Tugas Baca2 Mathematical Foundationsof Analytical Photogrammetry PDF

PHOTOGRAMMETRY
Mathematical Foundations
of Analytical Photogrammetry
A. Dermanis
Real and equivalent exposure geometry
negative
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negative
positive
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object
positive
negative
negative face view
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Fiducial marks
Fiducial marks
Used for defining the reference system of the image

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Fiducial marks
For digital images the four corners are used as fiducial marks
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Definition of image reference system
y
y Q
x x
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Definition of image reference system
y
y Q

 x x
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Perspective center
perspective center
corresponding
image point
photo plane
object point
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Principal point
perspective center
P principal point
photo plane
The principal point is the orthogonal projection of the focal point on the photo plane
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Interior Orientation
perspective center
O y
y0 P principal point
x0 x
photo plane
The position of the focal point with respect to the photo plane is completely determined by
the coordinates x0, y0 of the principal point and its distance f from the plane (= focal length)
These three parameters (x0, y0 , f, ) are the parameters of interior orientation.
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Interior Orientation
perspective center
O y
x0 x
photo plane
Interior orientation refers to the ability

to reconstruct the bundle of rays that have converged
from the object to the focal point to create the photo image
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The camera reference system U, V, W
W
V
y
perspective center O
U
f
x0 x
photo plane
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W
Attention:
the camera reference system V
is camera-fixed
BUT
it refers to the camera position
at the epoch of exposure.
y
perspective center O
U
f
x0 x
photo plane
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W
A point Q on the photo plane
having coordinates x, y V
in the image reference system
has coordinates u, v, w
in the camera reference system
given by
 u   x  x0 
v  y  y  perspective center O
   0
 w   f  U
f
y Q
y0 P
x0 x
photo plane
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The exterior orientation
V
W
Z
U
Y O
Exterior orientation refers to the relation between the camera reference system (U, V, W)
and the object reference system (X, Y, Z) used for positioning in the object space.
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V
W
Z  
U
Y O 
Z0
X0
Y0
X
The position of the focal point (X0,Y0, Z0) in the object reference system
and the three angles , ,  of consecutive rotations around the axes X, Y, Z, respectively,
required for bringing the axes U, V, W in their actual orientation
are the parameters of exterior orientation.
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// Z
O // Y
// X
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// Z
O 
// Y

// X
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// Z
O 
// Y

// X
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// Z

O // Y

// X
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// Z

O // Y
// X
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// Z

O // Y

// X
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// Z
W

V

O // Y

// X
U
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// Z
W

O // Y
// X
U
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// Z
W

V

O // Y

// X
U
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U  X  X0  X  X0 
 V   R ( )R ( )R ( )  Y  Y   R  Y  Y 
  3 2 1  0   0 
W   Z  Z 0   Z  Z 0 
 R11 R12 R13 

Rotation matrix of the camera: R  R 3 ( )R 2 ( )R1 ( )   R21 R22 R23 
 R31 R32 R33 
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U  X  X0  X  X0 
 V   R ( )R ( )R ( )  Y  Y   R  Y  Y 
  3 2 1  0   0 
W   Z  Z 0   Z  Z 0 
 R11 R12 R13 

 R31 R32 R33 
Elementary rotation matrices around the 3 axes:
1 0 0  cos  0  sin    cos  sin  0

R1 ( )  0 cos  sin   R 2 ( )   0 1 0  R 3 ( )    sin  cos  0 
0  sin  cos    sin  0 cos    0 0 1 
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U  X  X0  X  X0 
 V   R ( )R ( )R ( )  Y  Y   R  Y  Y 
  3 2 1  0   0 
W   Z  Z 0   Z  Z 0 
 R11 R12 R13 

 R31 R32 R33 
Elementary rotation matrices around the 3 axes:
1 0 0  cos  0  sin    cos  sin  0

