multi-sensor triangulation of multi-source spatial data · multi-sensor triangulation (mst) •...
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JACIE, March 16, 2006
Multi-Sensor Triangulation of Multi-Source Spatial Data
Ayman Habib, Chang-Jae Kim, and Ki-In BangDigital Photogrammetry Research Group
http://dprg.geomatics.ucalgary.ca
Department of Geomatics EngineeringUniversity of Calgary, Canada
https://ntrs.nasa.gov/search.jsp?R=20070038219 2020-06-15T12:55:59+00:00Z
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Overview
• Introduction.• Multi-sensor triangulation. • Multi-primitive triangulation:
– Points.– Linear features.– Aerial features.
• Experimental results.• Conclusions and future outlook.
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Introduction• There is a tremendous increase in data acquisition
systems, which are available for the mapping community:– Photogrammetric systems:
• High resolution imaging satellites.• Metric analog frame cameras.• Metric digital frame cameras.• Metric digital line cameras.• Medium-format digital frame cameras.
– LIDAR systems.– GPS/INS navigation units.
• These systems provide complementary information.• We need to provide an integrating environment of
these sensors: Multi-Sensor Triangulation (MST).
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Photogrammetric SystemsFrame Cameras
Applanix DSS SONY 717
RC10
Kodak 14n Canon EOS 1D
DMC
Line Cameras
IKONOSADS 40
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LIDAR Systems
ALS 40 (Leica Geosystems) OPTECH ALTM 3100
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Point-Based Triangulation
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Photogrammetry:
Direct measurement of intermediate points on images
Line-Based Triangulation
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LIDAR:Plane fitting & intersection
manual identification of LIDAR patches with the aid of imagery
Line-Based Triangulation
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LIDAR:Manipulation of range and intensity images
Line-Based Triangulation
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Image line
LIDAR control line
Projected LIDAR line
Direct incorporation of LIDAR lines as control in the photogrammetric BA
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Line-Based Triangulation
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Patch-Based Triangulation
B(XB,YB,ZB)
LIDAR point
A(XA,YA,ZA)
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Photogrammetric (A,B,C points) and LIDAR surface patches
Direct incorporation of LIDAR patches as constraints in the photogrammetric BA
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Patch-Based Triangulation
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Direct incorporation of LIDAR patches as constraints in the photogrammetric BA
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Multi-Sensor Triangulation (MST)• Developed an integrated triangulation system.
– Multi-sensor: Satellite imagery, aerial imagery, LIDAR and GPS/INS.
– Multi-primitive: distinct points, linear features, and aerial features.
• Advantages:– Takes an advantage of the extended coverage of imaging
satellites.– Takes an advantage of the high geometric resolution of
aerial imaging systems.– Utilizes sparse frame imagery to improve the weak
geometry of imaging satellites while reducing ground control point requirements.
– Uses LIDAR data for photogrammetric geo-referencing.
