATIONS
cm
Centimetre
DOP
Dilution of Positioning
DSMM
Department of Survey and Mapping Malaysia
DTM
Digital Terrain Model
GIS
Geographical Information System
GLONASS
Global Satellite Navigation System
GPS
Global Positioning System
Hz
Hertz
Km
Kilometre
m
Metre
mm
Millimetre
OTF
On-the-fly
ppm
Part per million
PPK
Post Processed Kinematic
PRN
Pseudo Random Noise
RMS
Roof Mean Squares
RSO
Rectified Skew Orthomophic
RTK
Real Time Kinematics
TGO
Trimble Geomatics Office
WGS84
World Geodetic System 1984
3D
Three Dimensional
2D
Two Dimensional
xvi
LIST OF APPENDICES
APPENDIX
TITLE
PAGE
A
SPECIFICATIONS OF DIGITAL CAMERAS
90
B
SPECIFICATIONS OF GPS RECEIVERS
96
C
CAMERA CALIBRATION PROJECT FOR
KODAK DC290 AND CANON S400
101
RESULTS OF ROAD NETWORK AND
BUS STOP PROJECTS FROM TGO
104
POINTS REPORT OF ROAD SIGN,
BUS STOP AND BUILDING PROJECTS
108
COORDINATE CONVERSION PROJECT
FROM RSO TO WGS84 USING TGO
110
D
E
F