Bundle Adjustment with Self–Calibration Using Straight Lines

Increased use of digital imagery has facilitated the opportunity to use features, in addition to points, in photogrammetric applications. Straight lines are often present in object space, and prior research has focused on incorporating straight–line constraints into bundle adjustment for frame imagery. In the research reported in this paper, object–space straight lines are used in a bundle adjustment with self–calibration. The perspective projection of straight lines in the object space produces straight lines in the image space in the absence of distortions. Any deviations from straightness in the image space are attributed to various distortion sources, such as radial and decentric lens distortions. Before incorporating straight lines into a bundle adjustment with self–calibration, the representation and perspective transformation of straight lines between image space and object space should be addressed. In this investigation, images of straight lines are represented as a sequence of points along the image line. Also, two points along the object–space straight line are used to represent that line. The perspective relationship between image– and object–space lines is incorporated in a mathematical constraint. The underlying principle in this constraint is that the vector from the perspective centre to an image point on a straight–line feature lies on the plane defined by the perspective centre and the two object points defining the straight line. This constraint has been embedded in a software application for bundle adjustment with self–calibration that can incorporate point as well as straight–line features. Experiments with simulated and real data have proved the feasibility and the efficiency of the algorithm proposed.     

基于多视影像匹配模型的倾斜航空影像自动连接点提取及区域网平差方法

自动可靠地获取精确且均匀分布的连接点并进行区域网平差解算,是使用倾斜航空影像进行高精度测绘、三维信息提取和三维城市模型构建等应用的前提。本文提出了一种实用化的大重叠率倾斜航空影像的全自动连接点匹配和联合区域网平差方法。一方面,针对倾斜航空影像因遮挡严重、尺度变化大和几何变形严重而引起的同名点匹配困难问题,充分利用POS数据和平均飞行高度等初始数据,同时顾及这些数据的误差,通过有效组合一种改进的ASIFT算法和基于窗口的多角度多视影像匹配模型(WMVM),使用由粗到细的多分辨率分层匹配策略完成连接点的全自动提取;另一方面,在传统的最小二乘光束法平差的基础上,根据倾斜航空影像数据的特点,提出了基于稳健估值原理的粗差自动探测与剔除关键算法。最后,利用多组典型试验区域的倾斜航空影像数据试验结果验证了所提算法的可靠性、精度和实际性能。     

Orientation of MOMS-02/D2 and MOMS-2P/PRIRODA imagery

This paper deals with the orientation of three-line imagery which has been taken during the MOMS-02/D2 experiment in spring 1993, and during the MOMS-2P/PRIRODA mission since April 1996. The reconstruction of the image orientation is based on a combined adjustment of the complete image, ground control, orbit and attitude information. The combined adjustment makes use of the orientation point approach or the orbital constraints approach. In the second case, the bundle adjustment algorithm is supplemented by a rigorous dynamical modeling of the spacecraft motion. The results of the combined adjustment using MOMS-02/D2 imagery and control information of orbit #75b are presented. Based on the orientation point approach an empirical height accuracy of up to 4 m (0.3 pixel) is obtained. In planimetry the empirical accuracy is limited to about 10 m (0.7 pixel), since the ground control points (GCP) and check points could not be identified in the imagery with the required accuracy. Computer simulations on MOMS-2P/PRIRODA image orientation based on realistic input information have shown that good accuracies of the estimated exterior orientation parameters and object point coordinates can be obtained either with a single strip and a few precise GCP or even without ground control information, if a block of several overlapping and crossing strips with high geometric strength (q≈60%) is adjusted.     

半全局约束下的多基线立体影像MVLL匹配方法

多视铅垂线轨迹法（multi-view vertical line locus,MVLL）能够以物方地面铅垂线为几何约束,匹配获取物方空间点的最佳高程,是一种实用的多基线立体影像匹配方法。针对MVLL匹配方法中的物方空间点独立匹配、缺少整体性约束问题,将物方空间局部光滑特性应用至匹配过程,提出了一种半全局约束下的多基线立体影像MVLL匹配方法。首先,将物方空间点沿地面铅垂线上的准确高程搜索,等效至像方空间沿核线方向上的准确视差搜索;其次,采用MVLL匹配方法计算物方空间点在多张影像上的等效像方匹配测度;然后,采用半全局匹配法（semi-global matching, SGM）对匹配测度进行多路径聚合分析,得到物方空间局部光滑约束下的等效视差图;最后,将等效视差图转化为物方空间点匹配高程,并对多基线立体影像进行多分辨率匹配处理,实现整体最优条件下的MVLL匹配。采用多类型地形特征与局部区域影像进行匹配实验与对比分析,实验结果表明,所提方法能够对多类型地形特征的物方空间匹配测度进行优化,获取更加可靠的匹配结果,具有更高的影像匹配性能。     

