Some Thoughts on the Emergence of Digital Close Range Photogrammetry

This presentation offers some thoughts on the emergence (that is essentially to say the commercial acceptance and exploitation) of close range digital photogrammetric systems. The discussion is restricted to systems based on standard photogrammetric processes involving digital frame imagery. Systems are classified into three tiers which are distinguished not only by accuracy and cost, but also by the degree to which a technology transfer has taken place from the specialist photogrammetrist to the non-specialist user. This technology transfer, it will be argued, has facilitated dramatic growth in the application of low accuracy, low cost three dimensional modelling systems in areas such as heritage recording, multimedia, process plant documentation and forensic photogrammetry. Along with automation, this technology transfer has also largely accounted for the wider use of high accuracy, high cost, off line and real time vision metrology systems in large scale industrial metrology. Rapid growth in these two system categories is then contrasted against the more modest advances being witnessed in the traditional close range photogrammetric service sector. Prospects for the future are also touched upon.     

THE SPECIFIC CHARACTER OF LIMIT ERRORS IN CLOSE RANGE PHOTOGRAMMETRY

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The specific character of limit errors in close range photogrammetry

Close-range photogrammetry is to determine the shape and size of the object, instead of it's absolute position. Therefore, at first, any translation and rotation of the photogrammetric model of the object caused by whole geodesic, photographic and photogrammetric procedures in close-range photogrammetry could not be considered. However, it is necessary to analyze all the reasons which cause the deformations of the shape and size and to present their corresponding theories and equations. This situation, of course, is very different from the conventional topophotogrammetry. In this paper some specific characters of limit errors in close-range photogrammetry are presented in detail, including limit errors for calibration of interior elements for close-range cameras, the limit errors of relative and absolute orientations in close-range cameras, the limit errors of relative and absolute orientations in close-range photogrammetric procedures, and the limit errors of control works in close-range photogrammetry. A theoretical equation of calibration accuracy for close-range camerais given. Relating to the three examples in this paper, their theoretical accuracy requirement of interior elements of camera change in the scope of ±(0.005–0.350) mm. This discussion permits us to reduce accuracy requirement in calibration for an object with small relief, but the camera platform is located in violent vibration environment. Another theoretical equation of relative RMS of base lines (mS/S) and the equation RMS of start direction are also presented. It is proved that themS/S could be equal to the relative RMS ofmΔX/ΔX. It is also proved that the permitting RMS of start direction is much bigger than the traditionally used one. Some useful equations of limit errors in close-range photogrammetry are presented as well. Suggestions mentioned above are perhaps beneficial for increasing efficiency, for reducing production cost.     

JX4ADPS全数字摄影测量工作站在近景摄影测量中的应用——数字"西夏王陵"获取及经验

阐述了利用全数字摄影测量工作站在近景摄影测量中的应用,以"西夏王陵"数字成果的如何获取介绍经验.     

基于多基线立体匹配技术的三维重建

介绍一种从多目视觉理论演化而来的多基线立体匹配技术,它具有短基线、多影像的特点,可以大大提高匹配的自动化和可靠性,快速实现物体表面三维重建,最后通过四组实验说明该技术的可行性和优越性。整个过程包括短基线相片获取、相片参数解算、多基线立体匹配、数据预处理和三维重建等。     

多摄站系统质量分析及其法方程病态现象的克服

本文介绍了一个多摄站（全方位）摄影测量系统，它适宜于近景摄影测量灵活的构网形式，包括全方位摄影，文中分析了多摄站摄影测量网平差的精度和可靠性，并介绍一种该系统试用的克服法方程病态现象的新方法。     

用于近景摄影测量的联合平差程序系统CAS-C

在深入研究了联合平差的基本理论后,作者在VAX-11/750小型计算机上建立了一个主要适合于近景摄影测量的联合平差程序系统,它具有粗差的自动定位、系统误差补偿、进行多种观测值的同时平差等多种现代先进的摄影测量平差系统所应具备的功能。本文简要介绍该联合平差程序系统的有关基本理论、基本功能、基本结构及处理有关问题的基本方法,并举例说明联合平差及该程序系统在近景摄影测量中的应用。     

月面巡视探测器立体影像的多核CPU并行快速匹配

月面巡视探测器立体影像的摄影测量处理是获取月面三维信息实现巡视器定位导航的重要手段之一。影像匹配是地面近景摄影测量实现自动化处理的关键,本文研究了基于积分影像的单机多核并行匹配算法,实现了月面巡视器模拟影像的快速匹配。试验表明该方法能显著地缩短匹配时间,达到较高的加速比和效率。     

