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Advanced Photogrammetric Techniques Ayman F. Habib1
Advanced Photogrammetric and Ranging Techniques
Fall 2013
Advanced Photogrammetric Techniques Ayman F. Habib2
Contact Information• Instructor:
– Ayman F. Habib– Office: Room # ENE 227B– Tel: (403) 220-7105– E-mail: [email protected]– Lectures (ENE 328):
• Wednesday & Friday (12:00 noon – 12:50 p.m.)
– Office Hours: • Wednesday & Friday (1:00 p.m. – 3:00 p.m.)
• Course webpage:– http://dprg.geomatics.ucalgary.ca
Advanced Photogrammetric Techniques Ayman F. Habib3
• Teaching Assistant:– Zahra Lari– Office: ENE 225– Tel: (403) 220-4984– E-mail: [email protected]
• Lab Sessions:– Wednesday (3:00 – 5:00 p.m.), ENE 328
Contact Information
Advanced Photogrammetric Techniques Ayman F. Habib4
Course Objectives• Gain familiarity with advanced photogrammetric
and ranging techniques• Emphasis:
– Photogrammetric bundle adjustment– Mapping from space using line cameras (push broom
scanners)– Photogrammetric geo-referencing: Direct and indirect
geo-referencing– LiDAR: Data acquisition and error analysis– LiDAR and photogrammetric data integration– Radio Detection and Ranging (RADAR): Basic
principles
Advanced Photogrammetric Techniques Ayman F. Habib5
Course Notes and Textbooks• Material presented in class, as well as supplemental notes, will be available through the course webpage.– http://dprg.geomatics.ucalgary.ca– Contains all the required material for the labs and exams
• Supplementary References (optional):– Krauss, K., 1993. Photogrammetry, Volume 1: Fundamentals and
Standard Processes. Dummler/Bonn.– Krauss, K., 1997. Photogrammetry, Volume 2: Advanced Methods
and Applications. Dummler/Bonn.– Mikhail, E., Bethel, J., McGlone, J., 2001. Introduction to Modern
Photogrammetry. John Wiley & Sons, Inc.– Elsheimy, N., Valeo, C., Habib, A., 2005. Digital Terrain Modeling:
Generation, Manipulation, and Applications. Artech House.– Jie Shan and Charles Toth (Editors), 2008. Topographic Laser
Ranging and Scanning: Principles and Processing. CRC Press (Taylor & Francis Group).
Advanced Photogrammetric Techniques Ayman F. Habib6
Grading Scheme• Lab Assignments (4 labs): (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 (C or C++) and submissions must include a softcopy of the source code (well documented) and the program output.
• Mid-Term Exam – November 6th: (25% of Total Grade)• Final Exam: (50% of Total Grade)
– Exams are closed book/notes• Bonus points for class participation
Advanced Photogrammetric Techniques Ayman F. Habib7
Syllabus (Course Content)
• Chapter 1:– Photogrammetric bundle adjustment
• Chapter 2:– Mapping from space using line cameras (push broom
scanners)
• Chapter 3:– Photogrammetric geo-referencing: Direct and indirect
geo-referencing
Advanced Photogrammetric Techniques Ayman F. Habib8
• Chapter 4:– Light Detection and Ranging (LiDAR): Data
acquisition and error analysis
• Chapter 5:– LiDAR and photogrammetric data integration
• Chapter 6:– Radio Detection and Ranging (RADAR): Basic
principles
Syllabus (Course Content)
Advanced Photogrammetric Techniques Ayman F. Habib9
Chapter 1: Bundle Adjustment
• Photogrammetric Bundle Adjustment– Photogrammetry: Definition and applications– Photogrammetric tools:
• Rotation matrices• Photogrammetric orientation: interior and exterior orientation• Collinearity equations/conditions
– Photogrammetric bundle adjustment• Structure of the design and normal matrices
– Special cases:• Resection, intersection, and stereo-pair orientation
Advanced Photogrammetric Techniques Ayman F. Habib10
7575 8092 8686
7582 8086 8692
Chapter 1: Bundle Adjustment
Advanced Photogrammetric Techniques Ayman F. Habib11
Chapter 1: Bundle Adjustment
Advanced Photogrammetric Techniques Ayman F. Habib12
Chapter 2: Mapping from Space• Mapping from space:
– Line Cameras: why?– Operational principles of line cameras:
