Suitability of airborne video data for photogrammetry - ITC

77 Pages·2008·3.37 MB·English

Suitability of airborne video data for
photogrammetry

Yoonjoo Lee
March, 2008
SUITABILITY OF AIRBORNE VIDEO DATA FOR PHOTOGRAMMETRY
SUITABILITY OF AIRBORNE VIDEO DATA FOR PHOTOGRAMMETRY

Suitability of airborne video data for photogrammetry

by

Yoonjoo Lee

Thesis submitted to the International Institute for Geo-information Science and Earth Observation in
partial fulfillment of the requirements for the degree of Master of Science in Geo-information Science
and Earth Observation.

Thesis Assessment Board
Chairman: Prof.Dr. M.G. Vosselman
External examiner: Dr. B.G.H. Gorte
Supervisor: Dr. M. Gerke
Second supervisor: Ms Y. Tian MSc

INTERNATIONAL INSTITUTE FOR GEO-INFORMATION SCIENCE AND EARTH OBSERVATION
ENSCHEDE, THE NETHERLANDS
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SUITABILITY OF AIRBORNE VIDEO DATA FOR PHOTOGRAMMETRY

Disclaimer

This document describes work undertaken as part of a programme of study at the International
Institute for Geo-information Science and Earth Observation. All views and opinions expressed
therein remain the sole responsibility of the author, and do not necessarily represent those of the
institute.
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SUITABILITY OF AIRBORNE VIDEO DATA FOR PHOTOGRAMMETRY

Abstract
Simple and economic acquisition of video data results attractive for a wide range of applications. The
acquisition of video data from airborne platforms producing sequences of highly overlapped images
brings special interest for photogrammetric applications. The combination of this factors results in the
possibility of implementing video data in low cost photogrammetric projects. However to exploit
video data as an effective data source in the realm of photogrammetric, research on its advantages,
limitations is needed. Likewise, exploration on the implementation of video data within
photogrammetric application such as triangulation and 3D modeling is needed.
This research investigates on the suitability of airborne video data as a photogrammetric data source.
Video data acquired from non metric digital camera at scale 1:45000 are used. The solution of
unknown interior orientation parameters, achievable triangulation accuracy, and video based 3D
building modeling are investigated in a frame of a series of experiments and practical set ups
implemented by means of photogrammetric tools. As part of the findings of this study interior
orientation parameters of a non metric camera are estimated and image distortion is eliminated using
Jacobsen’s simple additional distortion parameter model. Different experiments on achievable
triangulation accuracy produce acceptable RMSE of the order of 0.5 meter in horizontal and 0.6 to 0.8
meters in vertical measurement. In addition 3D building modeling of a residential area is successfully
implemented producing acceptable RMSE given the low resolution of video data. The study shows
that video data can be effectively considered as an alternative for low cost photogrammetric
applications within a certain level of accuracy.
Keywords: airborne video; photogrammetry; self-calibration; bundle adjustment; 3D building model

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SUITABILITY OF AIRBORNE VIDEO DATA FOR PHOTOGRAMMETRY

Acknowledgements

I take this opportunity to express my most sincere thanks to my two supervisors. Dr. Markus Gerke,
my first supervisor, supports me and attentively guided me during thesis time to conduct my research
and was always available and eager to give me constructive comments. He was always there to listen
and oriented me showing me how to proceed when my mind did not know how. Furthermore he
guided me on how to report for a scientific document. I would also like to extend my thanks and
appreciations to my second supervisor Ms. Yixiang Tian. Without their encouragement and constant
support I would not have been able to successfully finish this research.
The last 18 months in the Netherlands were a great experience. I gain theoretical and practical
knowledge in the field of geoinformatics and I had the opportunity to meet excellent and valuable
persons at ITC. Moreover I am very thankful to all those persons, colleagues and staff in GFM who
always encourage me during my academic and personal life in Enschede. I would like to express my
gratitude to my friends; my Chinese friend, Du Ye, Qujui and Shango who share all the time in ITC;
“three musketeers” Arik, Punny, and Satish who show me another part of Asia with food and sweets;
Irvin and Chin who always sweet for me and make me warm and happy with their jokes. Thanks also
to my Korean colleagues Yoon, Jjang and Song for being friend and brother, sharing Korean food and
culture. With you I could feel at home. I would like to extend all this thanks to the Colombian
community as well, who make me feel like another one of them. They teach me Spanish, Salsa and
give me an opportunity to join International Evening. Especially to Chippi who always there to help
me and encouraging me, being travel guide and partner. For all of your time sharing with me I would
like to say “Mucho gracias!!”
I am greatly indebted to my parents who make all of these things possible. They brought me to this
world and ever since they have supported me and have put all their efforts in my whole life. I extend
my sincere thanks to my sister So-Jung and her family for always sending me the greetings from
Korea and encouraging me with tons of Korean food; my younger sister Seung-Min, for listening me
and inspiring me to be strong; and to my brother Sung-yup, for supporting me even in his silence.
Grandmother, thanks for always thinking of me and having me in your prays.
감사합니다. 그리고 사랑합니다…

