scholarly journals MOUNTING CALIBRATION OF A MULTI-VIEW CAMERA SYSTEM ON A UAV PLATFORM

2021 ◽  
Vol V-1-2021 ◽  
pp. 97-104
Author(s):  
M. Mohammadi ◽  
A. Khami ◽  
F. Rottensteiner ◽  
I. Neumann ◽  
C. Heipke
Keyword(s):  
Autonomous Navigation ◽  
Bundle Adjustment ◽  
Control Points ◽  
Camera System ◽  
Camera Systems ◽  
Ground Control Points ◽  
Laser Scanners ◽  
Engineering Geodesy ◽  
Close Range ◽  
Very High

Abstract. Multi-view camera systems are used more and more frequently for applications in close-range photogrammetry, engineering geodesy and autonomous navigation, since they can cover a large portion of the environment and are considerably cheaper than alternative sensors such as laser scanners. In many cases, the cameras do not have overlapping fields of view. In this paper, we report on the development of such a system mounted on a rigid aluminium platform, and focus on its geometric system calibration. We present an approach for estimating the exterior orientation of such a multi-camera system based on bundle adjustment. We use a static environment with ground control points, which are related to the platform via a laser tracker. In the experimental part, the precision and partly accuracy that can be achieved in different scenarios is investigated. While we show that the accuracy potential of the platform is very high, the mounting calibration parameters are not necessarily precise enough to be used as constant values after calibration. However, this disadvantage can be mitigated by using those parameters as observations and refining them on-the-job.

An Experimental Analysis of the Effects of Different Hardware Setups on Stereo Camera Systems

2021 ◽  
Vol 15 (03) ◽  
pp. 337-357
Author(s):  
Alexander Julian Golkowski ◽  
Marcus Handte ◽  
Peter Roch ◽  
Pedro J. Marrón
Keyword(s):  
Experimental Analysis ◽  
Autonomous Navigation ◽  
Indoor Environments ◽  
Camera System ◽  
Stereo Camera ◽  
Camera Systems ◽  
Sensing Technology ◽  
Stereo Cameras ◽  
The Impact ◽  
General Guidance

For many application areas such as autonomous navigation, the ability to accurately perceive the environment is essential. For this purpose, a wide variety of well-researched sensor systems are available that can be used to detect obstacles or navigation targets. Stereo cameras have emerged as a very versatile sensing technology in this regard due to their low hardware cost and high fidelity. Consequently, much work has been done to integrate them into mobile robots. However, the existing literature focuses on presenting the concepts and algorithms used to implement the desired robot functions on top of a given camera setup. As a result, the rationale and impact of choosing this camera setup are usually neither discussed nor described. Thus, when designing the stereo camera system for a mobile robot, there is not much general guidance beyond isolated setups that worked for a specific robot. To close the gap, this paper studies the impact of the physical setup of a stereo camera system in indoor environments. To do this, we present the results of an experimental analysis in which we use a given software setup to estimate the distance to an object while systematically changing the camera setup. Thereby, we vary the three main parameters of the physical camera setup, namely the angle and distance between the cameras as well as the field of view and a rather soft parameter, the resolution. Based on the results, we derive several guidelines on how to choose the parameters for an application.

scholarly journals Glacier topography and elevation changes from Pléiades very high resolution stereo images

2014 ◽  
Vol 8 (5) ◽  
pp. 4849-4883 ◽  
Author(s):  
E. Berthier ◽  
C. Vincent ◽  
E. Magnússon ◽  
Á. Þ. Gunnlaugsson ◽  
P. Pitte ◽  
...  
Keyword(s):  
Field Measurements ◽  
Ground Control ◽  
European Alps ◽  
Control Points ◽  
Mass Balances ◽  
Ground Control Points ◽  
Digital Elevation ◽  
Stereo Imagery ◽  
Elevation Changes ◽  
Very High