A Hierarchical Surface Measurement Strategy Using Non-Repeating Patterns

Hierarchical approaches for automated photogrammetric surface measurement invariably employ image pyramids and image matching at multiple resolutions. Such an approach is also applicable in industrial photogrammetry where projected light patterns are used to provide texture on an otherwise texture-free surface. This paper describes a novel strategy for hierarchical surface measurement in which projected non-repeating target patterns are employed, rather than the lower-resolution levels of an image pyramid. Thus, although the final derived digital surface model is obtained by image matching, preliminary surface models which support the matching are obtained using the non-repeating patterns. These projected patterns allow a simplification of the triangulation phase since they offer the potential of a fast and unambiguous solution to the image point correspondence problem. Following an introduction to the non-repeating pattern strategy, integration of the approach into a multi-camera vision metrology system is described and some experimental measurements are summarized     

Augmented reality and photogrammetry: A synergy to visualize physical and virtual city environments

Close-range photogrammetry is based on the acquisition of imagery to make accurate measurements and, eventually, three-dimensional (3D) photo-realistic models. These models are a photogrammetric product per se. They are usually integrated into virtual reality scenarios where additional data such as sound, text or video can be introduced, leading to multimedia virtual environments. These environments allow users both to navigate and interact on different platforms such as desktop PCs, laptops and small hand-held devices (mobile phones or PDAs). In very recent years, a new technology derived from virtual reality has emerged: Augmented Reality (AR), which is based on mixing real and virtual environments to boost human interactions and real-life navigations. The synergy of AR and photogrammetry opens up new possibilities in the field of 3D data visualization, navigation and interaction far beyond the traditional static navigation and interaction in front of a computer screen.In this paper we introduce a low-cost outdoor mobile AR application to integrate buildings of different urban spaces. High-accuracy 3D photo-models derived from close-range photogrammetry are integrated in real (physical) urban worlds. The augmented environment that is presented herein requires for visualization a see-through video head mounted display (HMD), whereas user’s movement navigation is achieved in the real world with the help of an inertial navigation sensor. After introducing the basics of AR technology, the paper will deal with real-time orientation and tracking in combined physical and virtual city environments, merging close-range photogrammetry and AR. There are, however, some software and complex issues, which are discussed in the paper.     

The `Digital Projector': Raytracing as a tool for digital close-range photogrammetry

In close-range applications, digital methods are increasingly used. In addition to the software and techniques which were adopted from aerial photogrammetry, new strategies for the restitution and presentation of digital data have been developed. The `Digital Projector' is a strictly photogrammetric approach using raytracing techniques and off-the-shelf software to provide 3D models with complete texture. It works regardless of the shape of the object while allowing digital presentation (`photomodels') with numerous derivative results (e.g., orthoimages and animations).     

一种新型的数码相机室内检校场的建立方法

为了实现普通数码相机应用于摄影测量任务前的检验,提出了一种简易室内数码相机检校场的建立方法和流程。首先进行检校场地的建立,包括场地的选择、标志点的制作及其坐标的量测,然后对检校场的可靠性进行了验证。结果表明所建立的简易室内数码相机检校场能够满足普通数码相机应用于近景摄影测量的检校要求。并且,检校场建立简易,费用较传统数码相机检校场大大降低,是对传统大型室内数码相机检校场的改进。     

A Directed-Line-Segment-Based Photogrammetry Method to Survey the Tunneling Working Surface of Mine Roadway

Absolute orientation is a basic technical work in digital image geologic logging of underground coal mine. Traditional control-point-based absolute orientation method requires setting object space control points of the known three-dimensional coordinates, which may lead to low efficiency. Therefore, this paper proposed a point-free close-range photogrammetry absolute orientation algorithm, which utilized direction line segments including plumb line segments and line segments with known directions and lengths to identify the dimensional orientation of a stereoscopic model. Experiment results show that the precision of the orientation results is favorable. σ _X and σ _Y are as high as 0.5 mm, and σ _Z is 0.3 mm. Finally, this paper introduced the application of the proposed algorithm in rapid geological logging of coal mine roadway, which was fast and reliable, convenient and feasible.     

Principal Point Behaviour and Calibration Parameter Models for Kodak DCS Cameras

Digital still cameras have been widely adopted for close range photogrammetry and machine vision applications. Due to the advantages of onboard storage of digital images, portability and rapid data processing, digital still cameras are rapidly becoming standard equipment for measurement tasks such as industrial metrology and heritage recording. As for any metric application, the accuracy of the derived object data is dependent, amongst many other factors, on the accuracy of the camera calibration. For the vast majority of photogrammetric applications, use of the simple case of a block invariant calibration model comprising the primary physical parameters, including the principal point position, is sufficient. However, cameras designed for photojournalism and domestic use, such as the Kodak DCS420 and 460 cameras, are well known for their calibration instability because the design is based on a 35 mm SLR camera body. In particular, previous research has shown that the principal point location is prone to movement during normal handling of the camera, due to the mounting mechanism of the CCD array. This paper reports on an investigation of the physical behaviour of the principal point location and compares different calibration parameter models for the Kodak DCS420 and DCS460 digital still cameras.     