Stereo-Photogrammetric Mapping of Tooth Replicas Incorporating Texture

Commercial digital photogrammetric software has been applied to convergent stereoscopic photography of human tooth replicas prepared to exhibit optical texture resulting in successful generation of 3D coordinate data. Tooth replicas were imaged using a semi-metric 35 mm camera and f = 100 mm macro lens on extension bellows. Model precision was within acceptable limits of 12  μ m or better for manual target matching and 21  μ m or better for automatic image matching. Further improvement in optical texture is required to achieve automatic image matching precision comparable to that of manual target matching. Small errors in interior orientation parameters attributed to instability in the bellows as well as small errors in the relative orientation resulted in some systematic errors. The use of a fixed camera lens system is expected to reduce these errors. When combined with commercially available, moderately priced, digital SLR cameras this brings 3D model generation closer to everyday clinical dental practice.     

利用多层动态窗口影像匹配方法进行自动相对定向

介绍了一种方便实用的影像匹配方法─—多层动态窗口影像匹配法，并将其应用于自动相对定向中，得到了比较满意的结果。该匹配方法利用金字塔格网、动态窗口匹配以及最小二乘影像匹配，无需任何有关像片方位的验前知识以及物方空间的任何信息，具有很高的匹配成功率。     

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.     

Digital Photogrammetry for Automatic Close Range Measurement of Textureless and Featureless Objects

Diffraction grating based simultaneous projection of a large number of distinct and circular laser dots was adopted to solve correspondence and accuracy problems during automatic three dimensional measurement of a textureless and featureless object at close range. After rigid placement of the projector over the telescope of a geodimeter, accurate calibration and derivation of a camera model of the virtual active camera (the projector) was done without a control field and using a bundle adjustment procedure. While automatic detection and labelling of the actively placed target points over any given object remained a problem, algorithms were developed to locate and label these target points placed over a nearly flat and textureless surface. A conventional thresholding method was combined with least squares matching (LSM) to provide automatic subpixel image co-ordinate measurement of the target points placed over a textureless object but, considering the real object conditions, semi-automatic image co-ordinate measurement was done by LSM. The system provided an intersection parallax of 0.3 mm during a laboratory test scan of a planar object at 4.5 m distance.     

相对定向中最优特征点匹配算法的研究与应用

全自动相对定向的关键技术是特征点的自动匹配算法,包括特征点提取算法和特征点匹配算法。本文在分析了几种常用算法的基础上,提出了基于区域特征与角点特征相结合的匹配方法,实验表明该方法精度高、稳定性好,在实际应用中也取得良好效果。     

数字近景摄影测量在工业检测中的应用

论述了利用数字相机与实时数字近景摄影测量技术相结合建立的工业零件检测系统的方法.该方法通过直接线性变换提供的概略初值,由理论严密的自检校光束法平差完成高精度的平差计算的数字近景摄影测量的处理的基本过程,并经后续处理,完成工业目标的自动检测.本系统利用目标点位的概略定位与最小二乘影像匹配相结合,达到目标点位的子像素级的精确配准和数字影像的自动量测技术.这种通过非接触方式建立的工业检测系统在精度、可靠性、灵活性、自动化程度、实时性等方面具有更大的优越性,能较好地满足高精度工业检测的要求.     

