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in Photogrammetry
Mathematical model of
Correspondence between Image
point and Object point
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Coordinate Reference Frames
Image space coordinate system
Object space coordinate system
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Figure 1. Object and image space
coordinate systems
Sensor Model (Interior Orientation)
Focal length or principal distance (f)
The location of principal point in the
image plane
The description of lens distortion
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0 0
, y x
Image coordinate system
T
0 0
) , ( 2D y y x x
T
0 0
) , , ( 3D f y y x x
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Figure 2. Elements defining the image
coordinate system
Lens distortion
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Radial component of lens distortion
Tangential component
Figure 3. Lens distortion
The elements of exterior orientation are described by
position of perspective center and the
pose of the ray axis
Platform Model (Exterior Orientation)
T
L L L
Z Y X L ) , , (
L
L
L
Z Z
Y Y
X X
kM
f
y y
x x
0
0
Where k: a scale factor
M: rotation matrix
Point correspondence between
image space and object space
(4)
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) , , (
Figure 4. Object and image
coordinate systems
M: Rotation Matrix
The standard approach to constructing M is by
using three sequential rotation:
about the X-axis
about the once-rotated Y-axis
about the twice-rotated Z-axis
cos sin - 0
sin cos 0
0 0 1
M
cos 0 sin
0 1 0
sin - 0 cos
M
=
1 0 0
0 cos sin -
0 sin cos
M
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M: Rotation Matrix - continued
M M M M =
+
+
=
cos cos cos sin sin
sin sin cos cos sin sin sin sin s cos sin cos
cos sin cos - sin sin cos sin sin sin cos cos cos
co M
=
33 32 31
23 22 21
13 12 11
m m m
m m m
m m m
M
(5)
(6)
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Derivation of Collinearity equations
L
L
L
Z Z
Y Y
X X
m m m
m m m
m m m
k
f
y y
x x
33 32 31
23 22 21
13 12 11
0
0
L
L
L
Z Z
Y Y
X X
kM
f
y y
x x
0
0
[ ]
[ ]
[ ] ) ( ) ( ) (
) ( ) ( ) (
) ( ) ( ) (
33 32 31
23 22 21 0
13 12 11 0
L L L
L L L
L L L
Z Z m Y Y m X X m k f
Z Z m Y Y m X X m k y y
Z Z m Y Y m X X m k x x
+ + =
+ + =
+ + =
[ ]
[ ]
[ ]
[ ] ) ( ) ( ) (
) ( ) ( ) (
) ( ) ( ) (
) ( ) ( ) (
33 32 31
23 22 21
0
33 32 31
13 12 11
0
L L L
L L L
L L L
L L L
Z Z m Y Y m X X m
Z Z m Y Y m X X m
f y y
Z Z m Y Y m X X m
Z Z m Y Y m X X m
f x x
+ +
+ +
=
+ +
+ +
=
(7-1)
(7-2)
(7-3)
Further processes : dividing (7-1) by (7-3) and dividing (7-2) by (7-3)
(8-1)
(8-2)
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Derivation of Collinearity equations-continued
Likewise, one can come to the following relationship:
[ ]
[ ]
[ ]
[ ] ) ( ) ( ) (
) ( ) ( ) (
) (
) ( ) ( ) (
) ( ) ( ) (
) (
33 0 23 0 13
32 0 22 0 12
33 0 23 0 13
31 0 21 0 11
f m y y m x x m
f m y y m x x m
Z Z Y Y
f m y y m x x m
f m y y m x x m
Z Z X X
L L
L L
+ +
+ +
=
+ +
+ +
=
(9-1)
(9-2)
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The Interpretation of Collinearity Equations
Mathematically
Whether the balance between unknowns and
number of equations (measurements) would lead
to the solution?
Geometrically
?
?
?
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The Interpretation of Collinearity Equations-
continued
Resection: Derive exterior orientation via photo
measurements and the known object points.
Intersection: Determine the position
(coordinates) of object point by intersecting, at
least, two rays originated from different
perspective centers.
Back-Projection: Predict the photo coordinates
for a known object point and exterior orientation.
Note: To get better understanding of the configurations,
one should be able to distinguish observations from
(unknown) parameters in each case.
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From Collinearity equations to
Coplanarity equations
1 2
1 2
1 2
L L
L L
L L
Z
Y
X
Z Z
Y Y
X X
b
b
b
b
2
0
0
2
2
2
2
2
1
0
0
1
1
1
1
1
f
y y
x x
M
w
v
u
a
f
y y
x x
M
w
v
u
a
T
T
coplanar are and ,
2 1
a a b 0 ) (
2 1
=
a a b
Therefore, the determinant of the
vector components ends up zero
0
2 2 2
1 1 1
= =
w v u
w v u
b b b
F
Z Y X
(10)
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From Collinearity equations to
Coplanarity equations continued
Note that the object point coordinates
have been eliminated from the equations.
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What if Exterior Orientation is not known?
How to solve exterior orientation parameters?;
namely how to determine the position and the
pose of the perspective center w.r.t. the
assumed object coordinate system.
?
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Solutions of Exterior Orientation
Single Photo (Single Photo Resection)
Stereo model
Block Triangulation
Always to think about the balance between
number of parameters and the number of
equations; most likely one would deal with
redundant observations for increasing accuracy and
reliability purposes.
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Computational concerns
Collinearity equations are nonlinear
systems, linearization and iterative
computation are needed for the
convergent solution.
Due to the linearization, the approximation
of parameters need to be provided prior to
the computation.
What are the alternatives?
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