Abstract. In response to climate change, most glaciers are losing mass and hence contribute to sea-level rise. Repeated and accurate mapping of their surface topography is required to estimate their mass balance and to extrapolate/calibrate sparse field glaciological measurements. In this study we evaluate the potential of Pléiades sub-meter stereo imagery to derive digital elevation models (DEMs) of glaciers and their elevation changes. Our five validation sites are located in Iceland, the European Alps, the Central Andes, Nepal and Antarctica. For all sites, nearly simultaneous field measurements were collected to evaluate the Pléiades DEMs. For Iceland, the Pléiades DEM is also compared to a Lidar DEM. The vertical biases of the Pléiades DEMs are less than 1 m if ground control points (GCPs) are used, but reach up to 6 m without GCPs. Even without GCPs, vertical biases can be reduced to a few decimetres by horizontal and vertical co-registration of the DEMs to reference altimetric data on ice-free terrain. Around these biases, the vertical precision of the Pléiades DEMs is ±1 m and even ±0.5 m on the flat glacier tongues (1-sigma confidence level). We also demonstrate the high potential of Pléiades DEMs for measuring seasonal, annual and multi-annual elevation changes with an accuracy of 1 m or better. The negative glacier-wide mass balances of the Argentière Glacier and Mer de Glace (−1.21 ± 0.16 and −1.19 ± 0.16 m.w.e. yr−1, respectively) are revealed by differencing SPOT5 and Pléiades DEMs acquired in August 2003 and 2012 demonstrating the continuing rapid glacial wastage in the Mont-Blanc area.

scholarly journals ACCURACY ASSESSMENT OF A UAV-BASED LANDSLIDE MONITORING SYSTEM

2016 ◽  
Vol XLI-B5 ◽  
pp. 895-902 ◽  
Author(s):  
M. V. Peppa ◽  
J. P. Mills ◽  
P. Moore ◽  
P. E. Miller ◽  
J. E. Chambers
Keyword(s):  
Image Matching ◽  
Accuracy Assessment ◽  
Bundle Adjustment ◽  
Landslide Monitoring ◽  
Control Points ◽  
Error Assessment ◽  
Ground Sample ◽  
Ground Control Points ◽  
Pixel Image ◽  
Spatio Temporal

Landslides are hazardous events with often disastrous consequences. Monitoring landslides with observations of high spatio-temporal resolution can help mitigate such hazards. Mini unmanned aerial vehicles (UAVs) complemented by structure-from-motion (SfM) photogrammetry and modern per-pixel image matching algorithms can deliver a time-series of landslide elevation models in an automated and inexpensive way. This research investigates the potential of a mini UAV, equipped with a Panasonic Lumix DMC-LX5 compact camera, to provide surface deformations at acceptable levels of accuracy for landslide assessment. The study adopts a self-calibrating bundle adjustment-SfM pipeline using ground control points (GCPs). It evaluates misalignment biases and unresolved systematic errors that are transferred through the SfM process into the derived elevation models. To cross-validate the research outputs, results are compared to benchmark observations obtained by standard surveying techniques. The data is collected with 6 cm ground sample distance (GSD) and is shown to achieve planimetric and vertical accuracy of a few centimetres at independent check points (ICPs). The co-registration error of the generated elevation models is also examined in areas of stable terrain. Through this error assessment, the study estimates that the vertical sensitivity to real terrain change of the tested landslide is equal to 9 cm.

scholarly journals PRECISION OF VISUAL LOCALIZATION USING DYNAMIC GROUND CONTROL POINTS

2020 ◽  
Vol XLIII-B1-2020 ◽  
pp. 363-370
Author(s):  
P. Trusheim ◽  
C. Heipke
Keyword(s):  
Rapid Development ◽  
Sliding Window ◽  
Bundle Adjustment ◽  
Ground Control ◽  
Visual Localization ◽  
Control Points ◽  
Automated Driving ◽  
Sliding Windows ◽  
Ground Control Points

Abstract. Localization is one of the first steps in navigation. Especially due to the rapid development in automated driving, a precise and reliable localization becomes essential. In this paper, we report an investigation of the usage of dynamic ground control points (GCP) in visual localization in an automotive environment. Instead of having fixed positions, dynamic GCPs move together with the camera. As a measure of quality, we employ the precision of the bundle adjustment results. In our experiments, we simulate and investigate different realistic traffic scenarios. After investigating the role of tie points, we compare an approach using dynamic GCPs to an approach with static GCPs to answer the question how a comparable precision can be reached for visual localization. We show, that in our scenario, where two dynamic GCPs move together with a camera, similar results are indeed obtained to using a number of static GCPs distributed over the whole trajectory. In another experiment, we take a closer look at sliding window bundle adjustments. Sliding windows make it possible to work with an arbitrarily large number of images and to still obtain near real-time results. We investigate this approach in combination with dynamic GCPs and vary the no. of images per window.

