scholarly journals ESTIMATING EXTERIOR ORIENTATION PARAMETERS OF HYPERSPECTRAL BANDS BASED ON POLYNOMIAL MODELS

2017 ◽  
Vol XLII-3/W3 ◽  
pp. 19-25 ◽  
Author(s):  
A. Berveglieri ◽  
A. M. G. Tommaselli ◽  
E. Honkavaara
Keyword(s):  
Real Data ◽  
Bundle Adjustment ◽  
Time Dependent ◽  
Camera Model ◽  
Exterior Orientation ◽  
Spectral Bands ◽  
Acquisition Mode ◽  
Polynomial Models ◽  
Orientation Parameters ◽  
Sequential Acquisition

Hyperspectral camera operating in sequential acquisition mode produces spectral bands that are not recorded at the same instant, thus having different exterior orientation parameters (EOPs) for each band. The study presents experiments on bundle adjustment with time-dependent polynomial models for band orientation of hyperspectral cubes sequentially collected. The technique was applied to a Rikola camera model. The purpose was to investigate the behaviour of the estimated polynomial parameters and the feasibility of using a minimum of bands to estimate EOPs. Simulated and real data were produced for the analysis of parameters and accuracy in ground points. The tests considered conventional bundle adjustment and the polynomial models. The results showed that both techniques were comparable, indicating that the time-dependent polynomial model can be used to estimate the EOPs of all spectral bands, without requiring a bundle adjustment of each band. The accuracy of the block adjustment was analysed based on the discrepancy obtained from checkpoints. The root mean square error (RMSE) indicated an accuracy of 1 GSD in planimetry and 1.5 GSD in altimetry, when using a minimum of four bands per cube.

scholarly journals PERFORMANCE EVALUATION OF SEQUENTIAL BAND ORIENTATION BY POLYNOMIAL MODELS IN HYPERSPECTRAL CUBES COLLECTED WITH UAV

2019 ◽  
Vol XLII-2/W13 ◽  
pp. 1625-1629
Author(s):  
A. Berveglieri ◽  
A. M. G. Tommaselli ◽  
G. Santos ◽  
L. D. Santos ◽  
E. Honkavaara
Keyword(s):  
Accurate Result ◽  
Bundle Adjustment ◽  
Polynomial Model ◽  
Time Dependent ◽  
Exterior Orientation ◽  
Spectral Bands ◽  
Fabry Perot ◽  
Polynomial Models ◽  
Orientation Parameters ◽  
Image Band

<p><strong>Abstract.</strong> A study on orientation of hyperspectral band cubes acquired with frame camera is presented in this paper. The camera technology is based on a tuneable Fabry-Perot Interferometer (FPI) and captures cubes of images sequentially using two sensors. However, the bands are not recorded at the same instant, which results different exterior orientation parameters (EOPs) for each image band. A technique based on polynomial model is assessed, which determines the EOPs within the hypercube from few sample bands, since a large number of bands are generated. Experiments were performed to assess the feasibility of using the polynomial technique. An analysis of the UAV trajectory was performed and the results of the polynomial technique were compared with those obtained by a conventional bundle adjustment. The trials showed that the results of both techniques were comparable, indicating that the time-dependent polynomial model can be used to estimate the EOPs of all spectral bands, without requiring a bundle adjustment including all bands. The accuracy of the block adjustment was analysed based on the discrepancies obtained from independent checkpoints. The root mean square error (RMSE) was calculated and showed an accuracy of approximately 1 GSD in planimetry and 1.5 GSD in altimetry. This accurate result is important because the proposed technique can significantly reduce the processing workload.</p>

scholarly journals A General Point-Based Method for Self-Calibration of Terrestrial Laser Scanners Considering Stochastic Information

2020 ◽  
Vol 12 (18) ◽  
pp. 2923
Author(s):  
Tengfei Zhou ◽  
Xiaojun Cheng ◽  
Peng Lin ◽  
Zhenlun Wu ◽  
Ensheng Liu
Keyword(s):  
Point Cloud ◽  
A Priori ◽  
Real Data ◽  
Point Clouds ◽  
Estimation Algorithm ◽  
General Point ◽  
Exterior Orientation ◽  
Self Calibration ◽  
Laser Scanners ◽  
Orientation Parameters

