Aerial & Digital Photogrammetric

Systems
2
 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.

3
 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.

4
 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.
– Some assignments will require Gis and RS and submissions
must include a softcopy of the source file (well
documented) and the result output.
• Mid-Term Exam: (25% of Total Grade)
• Final Exam: (50% of Total Grade)
– Exams are closed book/notes
• Bonus points for class participation

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 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)
• Chapter 5: Vertical Photography
– Basic definitions, image scale, image to ground coordinate
transformation, relief displacement
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 Syllabus (Course Content)
• 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
• 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

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 Syllabus (Course Content)
• 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

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 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)

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 Ch 1: Introduction

Art and science of tool development for automatic

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 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

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 Ch 2: Electro-Magnetic Radiation

http://foto.hut.fi/opetus/350/k04/luento6/luento6.html

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 Active Versus Passive Sensors

http://www.neis.gov.cn/kjddYG/index.jhtml

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 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

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 Ch 3: Basic Optics

http://www.dpreview.com/reviews/sonydscf828/3

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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)

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Ch 4: Film Development & Digital Cameras

http://www.dpreview.com/reviews/sonydscf828/3

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 Ch 4: Analog Cameras

Negative Film Positive Film

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Frame Camera: Scene Acquisition

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 Line Camera: Scene Acquisition
1D Images
Different PC

Image #

Scene

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 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

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 Ch 5: Vertical Photography

http://civisit.com/blog/?p=52

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Ground Coordinates from Image Coordinates

b
c
a Negative plane

f Perspective center
x
y
f c a Positive diapositive
b
contact print

Y X
Flying height (H)

p A
C

Ground B
level

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 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

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Ch 6: Image Coordinate Measurements
y

y
x

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 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

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Ch7: Mathematical Model

7575 8092 8686

7582 8086 8692

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Ch7: Mathematical Model

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 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

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Ch 8: Theory of Orientation

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 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

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 Ch 9: Bundle Block Adjustment

• 2 cameras
• 4 images
• 16 points

• All the points appear in all the images.

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Ch 9: Bundle Block Adjustment

N C

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 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

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Ch 10: Photogrammetric Geo-Referencing

c-frame
Rcm(t)

rcm(t)

m-frame

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Indirect Geo-Referencing

Ground Control Points

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Indirect Geo-Referencing

Signalized Targets
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Indirect Geo-Referencing

Natural Targets
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Direct Geo-Referencing

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Direct Geo-Referencing

IMU b-frame

GPS antenna

rc
b Rcb
Rbm(t)
c-frame
rbm (t) Rcm(t)
rcm ( t )

m-frame
Direct Geo-Referencing: Airborne System

GPS Antenna

INS PC

Two Base Stations Camera

GPS Receiver

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Direct Geo-Referencing: Land-Based System

Digital camera

GPS antenna

INS

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Direct Geo-Referencing: Land-Based System

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 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

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Image Matching

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Image Matching

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 Image Matching

Template Matching Window

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 Original Images
• Conjugate points do not have the same y-coordinates.

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 Normalized Images
• Conjugate points have the same y-coordinates.

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 3D Reconstruction
Conjugate Points

a a´

Camera
Object Point (A)
Camera Calibration (IOP) Geo-referencing (EOP)

• The interior orientation parameters of the involved cameras have to be known.

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 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

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Perspective Image

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True Orthophoto

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 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)

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