CE 59700: Digital Photogrammetric Systems
Spring 2015
CE 59700: Digital Photogrammetric Systems
1
Ayman F. Habib
Contact Information
• Instructor:
–
–
–
–
–
Ayman F. Habib
Office: HAMP 4108
Tel: (765) 496-0173
E-mail: ahabib@purdue.edu
Lectures (Seng-Liang Wang Hall 2579):
• Tuesday & Thursday (4:30 p.m. – 5:45 p.m.)
– Office Hours:
• Tuesday & Thursday (1:30 p.m. – 4:00 p.m.)
• Course webpage:
– http://purdue.edu/CE/DPRG
CE 59700: Digital Photogrammetric Systems
2
Ayman F. Habib
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.
CE 59700: Digital Photogrammetric Systems
3
Ayman F. Habib
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.
CE 59700: Digital Photogrammetric Systems
4
Ayman F. Habib
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.
– Two 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:
• Final Exam:
(25% of Total Grade)
(50% of Total Grade)
– Exams are closed book/notes
• Bonus points for class participation
CE 59700: Digital Photogrammetric Systems
5
Ayman F. Habib
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)
CE 59700: Digital Photogrammetric Systems
6
Ayman F. Habib
Syllabus (Course Content)
• Chapter 5: Vertical Photography
– Basic definitions, image scale, image to ground
coordinate transformation, relief displacement
• 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
CE 59700: Digital Photogrammetric Systems
7
Ayman F. Habib
Syllabus (Course Content)
• 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
• 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
CE 59700: Digital Photogrammetric Systems
8
Ayman F. Habib
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)
CE 59700: Digital Photogrammetric Systems
9
Ayman F. Habib
Ch 1: Introduction
Art and science of tool development for automatic
generation of spatial and descriptive information from
multi-sensory data and/or systems
CE 59700: Digital Photogrammetric Systems
10
Ayman F. Habib
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
CE 59700: Digital Photogrammetric Systems
11
Ayman F. Habib
Ch 2: Electro-Magnetic Radiation
http://foto.hut.fi/opetus/350/k04/luento6/luento6.html
CE 59700: Digital Photogrammetric Systems
12
Ayman F. Habib
Active Versus Passive Sensors
http://www.neis.gov.cn/kjddYG/index.jhtml
CE 59700: Digital Photogrammetric Systems
13
Ayman F. Habib
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
CE 59700: Digital Photogrammetric Systems
14
Ayman F. Habib
Ch 3: Basic Optics
http://www.dpreview.com/reviews/sonydscf828/3
CE 59700: Digital Photogrammetric Systems
15
Ayman F. Habib
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)
CE 59700: Digital Photogrammetric Systems
16
Ayman F. Habib
Ch 4: Film Development & Digital Cameras
http://www.dpreview.com/reviews/sonydscf828/3
CE 59700: Digital Photogrammetric Systems
17
Ayman F. Habib
Ch 4: Analog Cameras
Positive Film
Negative Film
http://www.beautiful-landscape.com/
CE 59700: Digital Photogrammetric Systems
18
Ayman F. Habib
Frame Camera: Scene Acquisition
CE 59700: Digital Photogrammetric Systems
19
Ayman F. Habib
Line Camera: Scene Acquisition
1D Images
Different PC
Image #
Scene
CE 59700: Digital Photogrammetric Systems
20
Ayman F. Habib
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
CE 59700: Digital Photogrammetric Systems
21
Ayman F. Habib
Ch 5: Vertical Photography
http://civisit.com/blog/?p=52
CE 59700: Digital Photogrammetric Systems
22
Ayman F. Habib
Ground Coordinates from Image Coordinates
b
c
Negative plane
a
Perspective center
x
f
y
f
Flying height (H)
a
c
b
Positive diapositive
contact print
X
Y
p
A
C
Ground
level
CE 59700: Digital Photogrammetric Systems
B
23
Ayman F. Habib
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
CE 59700: Digital Photogrammetric Systems
24
Ayman F. Habib
Ch 6: Image Coordinate Measurements
y
x
y
x
CE 59700: Digital Photogrammetric Systems
25
Ayman F. Habib
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
CE 59700: Digital Photogrammetric Systems
26
Ayman F. Habib
Ch7: Mathematical Model
7575
8092
8686
7582
8086
8692
CE 59700: Digital Photogrammetric Systems
27
Ayman F. Habib
Ch7: Mathematical Model
CE 59700: Digital Photogrammetric Systems
28
Ayman F. Habib
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
CE 59700: Digital Photogrammetric Systems
29
Ayman F. Habib
Ch 8: Theory of Orientation
CE 59700: Digital Photogrammetric Systems
30
Ayman F. Habib
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
CE 59700: Digital Photogrammetric Systems
31
Ayman F. Habib
Ch 9: Bundle Block Adjustment
• 2 cameras
• 4 images
• 16 points
• All the points appear in all the images.