GPS/IMU辅助机载三线阵影像光束法平差

建立了GPS/IMU观测值与外方位元素之间的数学关系,引入线性多项式、分段多项式和定向片内插3种数学模型用于机载三线阵影像的单航带及区域网光束法平差。ADS40数据的试验结果表明,在少量控制点的支持下,3种数学模型的单航带平差均可取得优于1.1个像素的定位精度,其中定向片内插模型最适合用于三线阵影像的空中三角测量。区域网平差的结果进一步证明,四角布设平高控制点即可得到最优的平差结果。     

直线特征约束的资源3号卫星影像自检校平差

针对控制点获取较困难地区卫星影像定位精度不高的情况,对直线特征作为控制信息提升卫星影像定位精度进行了研究。以"像方直线上任意一点必然位于物方直线和投影中心所构成的平面"作为几何约束条件,通过对直线的参数化表示,建立了基于直线特征的共面模型;在该模型基础上,针对航天传感器的成像特点,分析建立了8标定参数的内方位元素模型和简化的外方位元素模型,最终构建了直线特征约束的卫星影像自检校平差模型。利用资源3号(ZY-3)卫星获取的华盛顿地区数据对构建的平差模型进行实验验证。结果表明,该模型能够解决缺乏地面控制点地区影像定位精度差的问题,可达到与常规自检校平差相同量级的精度。     

A combined image matching method for Chinese optical satellite imagery

Image matching is one of the key technologies for digital Earth. This paper presents a combined image matching method for Chinese satellite images. This method includes the following four steps: (1) a modified Wallis-type filter is proposed to determine parameters adaptively while avoiding over-enhancement; (2) a mismatch detection procedure based on a global-local strategy is introduced to remove outliers generated by the Scale-invariant feature transform algorithm, and geometric orientation with bundle block adjustment is employed to compensate for the systematic errors of the position and attitude observations; (3) we design a novel similarity measure (distance, angle and the Normalized Cross-Correlation similarities, DANCC) which considers geometric similarity and textural similarity; and (4) we introduce a hierarchical matching strategy to refine the matching result level by level. Four typical image pairs acquired from Mapping Satellite-1, ZY-1 02C, ZY-3 and GeoEye-1, respectively, are used for experimental analysis. A comparison with the two current main matching algorithms for satellite imagery confirms that the proposed method is capable of producing reliable and accurate matching results on different terrains from not only Chinese satellite images, but also foreign satellite images.     

An improved approach for the production of satellite-based geospatial reference imagery

Abstract

An innovative and practical satellite image product is described that is ideal for applications in Northern Canada because of its wide area coverage and mapping-quality features. This product is generated from a new procedure developed at the Canada Centre for Remote Sensing (CCRS) for processing Landsat 7 imagery, and by extension, imagery from other Earth Observation satellites. By working with multiple satellite passes, each containing the equivalent of multiple scenes, the new procedure could dramatically reduce the turn-around time for generating georeferenced image products, and also increase their geometric and radiometric accuracy compared to those produced by the current methods. The objective of the process has been to generate satellite image mosaics covering large areas (e.g. >500 000 km²) with uniformly distributed errors at sub-pixel resolution. The paper discusses the theoretical basis of a photogrammetric adjustment for satellite imagery and the results obtained from several tests. The process is generic, involving a sensor model, a satellite orbit model and ground control information; thus it may be easily adapted to any satellite that allows for repeat coverage with overlapping paths. By performing an adjustment to correct the satellite position and attitude data prior to the production of orthoimage products, it is possible to create a mosaic with a single resampling process which minimises both the radiometric and geometric resampling artifacts. The results from three separate tests are presented, along with a discussion of the procedures that were followed in each case. All three tests have successfully demonstrated that sub-pixel sample size errors may be consistently obtained over large areas. A by-product process developed to support the measurement of ground control point coordinates for the satellite adjustment was the automatic matching of geographic features such as lakes and islands in vector data format. This has been a significant development in that it has eliminated manual intervention in the measurement of these features in the imagery, allowing the ground control for entire passes containing several scenes to be obtained in minutes instead of hours.     