R1 ( )  0 cos  sin   R 2 ( )   0 1 0  R 3 ( )    sin  cos  0 
0  sin  cos    sin  0 cos    0 0 1 
 cos  cos  cos  sin  sin   cos  cos   cos  sin  cos   sin  sin  
R    sin  cos   sin  sin  sin   cos  cos  sin  sin  cos   cos  sin  
 sin   cos  sin  cos  cos  
A. Dermanis
V
W
Z  
U
Y O 
Z0
X0
Y0
X
Exterior orientation refers to the ability
to place the bundle of rays that created the photo image
in its actual place and orientation within the object space
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Intersection WB
WA
VA VB
UA OB
OA
UB
B
A
Z
The bundle rays from two photos (A and B)

with known interior and exterior orientation
are intersected to determine the position of
an object point in the X, Y, Z reference system
X
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The collinearity condition
P = object point
Q = photo image point
xP P
perspective
center O Q
xQ
 
xP  OP xQ  OQ
Collinearity condition: O, Q, P lie on the same line: xP   xQ
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P = object point
xP P
perspective
center O Q
xQ
 
xP  OP xQ  OQ
Coordinates in camera reference system:
 u   x  x0  U  X  X0 
v  y  y  V   R  Y  Y 
Photo point :
   0 Object point P:
   0 
 w   f  W   Z  Z 0 
A. Dermanis
P = object point
xP P
perspective
center O Q
xQ
 
xP  OP xQ  OQ
Coordinates in camera reference system:
 u   x  x0  U  X  X0 
v  y  y  V   R  Y  Y 
Photo point :
   0 Object point P:
   0 
 w   f  W   Z  Z 0 
U  u 
V     v 
Collinearity condition:
   
W   w
A. Dermanis
U  u 
V     v 
   
W   w
 u   x  x0  U   X  X 0   R11 R12 R13   X  X 0 

v  y  y  V   R  Y  Y   R R22 R23   Y  Y0 
   0    0   21
 w   f  W   Z  Z 0   R31 R32 R33   Z  Z 0 
A. Dermanis
u  U 
 v    V 
   
 w W 
 u   x  x0  U   X  X 0   R11 R12 R13   X  X 0 

v  y  y  V   R  Y  Y   R R22 R23   Y  Y0 
   0    0   21
 w   f  W   Z  Z 0   R31 R32 R33   Z  Z 0 
 x  x0   R11 R12 R13   X  X 0 

Collinearity condition:   y  y0    R21 R22 R23   Y  Y0 
  f   R31 R32 R33   Z  Z 0 
A. Dermanis
The collinearity equations
 x  x0   R11 R12 R13   X  X 0 

  f   R31 R32 R33   Z  Z 0 
 x  x0   R11 ( X  X 0 )  R12 (Y  Y0 )  R13 ( Z  Z 0 ) 

  y  y0    R21 ( X  X 0 )  R22 (Y  Y0 )  R23 ( Z  Z 0 ) 
  f   R31 ( X  X 0 )  R32 (Y  Y0 )  R33 ( Z  Z 0 ) 
A. Dermanis
 x  x0   R11 R12 R13   X  X 0 

  f   R31 R32 R33   Z  Z 0 
 x  x0   R11 ( X  X 0 )  R12 (Y  Y0 )  R13 ( Z  Z 0 ) 

  y  y0    R21 ( X  X 0 )  R22 (Y  Y0 )  R23 ( Z  Z 0 ) 
  f   R31 ( X  X 0 )  R32 (Y  Y0 )  R33 ( Z  Z 0 ) 
Elimination of  (divide first and second with third equation):
R11 ( X  X 0 )  R12 (Y  Y0 )  R13 ( Z  Z 0 )

x  x0  f
R31 ( X  X 0 )  R32 (Y  Y0 )  R33 ( Z  Z 0 )
Collinearity equations:
R21 ( X  X 0 )  R22 (Y  Y0 )  R23 ( Z  Z 0 )
y  y0  f
R31 ( X  X 0 )  R32 (Y  Y0 )  R33 ( Z  Z 0 )
A. Dermanis
R11 ( X  X 0 )  R12 (Y  Y0 )  R13 ( Z  Z 0 )

x  x0  f
R31 ( X  X 0 )  R32 (Y  Y0 )  R33 ( Z  Z 0 )
R21 ( X  X 0 )  R22 (Y  Y0 )  R23 ( Z  Z 0 )
y  y0  f
R31 ( X  X 0 )  R32 (Y  Y0 )  R33 ( Z  Z 0 )
Of the form:
x  x( x0 , y0 , f ; X 0 , Y0 , Z 0 ,  ,  ,  ; X , Y , Z )
y  y ( x0 , y0 , f ; X 0 , Y0 , Z 0 ,  ,  ,  ; X , Y , Z )
A. Dermanis
R11 ( X  X 0 )  R12 (Y  Y0 )  R13 ( Z  Z 0 )