Evaluation of 3D Geo-Positioning Based on Bias-Compensated RPCs for Across-Track QuickBird Stereo Imagery

2012 ◽  
Vol 226-228 ◽  
pp. 1958-1964
Author(s):  
Weian Wang ◽  
Shu Ying Xu ◽  
Gang Qiao
Keyword(s):  
Vertical Direction ◽  
Ground Control ◽  
Control Points ◽  
Accuracy Analysis ◽  
Geometric Correction ◽  
Positioning Accuracy ◽  
Ground Control Points ◽  
Order Polynomial ◽  
Stereo Imagery ◽  
Very High

This paper investigates the geo-positioning accuracy of across-track QuickBird stereo imagery in Shanghai, China, where the terrain relief is very low about 3m but with very high buildings up to 380m. The rational function model (RFM) and the bias-compensated RFM with different parameters are employed to do accuracy analysis with different configurations of ground control points (GCPs). The systematic errors in vendor provided RPCs are revealed and discussed. The results of bias-compensated RFM show that different strategies in terms of the number of GCP and different geometric correction methods should be taken into consideration in order for a better and reasonable positioning accuracy in the three directions. The results also show that the best accuracy of 0.6m in horizontal direction and 0.8m in vertical direction can be acquired by the second-order polynomial model when GCPs are more than 8.

scholarly journals AUTOMATIC KAPPA ANGLE ESTIMATION FOR AIR PHOTOS BASED ON PHASE ONLY CORRELATION

2016 ◽  
Vol XLI-B3 ◽  
pp. 131-135
Author(s):  
Z. Xiong ◽  
D. Stanley ◽  
Y. Xin
Keyword(s):  
Bundle Adjustment ◽  
Ground Control ◽  
Correlation Technique ◽  
Control Points ◽  
Initial Value ◽  
Ground Control Points ◽  
Attitude Angle ◽  
Camera Position ◽  
Air Photo ◽  
Orientation Parameters

The approximate value of exterior orientation parameters is needed for air photo bundle adjustment. Usually the air borne GPS/IMU can provide the initial value for the camera position and attitude angle. However, in some cases, the camera’s attitude angle is not available due to lack of IMU or other reasons. In this case, the kappa angle needs to be estimated for each photo before bundle adjustment. The kappa angle can be obtained from the Ground Control Points (GCPs) in the photo. Unfortunately it is not the case that enough GCPs are always available. In order to overcome this problem, an algorithm is developed to automatically estimate the kappa angle for air photos based on phase only correlation technique. This function has been embedded in PCI software. Extensive experiments show that this algorithm is fast, reliable, and stable.

scholarly journals EVALUATION OF INTERIOR ORIENTATION MODELLING FOR CAMERAS WITH ASPHERIC LENSES AND IMAGE PRE-PROCESSING WITH SPECIAL EMPHASIS TO SFM RECONSTRUCTION

2021 ◽  
Vol XLIII-B2-2021 ◽  
pp. 17-24
Author(s):  
H. Hastedt ◽  
T. Luhmann ◽  
H.-J. Przybilla ◽  
R. Rofallski
Keyword(s):  
Bundle Adjustment ◽  
Image Space ◽  
Data Sets ◽  
Spherical Lens ◽  
Object Space ◽  
3D Measurements ◽  
Camera Systems ◽  
Low Pass ◽  
Close Range ◽  
The Impact

Abstract. For optical 3D measurements in close-range and UAV applications, the modelling of interior orientation is of superior importance in order to subsequently allow for high precision and accuracy in geometric 3D reconstruction. Nowadays, modern camera systems are often used for optical 3D measurements due to UAV payloads and economic purposes. They are constructed of aspheric and spherical lens combinations and include image pre-processing like low-pass filtering or internal distortion corrections that may lead to effects in image space not being considered with the standard interior orientation models. With a variety of structure-from-motion (SfM) data sets, four typical systematic patterns of residuals could be observed. These investigations focus on the evaluation of interior orientation modelling with respect to minimising systematics given in image space after bundle adjustment. The influences are evaluated with respect to interior and exterior orientation parameter changes and their correlations as well as the impact in object space. With the variety of data sets, camera/lens/platform configurations and pre-processing influences, these investigations indicate a number of different behaviours. Some specific advices in the usage of extended interior orientation models, like Fourier series, could be derived for a selection of the data sets. Significant reductions of image space systematics are achieved. Even though increasing standard deviations and correlations for the interior orientation parameters are a consequence, improvements in object space precision and image space reliability could be reached.

scholarly journals 3-D modelling and visualization of large building using photogrammetric approach

2021 ◽  
Author(s):  
Raad Awad Kattan ◽  
◽  
Farsat Heeto Abdulrahman ◽  
Sami Mamlook Gilyana ◽  
Yousif Youkhna Zaya ◽  
...  
Keyword(s):  
Bundle Adjustment ◽  
Ground Control ◽  
Control Points ◽  
Distance Measurements ◽  
Ground Control Points ◽  
Digital Elevation ◽  
Elevation Model ◽  
College Of Engineering ◽  
User Friendly ◽  
D Model

