Table Of Contentde Gruyter Textbook
Karl Kraus
Photogrammetry
Karl Kraus
Photogrammetry
Geometry from Images
and Laser Scans
Second Edition
Translated by
Ian Harley
Stephen Kyle
w
Walter de Gruyter
DE
G
Berlin · New York
Author
ο. Univ.-Prof. Dipl.-Ing. Dr. techn. Karl Kraus
formerly
Institute of Photogrammetry and Remote Sensing
Vienna University of Technology
Vienna, Austria
Translators
Prof. Ian Harley
Dr. Stephen Kyle
University College London
London, Great Britain
This second English edition is a translation and revision of the seventh German
edition:
Kraus, Karl: Photogrammetrie, Band 1, Geometrische Informationen aus Photogra-
phien und Laserscanneraufnahmen. Walter de Gruyter, Berlin · New York, 2004
First English edition:
Kraus, Karl: Photogrammetry, Volume 1, Fundamentals and Standard Processes.
Dümmler, Köln, 2000.
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ISBN 978-3-11-019007-6
© Copyright 2007 by Walter de Gruyter GmbH & Co. KG, 10785 Berlin, Germany.
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Foreword to the second English edition
The first edition of Volume 1 of the series of textbooks "Photogrammetry" was pub-
lished in German in 1982. It filled a large void and the second and third editions were
printed soon afterwards, in 1985 and 1990. The fourth edition was published in English
in 1992, translated by Peter Stewardson. The following three editions were published
in German in the years 1995, 1997, and 2003, making seven editions in all. The English
edition was re-printed in 2000.
Volume 1 was additionally translated into several languages, including Serbocroatian,
by Prof. Joksics, Technical University Belgrade; Norwegian, by Prof. Oefsti, Univer-
sity of Trondheim; Greek, by Dr. Vozikis and Prof. Georgopoulos, National Technical
University of Athens; Japanese, by Prof. Oshima and Mr. Horie, Hosei University;
Italian, by Prof. Dequal, Politecnico Torino; French, by Prof. Grussenmeyer and O.
Reis, Ecole Nationale Superieure des Arts et Industries de Strasbourg; Hungarian by
Prof. Detreköi, Dr. Melykuti, S. Mihäli, and P. Winkler, TU Budapest; Ukrainian by
S. Kusyk, Lvivska Politechnika; and Turkish, by Prof. Altan, Technical University of
Istanbul.
This second English edition is a translation of the seventh, German, edition by Dr. Ian
Harley, Professor Emeritus, and Dr. Stephen Kyle, both of University College London.
They not only translated the text, but they also made valuable contributions to it; their
comments and suggestions led to a clearly improved edition. Compared to the first
English edition there are major changes. Analogue and analytical photogrammetry are
reduced significantly, most importance is given to digital photogrammetry, and, finally,
laser scanning is included. Terrestrial as well as airborne laser scanning have gained
great importance in photogrammetry. Photogrammetric methods are, with small adap-
tations, applicable to data acquired by laser scanning. Therefore, only minor additions
to photogrammetry were necessary to cover the chapter on laser scanning. Compared
to the previous German edition there are, especially, updates on digital cameras and
laser scanners.
The original German version arose out of practical research and teaching at the Vi-
enna University of Technology. Volume 1 first introduces the necessary basics from
mathematics and digital image processing. It continues with photogrammetric acquisi-
tion technology with special consideration of photo-electrical imaging (CCD cameras).
Particular attention is paid to the use of the Global Positioning System (GPS) and Iner-
tial Measurement Units (IMU) for flight missions. The discussion on photogrammetric
processing begins with orientation methods including those based on projective geom-
etry. The orientation methods which are discussed for two images are extended to
image blocks in the form of photogrammetric triangulation.
vi Foreword
In the discussion of stereo-plotting instruments most attention is given to digital soft-
copy stations. In addition to automatic processing methods, semiautomatic methods,
which are widely used in practice, are also explained. This textbook first treats dig-
ital orthophoto production, and then includes three-dimensional virtual worlds with
photographic texture.