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MST: Experimental Results
IKO
NO
S
DSS Digital
DSS:
Expected accuracy:
planimetric: 0.25mvertical: 0.74mspatial: 0.78m
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MST: Experimental Results
Upper Block
DSS: Upper Block Upper LIDAR Scan
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MST: Experimental Results
Middle Block
DSS: Middle Block Middle LIDAR Scan
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MST: Experimental Results
Lower Block
DSS: Lower Block Lower LIDAR Scan
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IKONOS scenes and GCP layout over Daejeon, Korea
Stereo-IKONOS with GCP Layout
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Examples of Tie Points
MST: Experimental Results
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Examples of Tie / Control Lines
MST: Experimental Results
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. u1B
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MST: Experimental Results
Example of a Control Patch
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RMSE (m)GPS / LIN / PATCH (mm) Total
0 NONE N/A N/A N/A N/A N/A
PATCH 0.004 3.582 3.394 2.207 5.406
GPS + LIN 0.005 2.116 1.358 1.803 3.093
NONE N/A N/A N/A N/A N/A3.065
3.066
4.190
LIN 0.005 2.105 1.370 1.757
GPS 0.006 2.109 1.048 1.963
GPS + PATCH 0.004 2.374 2.580 2.294
018
X Y Z# GCP # Frames 0σ̂
No Ground Control Points
Scan line direction
138 Control Lines & 139 Control Patches
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Scan line direction
Configuration of 5 GCP
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5 Ground Control Points
Scan line direction
RMSE (m)GPS / LIN / PATCH (mm) Total
0 NONE N/A N/A N/A N/A N/A
PATCH 0.004 1.670 1.009 1.759 2.628
GPS + LIN 0.005 1.733 1.112 1.717 2.681
NONE 0.006 1.907 1.084 3.7474 4.3422.716
2.727
2.631
LIN 0.005 1.786 1.115 1.717
GPS 0.007 1.805 1.024 1.770
GPS + PATCH 0.004 1.647 1.008 1.786
518
X Y Z# GCP # Frames 0σ̂
138 Control Lines & 139 Control Patches
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Configuration of 7 GCP
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7 Ground Control Points
Scan line direction
RMSE (m)GPS / LIN / PATCH (mm) Total
0 NONE 0.005 1.442 1.608 3.290 3.936
PATCH 0.004 1.516 1.025 1.774 2.549
GPS + LIN 0.005 1.783 1.132 1.724 2.726
NONE 0.006 1.568 1.029 2.392 3.0392.696
2.618
2.598
LIN 0.005 1.738 1.130 1.722
GPS 0.007 1.657 1.025 1.747
GPS + PATCH 0.004 1.578 1.024 1.792
718
X Y Z# GCP # Frames 0σ̂
138 Control Lines & 139 Control Patches
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Configuration of 40 GCP
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40 Ground Control Points
Scan line direction
RMSE (m)GPS / LIN / PATCH (mm) Total
0 NONE 0.011 1.092 0.870 1.450 2.013
PATCH 0.004 1.110 0.845 1.475 2.030
GPS + LIN 0.006 1.143 0.934 1.498 2.103
NONE 0.008 1.129 0.863 1.528 2.0872.112
2.107
2.026
LIN 0.006 1.173 0.921 1.495
GPS 0.008 1.122 0.859 1.563
GPS + PATCH 0.004 1.095 0.846 1.478
4018
X Y Z# GCP # Frames 0σ̂
138 Control Lines & 139 Control Patches
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0
5
10
15
20
25
30
35
0 1 2 3 4 5 6 7 8 9 10 15 40
Number of Control Points
RMS
E, m
NO FramesFrameLINPATCHGPSGPS + LINGPS + PATCH
N/A
MST: Experimental Results
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DSS / IKONOS Ortho-photos
MST: Experimental Results
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DSS / IKONOS Ortho-photos
MST: Experimental Results
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Original Image
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Ortho-Photo Generation
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True Ortho-Photo Generation
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Differential Rectification
Generated Ortho-photo
MST: Experimental Results
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True Ortho-photo
Generated Ortho-photo
MST: Experimental Results
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Concluding Remarks
• The introduced methodologies are successful in:– Using LIDAR features for photogrammetric geo-
referencing.• Line-based and patch-based photogrammetric geo-referencing
using control derived from LIDAR data.
– Delivering a geo-referenced imagery of the same quality as point-based geo-referencing procedures.
– Taking advantage of the synergistic characteristics of spatial data acquisition systems.
• The triangulation output can be used for the generation of 3-D perspective views.
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Recommendations for Future Work• Automated segmentation of LIDAR data to extract
the patches and linear features.• More investigation into using the outcome from
the geo-referencing procedure for the verification of the system calibration.
• Utilize the raw LIDAR measurements in the patch-based photogrammetric geo-referencing.– Such a utilization will allow for LIDAR system
calibration.• Quality assurance and quality control procedures
for LIDAR data.
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3-D Perspective View