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SUITABILITY OF AIRBORNE VIDEO DATA FOR PHOTOGRAMMETRY

Table of contents

1. Introduction ............................................................................................................................... 9
1.1. Motivation and problem statement ....................................................................................... 9
1.2. Research identification ......................................................................................................... 9
1.2.1. Research objectives ....................................................................................................... 9
1.2.2. Research questions ...................................................................................................... 10
1.2.3. Innovation aimed and motivation ................................................................................ 10
1.3. Structure of thesis .............................................................................................................. 11
2. Basic concept and related topics ............................................................................................... 13
2.1. Photogrammetry ................................................................................................................ 13
2.2. Basic concept of photogrammetry ...................................................................................... 14
2.2.1. Interior orientation ...................................................................................................... 14
2.2.2. Exterior orientation ..................................................................................................... 14
2.2.3. Collinearity condition.................................................................................................. 15
2.2.4. Bundle block adjustment ............................................................................................. 15
2.3. Feature extraction (feature tracking) ................................................................................... 18
2.4. Robust estimation .............................................................................................................. 19
2.5. 3D modelling ..................................................................................................................... 19
3. Methods ................................................................................................................................... 21
3.1. Part I : Aerial triangulation ................................................................................................ 21
3.1.1. Initial interior orientation parameters (IOP) estimation (Self-Calibration) .................... 22
3.1.2. Aerial triangulation by bundle adjustment ................................................................... 23
3.1.3. Triangulation result assessment ................................................................................... 24
3.2. Part II : 3D building modeling ........................................................................................... 24
3.2.1. Data input ................................................................................................................... 25
3.2.2. Camera calibration ...................................................................................................... 25
3.2.3. Building modelling ..................................................................................................... 26
3.2.4. Building model accuracy assessment ........................................................................... 26
4. Data processing and result ........................................................................................................ 27
4.1. Aerial triangulation ............................................................................................................ 27
4.1.1. Data preparation .......................................................................................................... 27
4.1.2. Self-calibration ........................................................................................................... 30
4.1.3. Applying estimated IOPs ............................................................................................. 35
4.1.4. Bundle adjustment for the whole strip ......................................................................... 39
4.2. 3D building modeling ........................................................................................................ 50
4.2.1. Input video image ....................................................................................................... 50
4.2.2. Image calibration ........................................................................................................ 51
4.2.3. Assessment of obtainable accuracy .............................................................................. 52
4.2.4. 3D building modelling ................................................................................................ 55
5. Discussion ................................................................................................................................ 61
5.1. Discussion on results .......................................................................................................... 61
5.1.1. Self-calibration ........................................................................................................... 61
5.1.2. Bundle adjustment with whole strip ............................................................................. 62
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SUITABILITY OF AIRBORNE VIDEO DATA FOR PHOTOGRAMMETRY

5.1.3. Feasibility of using tie points derived from KLT .......................................................... 64
5.1.4. 3D building modelling ................................................................................................. 65
5.2. Problems ............................................................................................................................ 66
5.3. Limitations ......................................................................................................................... 67
6. Conclusions .............................................................................................................................. 69
6.1. Answer to research questions .............................................................................................. 69
6.2. Recommendations .............................................................................................................. 70
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SUITABILITY OF AIRBORNE VIDEO DATA FOR PHOTOGRAMMETRY

