Professional Documents
Culture Documents
Research On Close-Range Photogrammetry With Big Rotation Angle
Research On Close-Range Photogrammetry With Big Rotation Angle
ANGLE
Lu Juea
a
The Department of Surveying and Geo-informatics Engineering, Tongji University, Shanghai, 200092. -
lujue1985@126.com
KEY WORDS: Big Rotation Angle; Colinearity Equation; Coplanarity Equation; Exterior Orientation
ABSTRACT:
This paper studies the influence of big rotation angles on the classical solution of analytical process. Close-range photogrammetry
differs from traditional aerial photogrammetry, for the former usually adopts oblique photography or convergent photography, while
the latter is similar to take vertical photos wherein the orientation elements are very small. In this paper, an exploration of the
algorithm in every step of the analytical process from dependent relative orientation to absolute orientation is described. In order to
emphasize the differences, contrasts will be made between the solution of the classical aerial photography and the algorithm of the
close-range photogrammetry. A practical close-range photogrammetry experiment is presented to demonstrate this new algorithm.
Through the example, it is pointed that with this new algorithm, the coordinates of the ground points and the exterior orientation can
be accurately calculated. The results indicate that the algorithm deduced in this paper is applicable in the close-range
photogrammetry with big rotation angle.
2. BASIC PRINCIPLE OF SPACE RESECTION AND In traditional aerial photogrammetry, the initial values of three
TLS orientation parameters can be set at zeros, for its vertical
manner [4]. But in close-range photogrammetry with big rotation
Collinearity condition equations are essential in analytical angles, if they are still zeros, the process may not converge to
photogrammetry. The fundamental theory of the collinearity proper results. So we need to determine the exterior orientations
equations is that the perspective center, the image point, and the without the knowledge of their approximate values.
corresponding object point all lie on a line. Based on these
equations, image and object coordinate systems will be related In this paper, the collinearity solution based on the orthogonal
by three position parameters and three orientation parameters, matrix is applied. In this method, the nine elements of the
called exterior orientations [2]. No matter what format of the matrix are used instead of the three angles, with three position
three orientation parameters are present, they will be implicitly parameters to take the roles of the unknown. The linear
expressed in the nine elements of a 3×3 orthogonal rotation observation equations can then be made along with six
157
The International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences. Vol. XXXVII. Part B6b. Beijing 2008
tgν
1 tgμ (8)
And the condition equations can be written as: cos μ 1 μ ν
F = Bx X 1 Y1 Z1 ≈ Bx X 1 Y1 Z1
X2 Y2 Z2 X2 Y2 Z2
158
The International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences. Vol. XXXVII. Part B6b. Beijing 2008
equations: one for the limitation of base line components and ⎢ b12 + b22 + b32 -1 ⎥
the others based on the orthogonal conditions of the rotation ⎢ ⎥
W = ⎢ c12 + c22 + c32 -1 ⎥
matrix. The error equations are: ⎢ a a +bb +c c ⎥
⎢ 1 2 12 12 ⎥
⎢ a1a3 + b1b3 + c1c3 ⎥
⎢ a a +b b +c c ⎥
v = Ax - l ⎣ 2 3 2 3 2 3 ⎦
xT = ⎡⎣ dBx dBy dBz da1 da2 da3 db1 db2 db3 dc1 dc2 dc3 ⎤⎦
(12)
l = − F0 = X 2Y1 Bz + X 1Z 2 By + Y2 Z1 Bx − Y1Z 2 Bx − X 1Y2 Bz − X 2 Z1 By
A = [ a11 a12 a13 a14 a15 a16 a17 a18 a19 a20 a21 a22 ] By this means, the nonlinear function can be changed into
⎡ ∂F ∂F ∂F ∂F ∂F ∂F ∂F ∂F ∂F ∂F ∂F ∂F ⎤
linear one as to eliminate the process of differentiating and it
=⎢ ⎥ can converge to the correct result quickly without the
⎢⎣ ∂Bx ∂By ∂Bz ∂a1 ∂a2 ∂a3 ∂b1 ∂b2 ∂b3 ∂c1 ∂c2 ∂c3 ⎥⎦
knowledge of the approximate values of the parameters. The
(9) process of the deduction is not complicated, and the
construction of the coefficient of the adjustment equations is
clear and concise.
And the coefficients of the data matrix A are:
3.2 Intersection
∂F ∂F Intersection refers to the determination of a point’s position in
a11 = = Y1Z 2 − Y2 Z1 , a12 = = X 2 Z1 − X 1Z 2
∂Bx ∂By object space by intersecting the image rays from two or more
∂F ∂F images. Here the standard method will be used that is the
a13 = = X 1Y2 − X 2Y1 , a14 = = ( x2 − x0 ) × ( By Z1 − BzY1 )
∂Bz ∂a1 application of the collinearity equations, with two equations for
∂F ∂F each image of the point. With this method, more than two
a15 = = ( y2 − y0 ) × ( By Z1 − BzY1 ), a16 = = (− f ) × ( By Z1 − BzY1 )
∂a2 ∂a3 images can be performed to calculate the coordinates of the
a17 =
∂F
= ( x2 − x0 ) × ( Bz X 1 − Bx Z1 ), a18 =
∂F
= ( y2 − y0 ) × ( Bz X 1 − Bx Z1 )
model points, making it a strict solution and not bounded by the
∂b1 ∂b2 number of photos [6].
∂F ∂F
a19 = = (− f ) × ( Bz X 1 − Bx Z1 ), a20 = = ( x2 − x0 ) × ( BxY1 − By X 1 )
∂b3 ∂c1
∂F ∂F ∂x ∂x ∂x
a21 = = ( y2 − y0 ) × ( BxY1 − By X 1 ), a22 = = (− f ) × ( BxY1 − By X 1 ) vx = dX + dY + d Z − ( x − ( x )) (13)
∂c2 ∂c3 ∂X ∂Y ∂Z
(10) ∂y ∂y ∂y
vy = dX + dY + d Z − ( y − ( y ))
∂X ∂Y ∂Z
159
The International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences. Vol. XXXVII. Part B6b. Beijing 2008
160
The International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences. Vol. XXXVII. Part B6b. Beijing 2008
161
The International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences. Vol. XXXVII. Part B6b. Beijing 2008
Chen Yi, Shen Yun-zhong, Liu Da-jie. A Simplified Model of Feng Wen-hao, 2002. Close Range Photogrammetry-The Rules
Three Dimensional-Datum Transformation Adapted to Big for Photography with the Shape and Motion State of Objects.
Rotation Angle, 2004. Geomatics and Information Science of Wu Han: Wuhan University Press, pp. 1-14.
Wuhan University, 29: pp. 1101-1105.
Li De-ren, Zheng Zhao-bao, 1992. Analytical Photogrammetry.
Chen Yi, 2004. New Computation Method of Collinearity Beijing: Surveying Press, pp. 114-128.
Equation Suiting Digital Photogrammetry. Journal of Tongji Qian Ceng-bo, Liu Jing-zi, Xiao Guo-chao, 1992
University, 32(5): pp. 660-663.
Li De-ren, Zhou Yue-qin, Jin Wei-xian, 2001. The Outline of
Edward M. Mikhail, James S. Bethel, J. Chris McGlone, 2001. Photogrammetry and Remote Sensing. Beijing: Surveying Press,
Introduction to Modern Photogrammetry [M]. Wiley, Har/Cdr pp. 15-68.
edition, pp. 66-103.
Wang Zhi-Zhuo, 1984. The Principle of Photogrammetry. Wu
Han: Surveying Press, pp. 14-122.
162