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Chapter 04
Mathematical Concepts
in Photogrammetry
Compiled & developed by
Saptomo H Mertotaroeno, Ir., M.Sc.
saptomo@gd.itb.ac.id
FUNDAMENTALS OF PERSPECTIVE
GEOMETRY
e1 x f1 y g1
X This is referred to as the projective
e0 x f0 y 1 transformation between planes.
e2 x f2 y g 2 (square quadrangular )
Y (quadrangular quadrangular)
e0 x f0 y 1
where, es, fs, and gs are the eight parameters of the transform-
ation.
10/27/2017 4:39 PM Mathematical Concepts, SHM 7
The Functional Model (2)
In order to estimate the eight unknown transformation para-
meters, a minimum of four points of known coordinates (x, y)
and known projected coordinates (X, Y) is necessary.
Four planimetric (horizontal) control points.
p1 X q1Y r1
x
p0 X q0Y 1
p2 X q2Y r2
y
p0 X q0Y 1
10/27/2017 4:39 PM Mathematical Concepts, SHM 8
Perspective Projection Between 3-D Space and a Plane
The perspective projection between 3-D space and a plane is
unique only in one direction.
For any point in space, there is a unique projective point in the
plane,
1 point of (X, Y, Z) 1 point of (x, y).
For any point in the plane, there are an infinite number of
corresponding points in space.
1 point of (x, y) infinite number of points of (X, Y, Z).
A1
A2
A3
A4
A (XA, YA, ZA) a (xa, ya) a (xa, ya) A1, A2, A3, ..
DEM/DTM (Z)
p(xp, yp) and ZP P(XP, YP) available (constraint)
Screen
X
Display
Coordinate
System
(non-right-
handed) Y
z' f
For a Pushbroom
For a Frame Camera Linear Sensor
x
y0
y
10/27/2017 4:39 PM Mathematical Concepts, SHM 22
The Lens Distortion
Lens distortion is present when the actual image space rays are
not parallel to the corresponding object space rays.
Lens distortion, r
r = r f tan
Camera Outer
Orientation
Elements
10/27/2017 4:39 PM Mathematical Concepts, SHM 30
Linear
Array
Sensor
Image
f Z ZL
in which (x, y, -f) are the image space coordinates, k is a scale factor, M is a 3 X 3
matrix containing the rotation parameters, and (X, Y, Z) represent the object point.
The selection of the order of rotations, that is, the primary, secondary,
and tertiary axes, is arbitrary, but it will affect the attitudes at which
singularities occur. (Appendix 04C)
10/27/2017 4:39 PM Mathematical Concepts, SHM Mg.11.2, 04/11/16 35
Mg.12.1, 09/11/16
PHOTOGRAMMETRIC CONDITIONS
Image coordinates (xa ,ya) as functions of inner (f,x0 ,y0) & exterior
(,,,XL ,YL ,ZL) orientation, and object space coordinates (XA ,YA ,ZA).
These equations may be used to compute the corresponding image
coordinates when the interior and exterior orientations are known
and an object point is known.
The transformation of 3-D object coordinates into 2-D photo coordinates
(XA ,YA ,ZA) (xa ,ya). (The reversed transformation is impossible)
3-D 2-D
One-to-one
correspondence
10/27/2017 4:39 PM Mathematical Concepts, SHM 41
Development of Collinearity Condition Equations (1)
OA OL LA OL sa La
X A XL xa
Y Y s y ... (a)
A L a a
Z A Z L za
O sa : point scale factor of point a.
In matrix form :
d
d
dX A
b11 b12 b13 b14 b15 b16 d b14 b15 b16
J v xa
b K v
b26 dX L b24 b25 b26
dY A
b24 b25
21 b22 b23 dZ A a
y
dYL
dZ L
BL p L BC c F v
(2x6) (6x1) (2x3) (3x1) (2x1) (2x1)
Where :
Some applications :
Space resection and intersection
Camera calibration
Relative orientation
Simple and differential rectification
Bundle block adjustment
Etc.
10/27/2017 4:39 PM Mathematical Concepts, SHM 52
Iteration Strategies
Improvement of approximate values :
0 0 d
0 0
d X 0 X 0 dX
0 0 d 0A 0A A
0 0 ; YA YA dYA
X L X L dX L Z 0 Z 0 dZ
Y 0 Y 0 dYL A A A
L0 L0
Z L Z L dZ L
pL0 pL0 pL ; c0 c 0 c
(parameters terms)
(quasi
parameters)
p1 X q1Y r1 e1 x f1 y g1
x X
p0 X q0Y 1 e0 x f0 y 1
(4-8)
p X q2Y r2 e2 x f2 y g 2
y 2 Y
p0 X q0Y 1 e0 x f0 y 1
DEM/DTM (Z)
p(xp, yp) and ZP P(XP, YP) available (constraint)
The Coplanarity
Condition
Coplanarity is the con-
dition that the two ex-
posure stations of a
stereopair, any object
point, and its corres-
ponding image points
on the two photos all
lie in a common plane.
L1, L2, a1, a2, and A
all lie in the same
plane
This condition apply if these pho-
tographs are relatively oriented
with respect to each other
a1 b1 a2 b3 b2 a3
If a a2 and b b2 , then c a b b1a3 a1b3
a3 b3 a1b2 b1a2
c=axb
b
a
10/27/2017 4:39 PM Mathematical Concepts, SHM 65
Skipped
bz ZL2 ZL1
Imaging Equations
D-4. Given the following values, compute the photo-coordinates xa and ya.
Express your answers to the nearest 0.001 mm.
f = 152.916 mm x0 = 0.010 mm y0 = -0.004 mm
= -0.4052o = 1.2095o = 102.8006o
XL = 1027.863 m YL = 1043.998 m ZL = 611.032 m
XA = 974.435 m YA = 956.592 m ZA = 14.619 m
2. Suatu foto udara memiliki unsur-unsur orientasi luar (,,) = (3, -2, 88)
derajat dan (XL, YL, ZL) = (12000, 14000, 3000) meter, serta parameter-
parameter kamera (x0, y0, f) = (-0.012, 0.006, 153.000) mm. Tugas :
a. Hitung koordinat fiducial dari titik tanah (X, Y, Z) = (11850, 13700, 200)
meter ! (Petunjuk : gunakan rumus kesegarisan)
b. Untuk titik citra pada a.) di atas, tentukan posisi dimana sinar tersebut
memotong ruang obyek yang didefinisikan oleh Z = 0 ! (Petunjuk : guna-
kan rumus reproyeksi)
Aknowledgements
Some data, information, illustrations, and diagrams in this presentation are quoted
from .ppt files developed by Dr. Ir. Bobby S. Dipokusumo, M.Sc. and Dr. Ir. Andri
Hernandi, MT.
End of Chapter 04
Mathematical Concepts
in Photogrammetry
Compiled & developed by
Saptomo H Mertotaroeno, Ir., M.Sc.
saptomo@gd.itb.ac.id