List of figures
Figure 1 Photogrammetric workflow ................................................................................................ 21
Figure 2 Self-calibration workflow ................................................................................................... 22
Figure 3 Workflow of 3D building modeling .................................................................................... 25
Figure 4 SONY XC 555P digital video camera ................................................................................. 27
Figure 5 Overlap area between two key frames ................................................................................ 28
Figure 6 Study area .......................................................................................................................... 28
Figure 7 Tracked points from KLT ................................................................................................... 29
Figure 8 Approximate focal length calculation ................................................................................. 31
Figure 9 Distribution of GCPs for self-calibration ............................................................................ 31
Figure 10 Distribution of calculated distortion value ........................................................................ 35
Figure 11 Applying distortion values as camera information ............................................................ 36
Figure 12 Compensate distortion by additional parameter in BLUH ................................................. 37
Figure 13 Check point RMSE with different number of control point use in bundle adjustment for
whole strip ....................................................................................................................................... 43
Figure 14 GCP distributions on strips for GCP experiment on bundle adjustment. ............................ 44
Figure 15 Selection of GCP on ground for experiment on bundle adjustment .................................... 45
Figure 16 Check point RMSE with different GCP distribution in bundle adjustment ......................... 45
Figure 17 Example of blunder in tie point using KLT tracker. .......................................................... 47
Figure 18 RMSE on check point from the triangulation using with and without tie points ................. 49
Figure 19 Buildings in video imagery to be modeled ........................................................................ 50
Figure 20 Screen capture of calibration on IM using survey points ................................................... 51
igure 21 Applied definition of height of building .............................................................................. 52
Figure 22 Screen capture of distance measurement on ImageModeler and corresponding laser data .. 53
Figure 23 Example of disconnected roof edge due to laser point density ........................................... 53
Figure 24 Selected buildings for 3D modeling .................................................................................. 55
Figure 25 Modeled roof and applying extracted texture .................................................................... 56
Figure 26 Basic factors on building roof ........................................................................................... 56
Figure 27 Improved model from the roof model to whole building model by applying primitive cube
model .............................................................................................................................................. 58
Figure 28 Example of the improved roof model after applying cube geometry .................................. 58
Figure 29 Overall result from GCP experiments on whole strip ........................................................ 63

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SUITABILITY OF AIRBORNE VIDEO DATA FOR PHOTOGRAMMETRY

List of tables

Table 1 video data specification (provided by Fugro) ........................................................................ 29
Table 2 Coordinate system of different data set ................................................................................. 30
Table 3 Triangulation result with focal length 12mm ........................................................................ 30
Table 4 Triangulation with different distortion model ....................................................................... 32
Table 5 IOP estimation with different set-up ..................................................................................... 33
Table 6 Estimated IOP from selected set-up ...................................................................................... 34
Table 7 Calculated distortion value ................................................................................................... 34
Table 8 Triangulation result after distortion value implementation .................................................... 36
Table 9 Triangulation result implementing distortion value from BLUH ........................................... 37
Table 10 Triangulation result depend on use of initial GPS/IMU ....................................................... 39
Table 11 Fixed set up for GCP experiment ........................................................................................ 41
Table 12 Self-calibration result with different number of control points ............................................ 41
Table 13 RMSE with different number of control points ................................................................... 42
Table 14 Triangulation result with minimum number of control points and additional GCPs using in
self-calibration .................................................................................................................................. 43
Table 15 Check point RMSE with different GCP distribution in bundle adjustment ........................... 45
Table 16 RMSE on check point and estimated EOP with the project with or without tie points .......... 46
Table 17 RMSE difference depend on blunder detection method ....................................................... 48
Table 18 Triangulation RMSE using different number of GCP with and without tie points ................ 49
Table 19 Planimetric distance difference between stereo model and laser point data .......................... 54
Table 20 Height difference between stereo model and laser point data .............................................. 54
Table 21 Difference between model measurement and laser point measurement ................................ 57
Table 22 Measurement difference between building model applying primitive cube model and laser
data .................................................................................................................................................. 59

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