• Successive coverage• Stereo coverage
– Perspective geometry for line cameras– Dealing with the Exterior Orientation Parameters
(EOP)– Multi-sensor photogrammetric triangulation– Accuracy analysis– Final remarks
Advanced Photogrammetric Techniques Ayman F. Habib13
Satellite Imagery
Advanced Photogrammetric Techniques Ayman F. Habib14
Frame Camera: Scene Acquisition
Advanced Photogrammetric Techniques Ayman F. Habib15
Line Camera: Scene Acquisition
Different PC
Image #
1D Images
Scene
Advanced Photogrammetric Techniques Ayman F. Habib16
Chapter 3: Photogrammetric Geo-Referencing
• Photogrammetric Geo-referencing:– Geo-Referencing alternatives:
• Indirect geo-referencing• Direct geo-referencing• Integrated Sensor Orientation (ISO)
– Direct Geo-Referencing: Operational example• Terrestrial Mobile Mapping Systems (MMS)
– Direct versus indirect geo-referencing: Accuracy analysis
– Concluding remarks
Advanced Photogrammetric Techniques Ayman F. Habib17
Indirect Geo-Referencing
Ground Control PointsTie Points
Advanced Photogrammetric Techniques Ayman F. Habib18
Signalized Targets
Indirect Geo-Referencing
Advanced Photogrammetric Techniques Ayman F. Habib19
Natural Targets
Indirect Geo-Referencing
Advanced Photogrammetric Techniques Ayman F. Habib20
Direct Geo-Referencing
Advanced Photogrammetric Techniques Ayman F. Habib21
Direct Geo-Referencing
c-frame
m-frame
GPS antenna
IMU b-frame
bcr
bcR
)( tr mc
)(trmb
)(tRmb
)(tRmc
Advanced Photogrammetric Techniques Ayman F. Habib22
Direct Geo-Referencing: Airborne System
GPS Antenna
Camera
INS PC
Two Base Stations
GPS Receiver
Advanced Photogrammetric Techniques Ayman F. Habib23
Direct Geo-Referencing: Land-Based System
Digital camera
GPS antenna
INS
Direct geo-referencing in practice
Advanced Photogrammetric Techniques Ayman F. Habib24
Direct Geo-Referencing: Land-Based System
Advanced Photogrammetric Techniques Ayman F. Habib25
Chapter 4: LiDAR
• Light Detection and Ranging (LiDAR):– Passive versus active remote sensing systems– Operational systems– Operational principles– Error sources– Quality Assurance procedures – Quality Control procedures– Applications
Advanced Photogrammetric Techniques Ayman F. Habib26
Chapter 4: LiDAR
Advanced Photogrammetric Techniques Ayman F. Habib27
Chapter 4: LiDAR
Advanced Photogrammetric Techniques Ayman F. Habib28
Chapter 5: Photogrammetry & LiDAR
• LiDAR and photogrammetric data integration– Photogrammetry: pros and cons– LiDAR: pros and cons– LiDAR data for photogrammetric geo-referencing– Ortho-photo generation– True ortho-photo generation
Advanced Photogrammetric Techniques Ayman F. Habib29
LiDAR Range Image
Optical Imagery
Chapter 5: Photogrammetry & LiDAR
Advanced Photogrammetric Techniques Ayman F. Habib30
Optical ImageryLiDAR Intensity Image
Chapter 5: Photogrammetry & LiDAR
Advanced Photogrammetric Techniques Ayman F. Habib31
Perspective Image
31
Advanced Photogrammetric Techniques Ayman F. Habib32
Orthophoto
32
Advanced Photogrammetric Techniques Ayman F. Habib3333
3-D Perspective Views
Advanced Photogrammetric Techniques Ayman F. Habib34
• Radio Detection and Ranging (RADAR):– Capability of penetrating the atmosphere under
virtually all conditions– Different view of the environment – “rough” in the
visible portion and “smooth” in the microwave
Chapter 6: RADAR
Advanced Photogrammetric Techniques Ayman F. Habib35
Radar transmits a pulse and measures reflected echo (backscatter )
Chapter 6: RADAR
Advanced Photogrammetric Techniques Ayman F. Habib36
RADAR & Visible Imagery
Chapter 6: RADAR
Advanced Photogrammetric Techniques Ayman F. Habib37
Photogrammetry, RADAR & LiDAR
Unit Price( US $ / km2 )
Increasing Detail
$1
$10
$100
$1,000
0.1100 10 1Vertical Accuracy (m) RMS
AirborneInterferometry
Aerial Photography(Tropical)
SPOTSatellite
AerialPhotography
(Urban)
Satellite StereoSAR
(RADARSAT)
AirborneLaser Scanner
Ground survey