• Two images were captured by each camera.
CE 59700: Digital Photogrammetric Systems
32
Ayman F. Habib
Ch 9: Bundle Block Adjustment
N
CE 59700: Digital Photogrammetric Systems
33
C
Ayman F. Habib
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
CE 59700: Digital Photogrammetric Systems
34
Ayman F. Habib
Ch 10: Photogrammetric Geo-Referencing
c-frame
Rcm (t)
rcm (t)
m-frame
CE 59700: Digital Photogrammetric Systems
35
Ayman F. Habib
Indirect Geo-Referencing
Ground Control Points
Tie Points
CE 59700: Digital Photogrammetric Systems
36
Ayman F. Habib
Indirect Geo-Referencing
Signalized Targets
CE 59700: Digital Photogrammetric Systems
37
Ayman F. Habib
Indirect Geo-Referencing
Natural Targets
CE 59700: Digital Photogrammetric Systems
38
Ayman F. Habib
Direct Geo-Referencing
CE 59700: Digital Photogrammetric Systems
39
Ayman F. Habib
Direct Geo-Referencing
IMU b-frame
GPS antenna
b
c
r
Rbm (t )
Rcb
c-frame
rbm (t )
Rcm (t)
rcm ( t )
m-frame
CE 59700: Digital Photogrammetric Systems
40
Ayman F. Habib
Direct Geo-Referencing: Airborne System
GPS Antenna
INS
Two Base Stations
PC
Camera
GPS Receiver
CE 59700: Digital Photogrammetric Systems
41
Ayman F. Habib
Direct Geo-Referencing: Land-Based System
Digital camera
GPS antenna
INS
CE 59700: Digital Photogrammetric Systems
42
Ayman F. Habib
Direct Geo-Referencing: Land-Based System
CE 59700: Digital Photogrammetric Systems
43
Ayman F. Habib
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
CE 59700: Digital Photogrammetric Systems
44
Ayman F. Habib
Image Matching
CE 59700: Digital Photogrammetric Systems
45
Ayman F. Habib
Image Matching
CE 59700: Digital Photogrammetric Systems
46
Ayman F. Habib
Image Matching
Matching Window
Search Window
Template
CE 59700: Digital Photogrammetric Systems
47
Ayman F. Habib
Original Images
Conjugate points do not have the same y-coordinates.
CE 59700: Digital Photogrammetric Systems
48
Ayman F. Habib
Normalized Images
Conjugate points have the same y-coordinates.
CE 59700: Digital Photogrammetric Systems
49
Ayman F. Habib
3D Reconstruction
Conjugate Points
a
a´
Object Point (A)
Camera Calibration
Geo-referencing
• 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.
CE 59700: Digital Photogrammetric Systems
50
Ayman F. Habib
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
CE 59700: Digital Photogrammetric Systems
51
Ayman F. Habib
Perspective Image
CE 59700: Digital Photogrammetric Systems
52
Ayman F. Habib
True Orthophoto
CE 59700: Digital Photogrammetric Systems
53
Ayman F. Habib
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)
CE 59700: Digital Photogrammetric Systems
54
Ayman F. Habib