The progress in modern technologies such as precise lightweight cameras mounted on unmanned aerial vehicles (UAV) and the more user-friendly software in the photogrammetric field, allows for 3-D model construction of any structure or shape. Software now achieves in sequence the processes of matching, generating tie points, block bundle adjustment, and generating digital elevation models.The aim of this study is to make a virtual 3-D model of the college of engineering /University of Duhok. Kurdistan Region, Iraq. The data input is vertical and oblique imagery acquired by UAV, ground control points distributed on the surrounded ground, facades, and roof. Ground control points were measured by the GPS RTK system in addition to the reflectorless total station instrument. The data is processed mainly using Agisoft PhotoScan software as well as the Global Mapper and the ReCap software. The output is a 3-D model, digital elevation model, and orthomosaic.Geometric and visual inspections were carried out. Some imperfections appeared on the sharp edges and parapets of the building. In the geometric accuracy of selected points on the building, the maximum standard deviation in the coordinates was ±4cm. The relative accuracy in distance measurements were in the range of 0.72% to 4.92 %

scholarly journals EVALUATION OF A METRIC CAMERA SYSTEM TAILORED FOR HIGH PRECISION UAV APPLICATIONS

2016 ◽  
Vol XLI-B1 ◽  
pp. 901-907 ◽  
Author(s):  
T. Kraft ◽  
M. Geßner ◽  
H. Meißner ◽  
M. Cramer ◽  
M. Gerke ◽  
...  
Keyword(s):  
Three Dimensional ◽  
Aerial Survey ◽  
Ground Control ◽  
Test Case ◽  
Test Field ◽  
Control Points ◽  
Camera System ◽  
Ground Control Points ◽  
Industrial Grade ◽  
Static Conditions

In this paper we present the further evaluation of DLR’s modular airborne camera system MACS-Micro for small unmanned aerial vehicle (UAV). The main focus is on standardized calibration procedures and on photogrammetric workflows. The current prototype consists of an industrial grade frame imaging camera with 12 megapixel resolutions and a compact GNSS/IMU solution which are operated by an embedded computing unit (CPU). The camera was calibrated once pre-flight and several times post-flight over a period of 5 month using a three dimensional test field. The verification of the radiometric quality of the acquired images has been done under controlled static conditions and kinematic conditions testing different demosaicing methods. The validation of MACS-Micro is done by comparing a traditional photogrammetric evaluation with the workflows of Agisoft Photoscan and Pix4D Mapper. The analyses are based on an aerial survey of an urban environment using precise ground control points and acquired GNSS observations. Aerial triangulations with different configuratrions of ground control points (GCP’s) had been calculated, comparing the results of using a camera self-calibration and introducing fixed interior orientation parameters for Agisoft and Pix4D. The results are promising concerning the metric characteristics of the used camera and achieved accuracies in this test case. Further aspects have to be evaluated by further expanded test scenarios.

scholarly journals Accuracy of Unmanned Aerial Vehicle (UAV) and SfM Photogrammetry Survey as a Function of the Number and Location of Ground Control Points Used

2018 ◽  
Vol 10 (10) ◽  
pp. 1606 ◽  
Author(s):  
Enoc Sanz-Ablanedo ◽  
Jim Chandler ◽  
José Rodríguez-Pérez ◽  
Celestino Ordóñez
Keyword(s):  
Critical Role ◽  
Bundle Adjustment ◽  
Ground Control ◽  
Control Points ◽  
Ground Sample ◽  
Ground Control Points ◽  
Check Points ◽  
Aerial Vehicle

The geometrical accuracy of georeferenced digital surface models (DTM) obtained from images captured by micro-UAVs and processed by using structure from motion (SfM) photogrammetry depends on several factors, including flight design, camera quality, camera calibration, SfM algorithms and georeferencing strategy. This paper focusses on the critical role of the number and location of ground control points (GCP) used during the georeferencing stage. A challenging case study involving an area of 1200+ ha, 100+ GCP and 2500+ photos was used. Three thousand, four hundred and sixty-five different combinations of control points were introduced in the bundle adjustment, whilst the accuracy of the model was evaluated using both control points and independent check points. The analysis demonstrates how much the accuracy improves as the number of GCP points increases, as well as the importance of an even distribution, how much the accuracy is overestimated when it is quantified only using control points rather than independent check points, and how the ground sample distance (GSD) of a project relates to the maximum accuracy that can be achieved.

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