Due to the existence of environmental or human factors, and because of the instrument itself, there are many uncertainties in point clouds, which directly affect the data quality and the accuracy of subsequent processing, such as point cloud segmentation, 3D modeling, etc. In this paper, to address this problem, stochastic information of point cloud coordinates is taken into account, and on the basis of the scanner observation principle within the Gauss–Helmert model, a novel general point-based self-calibration method is developed for terrestrial laser scanners, incorporating both five additional parameters and six exterior orientation parameters. For cases where the instrument accuracy is different from the nominal ones, the variance component estimation algorithm is implemented for reweighting the outliers after the residual errors of observations obtained. Considering that the proposed method essentially is a nonlinear model, the Gauss–Newton iteration method is applied to derive the solutions of additional parameters and exterior orientation parameters. We conducted experiments using simulated and real data and compared them with those two existing methods. The experimental results showed that the proposed method could improve the point accuracy from 10−4 to 10−8 (a priori known) and 10−7 (a priori unknown), and reduced the correlation among the parameters (approximately 60% of volume). However, it is undeniable that some correlations increased instead, which is the limitation of the general method.

scholarly journals Linear Approach for Initial Recovery of the Exterior Orientation Parameters of Randomly Captured Images by Low-Cost Mobile Mapping Systems

2014 ◽  
Vol XL-1 ◽  
pp. 149-154 ◽  
Author(s):  
F. He ◽  
A. Habib
Keyword(s):  
Relative Orientation ◽  
Bundle Adjustment ◽  
Adjustment Process ◽  
Coordinate Frame ◽  
Exterior Orientation ◽  
Linear Solution ◽  
Linear Approach ◽  
Initial Recovery ◽  
Orientation Parameters ◽  
Local Coordinate Frame

In this paper, we present a novel linear approach for the initial recovery of the exterior orientation parameters (EOPs) of images. Similar to the conventional Structure from Motion (SfM) algorithm, the proposed approach is based on a two-step strategy. In the first step, the relative orientation of all possible image stereo-pairs is estimated. In the second step, a local coordinate frame is established, and an incremental image augmentation process is implemented to reference all the remaining images into a local coordinate frame. Since our approach is based on a linear solution for both the relative orientation estimation as well as the initial recovery of the image EOPs, it does not require any initial approximation for the optimization process. Another advantage of our approach is that it does not require any prior knowledge regarding the sequence of the image collection procedure, therefore, it can handle a set of randomly collected images in the absence of GNSS/INS information. In order to illustrate the feasibility of our approach, several experimental tests are conducted on real datasets captured in either a block or linear trajectory configuration. The results demonstrate that the initial image EOPs obtained are accurate and can serve as a good initialization for an additional bundle adjustment process.

scholarly journals A PHOTOGRAMMETRY-BASED STRUCTURE FROM MOTION ALGORITHM USING ROBUST ITERATIVE BUNDLE ADJUSTMENT TECHNIQUES

2018 ◽  
Vol IV-4/W6 ◽  
pp. 73-80 ◽  
Author(s):  
S. Verykokou ◽  
C. Ioannidis
Keyword(s):  
Structure From Motion ◽  
Image Matching ◽  
Template Matching ◽  
Bundle Adjustment ◽  
Geometric Constraints ◽  
Exterior Orientation ◽  
Commercial Software ◽  
Ground Control Points ◽  
Oblique Images ◽  
Orientation Parameters

<p><strong>Abstract.</strong> The purpose of this paper is the presentation of a novel algorithm for automatic estimation of the exterior orientation parameters of image datasets, which can be applied in the case that the scene depicted in the images has a planar surface (e.g., roof of a building). The algorithm requires the measurement of four coplanar ground control points (GCPs) in only one image. It uses a template matching method combined with a homography-based technique for transfer of the GCPs in another image, along with an incremental photogrammetry-based Structure from Motion (SfM) workflow, coupled with robust iterative bundle adjustment methods that reject any remaining outliers, which have passed through the checks and geometric constraints imposed during the image matching procedure. Its main steps consist of (i) determination of overlapping images without the need for GPS/INS data; (ii) image matching and feature tracking; (iii) estimation of the exterior orientation parameters of a starting image pair; and (iv) photogrammetry-based SfM combined with iterative bundle adjustment methods. A developed software solution implementing the proposed algorithm was tested using a set of UAV oblique images. Several tests were performed for the assessment of the errors and comparisons with well-established commercial software were made, in terms of automation and correctness of the computed exterior orientation parameters. The results show that the estimated orientation parameters via the proposed solution have comparable accuracy with those ones computed through the commercial software using the highest possible accuracy settings; in addition, double manual work was required by the commercial software compared to the proposed solution.</p>

scholarly journals LIDAR AND PHOTOGRAMMETRIC DATASETS INTEGRATION USING SUB-BLOCK OF IMAGES