A hybrid measurement approach for close-range photogrammetry

Full automation in close-range photogrammetric measurement has long been a practical reality. However, constraints apply to the process such that automated 3D measurement is generally confined to targeted points in an environment of controlled illumination. The ready availability of consumer-grade digital cameras has made photogrammetric measurement accessible and more widely employed for a host of new applications, the majority of which call for 3D measurement of other than signalized object features. Process automation is therefore typically precluded. This paper discusses a hybrid measurement approach which involves fully automatic network orientation with targets, while at the same time supporting follow-up semi-automatic and manual operations such as feature point and line extraction and surface measurement via image matching. The topics discussed include camera calibration, the metric exploitation of colour attributes, issues related to image point correspondence determination, operator assisted feature measurement and surface extraction. All are important to the practical realisation of the hybrid measurement approach.     

基于摄影测量系统的岩体结构面精细识别表征及应用

岩体结构面的识别和特征参数的表征对于岩体特性及失稳机制研究具有重要的基础意义。本文基于无人机航测、GPS-RTK,以及地面近景摄影组成的摄影测量系统对甘肃北山不同尺度岩体结构面进行了系统性研究。利用不同视角摄影得到的地物照片建立了场区数字正射影像模型和露头三维重构数字表面模型,通过数字化的识别和统计方法实现了岩体结构面信息的有效解译和特征参数的表征。对典型露头和区域的研究结果表明,采用的摄影测量系统可从不同维度和尺度进行岩体结构面的精细化调查和识别。根据结构面特征参数的变异性,对场区大断裂F31断层的断裂影响带进行了评估,初步得到F31断层对上盘岩体完整性的影响范围约为150~200m,影响形式为负指数型。     

Hyper Redundancy for Accuracy Enhancement in Automated Close Range Photogrammetry

A generic network design in close range photogrammetry is one where optimal multi-ray intersection geometry is obtained with as few camera stations as practicable. Hyper redundancy is a concept whereby, once the generic network is in place, many additional images are recorded, with the beneficial impact upon object point precision being equivalent to the presence of multiple exposures at each camera position within the generic network. The effective number of images per station within a hyper redundant network might well be in the range of 10 to 20 or more. As is apparent when it is considered that a hyper redundant network may comprise hundreds of images, the concept is only applicable in practice to fully automatic vision metrology systems, where it proves to be a very effective means of enhancing measurement accuracy at the cost of minimal additional work in the image recording phase. This paper briefly reviews the network design and accuracy aspects of hyper redundancy and illustrates the technique by way of the photogrammetric measurement of surface deformation of a radio telescope of 26 m diameter. This project required an object point measurement accuracy of σ  = 0·065 mm, or 1/400 000 of the diameter of the reflector.     

Application of inertia ellipse in code marker matching

In close-range photogrammetry, 3D information acquisition is based on image matching. The application of code marker helps to improve the level of automatic matching and the matching accuracy. This paper investigates the application of inertia ellipse algorithm to code marker matching. We can calculate the inertia ellipse of a target with a certain boundary. First, the method is applied to a single code marker; the angle and scaling are valid. Then, the paper introduces the multi code markers matching method by the inertia ellipse. Rotation and scaling changes of homonymy images can be calculated by inertia ellipse algorithm. These parameters can be used for code marker matching in arbitrary attitude close-range photogrammetry.     

Application of inertia ellipse in code marker matching

In close-range photogrammetry, 3D information acquisition is based on image matching. The application of code marker helps to improve the level of automatic matching and the matching accuracy. This paper investigates the application of inertia ellipse algorithm to code marker matching. We can calculate the inertia ellipse of a target with a certain boundary. First, the method is applied to a single code marker; the angle and scaling are valid. Then, the paper introduces the multi code markers matching method by the inertia ellipse. Rotation and scaling changes of homonymy images can be calculated by inertia ellipse algorithm. These parameters can be used for code marker matching in arbitrary attitude close-range photogrammetry.     

New developments with design and construction of a thermal/vacuum qualified photogrammetric system

In the frame of the development of a photogrammetric system to be used in thermal/vacuum chambers at the European Space Research and Technology Centre (ESTEC) of European Space Agency (ESA) and other sites across Europe, the design of a network using micro-cameras was specified by ESA-ESTEC. A thermal/vacuum qualified photogrammetric system, which is able to work and acquire images in vacuum and at cryo-temperatures, was constructed by ESA-ESTEC Test Centre Division. The current system uses four space qualified one-mega pixel cameras and is able to measure large space structures in vacuum and at temperatures down to ?170 ^°C with a global accuracy better than 1 part per 100,000 in object space. Several tests aiming at the qualification of the sensors and system in terms of operation and accuracy have been carried out. Special measures have been developed and special attention has been taken into account specifically for the first application of the photogrammetric system. It is to verify the ESA’s Herschel Telescope Flight Model alignment positioning.