This selection and arrangement of material offers students a straightforward introduc-
tion to complex photogrammetry as practised today and as it will be practised in the
near future. It also offers practising photogrammetrists the possibility of bringing them-
selves up-to-date with the modern approach to photogrammetry and saves them at least
a part of the tedious study of technical journals which are often difficult to understand.
For technically oriented neighbouring disciplines it provides a condensed description
of the fundamentals and standard processes of photogrammetry. It lays the basis for
that interdisciplinary collaboration which gains ever greater importance in photogram-
metry. Related, non-technical disciplines will also find valuable information on a wide
range of topics.
For the benefit of its readers, the textbook follows certain principles: didactics are put
before scientific detail; lengthy derivations of formulae are put aside; theory is split into
small sections alternating with practically-oriented passages; the theoretical basics are
made clear by means of examples; and exercises are provided with solutions in order
to allow self-checking.
This series of textbooks is a major contribution to photogrammetry. It is very sad that
Prof. Kraus, who died unexpectedly in April 2006, cannot see it published. At that time
the translation was already in progress. Final editing was performed by Dr. Josef Jansa
and Mr. Andreas Roncat from the Vienna Institute of Photogrammetry and Remote
Sensing. Thanks are also due to the many people at the Institute of Photogrammetry
and Remote Sensing who did major and minor work behind the scenes, such as drawing
and editing figures, calculating examples and exercises, making smaller contributions,
proofreading, composing the I4TgX text, etc. This book, however, is truly a book by
Prof. Kraus.
Karl Kraus was born in 1939 in Germany and became Professor of Photogrammetry
in Vienna in 1974. Within these 32 years of teaching, counting all translations and
editions, more than twenty textbooks on photogrammetry and remote sensing bearing
the name Karl Kraus were published. Many examples and drawings in this textbook
were supplied by the students and collaborators of Prof. Kraus in Vienna. With deep
gratitude the entire Institute of Photogrammetry and Remote Sensing looks back at the
time spent with Karl Kraus and forward to continuing the success story of this textbook.
Norbert Pfeifer Vienna, Summer 2007
Professor in Photogrammetry
Institute of Photogrammetry and Remote Sensing
Vienna University of Technology
Notes for readers
This textbook provides an introduction to the basics of photogrammetry and laser scan-
ning. References to Volume 2, Chapters B, C, D, and E, refer to
Kraus, Karl: Photogrammetry, Volume 2, Advanced Methods and Appli-
cations, with contributions by J. Jansa and H. Kager. 4th edition, Diimmler,
Bonn, 1997, ISBN 3-427-78694-3.
Volume 2 is a completely separate textbook and is currently out of print. It covers
advanced topics for readers who require a deeper theoretical knowledge and details of
specialized applications.
Contents
Foreword ν
Notes for readers vii
1 Introduction 1
1.1 Definitions 1
1.2 Applications 2
1.3 Some remarks on historical development 3
2 Preparatory remarks on mathematics and digital image processing . .. 10
2.1 Preparatory mathematical remarks 10
2.1.1 Rotation in a plane, similarity and affine transformations . . .. 10
2.1.2 Rotation, affine and similarity transformations in three-
dimensional space 14
2.1.3 Central projection in three-dimensional space 21
2.1.4 Central projection and projective transformation of a plane . .. 24
2.1.5 Central projection and projective transformation of the straight
line 29
2.1.6 Processing a stereopair in the "normal case" 31
2.1.7 Error theory for the "normal case" 33
2.2 Preliminary remarks on the digital processing of images 35
2.2.1 The digital image 36
2.2.2 A digital metric picture 38
2.2.3 Digital processing in the "normal case" and digital projective
rectification 40
3 Photogrammetric recording systems and their application 47
3.1 The basics of metric cameras 47
3.1.1 The interior orientation of a metric camera 47
3.1.2 Calibration of metric cameras 55
3.1.3 Correction of distortion 56
3.1.4 Depth of field and circle of confusion 58
3.1.5 Resolving power and contrast transfer 63
3.1.5.1 Diffraction blurring 63
3.1.5.2 Optical resolving power 64
3.1.5.3 Definition of contrast 68
3.1.5.4 Contrast transfer function 68