2020 ◽  
Vol V-1-2020 ◽  
pp. 101-107
Author(s):  
E. Mitishita ◽  
F. Costa ◽  
J. Centeno
Keyword(s):  
Root Mean Square Error ◽  
Bundle Adjustment ◽  
Aerial Imagery ◽  
Mean Square ◽  
Exterior Orientation ◽  
Sensor Orientation ◽  
The Moment ◽  
High Degree ◽  
Orientation Parameters

Abstract. Imagery and Lidar datasets have been used frequently to extract geoinformation. Datasets in the same mapping or geodetic frame is a fundamental condition for this application. Nowadays, Direct Sensor Orientation (DSO) can be considered as a mandatory technology to be used in the aerial photogrammetric survey. Although the DSO provides a high degree of automation process due to the GNSS/INS technologies, the accuracies of the obtained results from the imagery and Lidar surveys are dependent on the quality of a group of parameters that models accurately the user conditions of the system at the moment the job is performed. This paper shows the study that was performed to improve the tridimensional accuracies of the aerial imagery and Lidar datasets integration using the 3D photogrammetric intersection of single models (pairs of images) with Exterior Orientation Parameters (EOP) estimated from DSO. A Bundle Adjustment with additional parameters (BBA) of a small sub-block of images is used to refine the Interior Orientation Parameters (IOP) and EOP in the job condition. In the 3D photogrammetric intersection experiments using the proposed approach, the horizontal and vertical accuracies, estimated by the Root Mean Square Error (RMSE) of the 3D discrepancies from the Lidar checkpoints, increased around of 25% and 75% respectively.

COVID-19: Time-Dependent Effective Reproduction Number and Sub-notification Effect Estimation Modeling (Preprint)

2020 ◽  
Author(s):  
Eduardo Atem De Carvalho ◽  
Rogerio Atem De Carvalho
Keyword(s):  
New York ◽  
Reproduction Number ◽  
Moving Average ◽  
Real Data ◽  
Time Dependent ◽  
Initial Value ◽  
Health Authorities ◽  
Reproduction Numbers ◽  
Effect Estimation ◽  
The Impact

BACKGROUND Since the beginning of the COVID-19 pandemic, researchers and health authorities have sought to identify the different parameters that govern their infection and death cycles, in order to be able to make better decisions. In particular, a series of reproduction number estimation models have been presented, with different practical results. OBJECTIVE This article aims to present an effective and efficient model for estimating the Reproduction Number and to discuss the impacts of sub-notification on these calculations. METHODS The concept of Moving Average Method with Initial value (MAMI) is used, as well as a model for Rt, the Reproduction Number, is derived from experimental data. The models are applied to real data and their performance is presented. RESULTS Analyses on Rt and sub-notification effects for Germany, Italy, Sweden, United Kingdom, South Korea, and the State of New York are presented to show the performance of the methods here introduced. CONCLUSIONS We show that, with relatively simple mathematical tools, it is possible to obtain reliable values for time-dependent, incubation period-independent Reproduction Numbers (Rt). We also demonstrate that the impact of sub-notification is relatively low, after the initial phase of the epidemic cycle has passed.

scholarly journals Simultaneous Robot–World and Hand–Eye Calibration without a Calibration Object

Sensors ◽  
2018 ◽  
Vol 18 (11) ◽  
pp. 3949 ◽  
Author(s):  
Wei Li ◽  
Mingli Dong ◽  
Naiguang Lu ◽  
Xiaoping Lou ◽  
Peng Sun
Keyword(s):  
Three Dimensional ◽  
Real Data ◽  
Medical Robotics ◽  
Calibration Method ◽  
Bundle Adjustment ◽  
Data Sets ◽  
Rigid Transformation ◽  
Validation Experiment ◽  
Dimensional Reconstruction ◽  
Sparse Bundle Adjustment

An extended robot–world and hand–eye calibration method is proposed in this paper to evaluate the transformation relationship between the camera and robot device. This approach could be performed for mobile or medical robotics applications, where precise, expensive, or unsterile calibration objects, or enough movement space, cannot be made available at the work site. Firstly, a mathematical model is established to formulate the robot-gripper-to-camera rigid transformation and robot-base-to-world rigid transformation using the Kronecker product. Subsequently, a sparse bundle adjustment is introduced for the optimization of robot–world and hand–eye calibration, as well as reconstruction results. Finally, a validation experiment including two kinds of real data sets is designed to demonstrate the effectiveness and accuracy of the proposed approach. The translation relative error of rigid transformation is less than 8/10,000 by a Denso robot in a movement range of 1.3 m × 1.3 m × 1.2 m. The distance measurement mean error after three-dimensional reconstruction is 0.13 mm.

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