基于近景数字摄影测量的飞机表面模型重建

介绍了数字近景摄影测量在重建飞机三维表面模型中的应用方法。根据飞机表面的特征,结合摄影测量方法的特点,总结出包括拍摄计划制定、外业测量、内业处理的一套处理方法:根据飞机外形特征,划分适于拍摄和后期处理的拍摄带;在机身和地面布置一定数目的控制点作为对拍摄像片的控制;利用数字近景摄影测量中影像匹配、相对定向、绝对定向以及光束法平差等一系列方法的综合运用,解算拍摄像片的外方位元素;对飞机机身分块处理,以三角网为基础重建飞机完整的三维表面模型。     

Automatic Registration Between Low-Altitude LiDAR Point Clouds and Aerial Images Using Road Features

Among the many means of acquiring surface information, low-altitude light detection and ranging (LiDAR) systems (e.g., unmanned aerial vehicle LiDAR, UAV-LiDAR) have become an important approach to accessing geospatial information. Considering the lower level of hardware technology in low-altitude LiDAR systems compared to that in airborne LiDAR, and the greater flexibility in-flight, registration procedures must be first performed to facilitate the fusion of laser point data and aerial images. The corner points and edges of buildings are frequently used for the automatic registration of aerial imagery with LiDAR data. Although aerial images and LiDAR data provide powerful support for building detection, adaptive edge detection for all types of building shapes is difficult. To deal with the weakness of building edge detection and reduce matching-related computation, the study presents a novel automatic registration method for aerial images, with LiDAR data, on the basis of main-road information in urban areas. Firstly, vector road centerlines are extracted from raw LiDAR data and then projected onto related aerial images with the use of coarse exterior orientation parameters (EOPs). Secondly, the corresponding image road features of each LiDAR vector road are determined using an improved total rectangle-matching approach. Finally, the endpoints of the conjugate road features obtained from the LiDAR data and aerial images are used as ground control points in space resection adjustment to refine the EOPs; an iterative strategy is used to obtain optimal matching results. Experimental results using road features verify the feasibility, robustness and accuracy of the proposed approach.     

Accuracy assessment of QuickBird stereo imagery

The Geographical Survey Institute of Japan has recently carried out an evaluation of the metric performance of QuickBird stereo satellite imagery. This paper describes the accuracy assessment of the sensor orientation and geopositioning phases of the study, the aim of which was twofold. First, it was desired to confirm the metric potential of QuickBird imagery for 1:25 000 scale topographic mapping. Second, a determination was to be made of the accuracy attainable from the Basic image product. The techniques of rational functions and affine bundle adjustment were employed, the former with bias compensation. The results obtained both reassert the high precision of the rational functions approach and cast doubt upon the applicability of the 3D affine model for accurate geopositioning from QuickBird imagery.     

Digital photogrammetry based automatic measurement of sandstone roof of a mine

Automatic close range photogrammetric measurements are of immense importance for a hazardous industry like mining. Unfortunately, available stereomatching techniques fail for high resolution close range images due to the large variation of object depth. In this paper a diffraction grating based laser dot-matrix projector along with a CCD camera is used for automatic close range measurement of a textureless and featureless object like massive sand stone strata. Targeting of object’s surface with large number of laser dots simultaneously solved two major problems: identification of conjugate points and precise image co-ordinate measurement. Least squares based template matching is used for centroid location of images of laser dots which provided 0.03 (mean) pixels accuracy. Using analytical techniques, camera model of the projector was developed by placing it rigidly on the teleseope of a geodimeter Bundle adjustment procedure is adopted for accurate estimation of interior orientation parameters of the projector which resulted precise co-ordinates of the object space during a test scan by the developed system.     

IMU／DGPS辅助ADS40影像直接定位及其精度分析

阐述了IMU/DGPS辅助ADS40影像直接定位的基本方法,针对不同ADS40扫描条带采用不同的局部空间直角坐标系的现状,推导了航带间外方位元素的统一化处理算法.试验结果表明,ADS40影像直接定位的误差是系统性的,因此在生产作业中引入少量控制点参与平差仍是必需的.     

基于单位四元数的机载三线阵影像光束法平差

为克服欧拉角在空间方位的描述和插值中的局限性,采用单位四元数来描述相机的姿态,推导了四元数描述的共线条件方程。在此基础上,提出了将四元数球面线性插值(Slerp)引入到三线阵影像定向片法平差的思想,通过利用Slerp公式进行相机姿态的匀速插值,建立了基于单位四元数的三线阵影像平差的数学模型并进行了线性化。两套ADS40数据的试验结果表明,在区域四角布设平高控制点的情况下,基于Slerp模型的定向片光束法平差在平面和高程方向均可取得优于1个地面像元(GSD)的定位精度,是三线阵相机检校和空中三角测量较理想的技术手段。