x  x0  f
R31 ( X  X 0 )  R32 (Y  Y0 )  R33 ( Z  Z 0 )
R21 ( X  X 0 )  R22 (Y  Y0 )  R23 ( Z  Z 0 )
y  y0  f
R31 ( X  X 0 )  R32 (Y  Y0 )  R33 ( Z  Z 0 )
Of the form:
x  x( x0 , y0 , f ; X 0 , Y0 , Z 0 ,  ,  ,  ; X , Y , Z )
y  y ( x0 , y0 , f ; X 0 , Y0 , Z 0 ,  ,  ,  ; X , Y , Z )
observed unknown or known

parameters parameters
A. Dermanis
R11 ( X  X 0 )  R12 (Y  Y0 )  R13 ( Z  Z 0 )

x  x0  f
R31 ( X  X 0 )  R32 (Y  Y0 )  R33 ( Z  Z 0 )
R21 ( X  X 0 )  R22 (Y  Y0 )  R23 ( Z  Z 0 )
y  y0  f
R31 ( X  X 0 )  R32 (Y  Y0 )  R33 ( Z  Z 0 )
Of the form:
x  x( x0 , y0 , f ; X 0 , Y0 , Z 0 ,  ,  ,  ; X , Y , Z )
y  y ( x0 , y0 , f ; X 0 , Y0 , Z 0 ,  ,  ,  ; X , Y , Z )
interior orientation
parameters
A. Dermanis
R11 ( X  X 0 )  R12 (Y  Y0 )  R13 ( Z  Z 0 )

x  x0  f
R31 ( X  X 0 )  R32 (Y  Y0 )  R33 ( Z  Z 0 )
R21 ( X  X 0 )  R22 (Y  Y0 )  R23 ( Z  Z 0 )
y  y0  f
R31 ( X  X 0 )  R32 (Y  Y0 )  R33 ( Z  Z 0 )
Of the form:
x  x( x0 , y0 , f ; X 0 , Y0 , Z 0 ,  ,  ,  ; X , Y , Z )
y  y ( x0 , y0 , f ; X 0 , Y0 , Z 0 ,  ,  ,  ; X , Y , Z )
exterior orientation
parameters
A. Dermanis
R11 ( X  X 0 )  R12 (Y  Y0 )  R13 ( Z  Z 0 )

x  x0  f
R31 ( X  X 0 )  R32 (Y  Y0 )  R33 ( Z  Z 0 )
R21 ( X  X 0 )  R22 (Y  Y0 )  R23 ( Z  Z 0 )
y  y0  f
R31 ( X  X 0 )  R32 (Y  Y0 )  R33 ( Z  Z 0 )
Of the form:
x  x( x0 , y0 , f ; X 0 , Y0 , Z 0 ,  ,  ,  ; X , Y , Z )
y  y ( x0 , y0 , f ; X 0 , Y0 , Z 0 ,  ,  ,  ; X , Y , Z )
object point
coordinates
A. Dermanis
Interior orientation (Camera calibration)
nuisance
unknowns unknowns
x  x( x0 , y0 , f ; X 0 , Y0 , Z 0 ,  ,  ,  ; X , Y , Z )
y  y ( x0 , y0 , f ; X 0 , Y0 , Z 0 ,  ,  ,  ; X , Y , Z )
observed known
A. Dermanis
Exterior orientation (Resection)
unknowns
x  x( x0 , y0 , f ; X 0 , Y0 , Z 0 ,  ,  ,  ; X , Y , Z )
y  y ( x0 , y0 , f ; X 0 , Y0 , Z 0 ,  ,  ,  ; X , Y , Z )
observed known known
A. Dermanis
Intersection
unknowns
x  x( x0 , y0 , f ; X 0 , Y0 , Z 0 ,  ,  ,  ; X , Y , Z )
y  y ( x0 , y0 , f ; X 0 , Y0 , Z 0 ,  ,  ,  ; X , Y , Z )
observed known known
A. Dermanis
The Direct Linear Transformation (DLT) method
U V
collinearity equations x  x0  f , y  y0  f
W W
U   R11 R12 R13   X  X 0   r1

T  r1
T
x  r T
1 x0

V   R     T  T 
   21 R22 R23   Y  Y0   r2  (x  x0 )  r2 x  r2 x0 
T
W   R31    T 
R32 R33   Z  Z 0  r3T  r3 x  r3 x0 
T
 
U V
collinearity equations x  x0  f , y  y0  f
W W
U   R11 R12 R13   X  X 0   r1

T  r1
T
x  r T
1 x0

V   R     T  T 
   21 R22 R23   Y  Y0   r2  (x  x0 )  r2 x  r2 x0 
T
W   R31    T 
R32 R33   Z  Z 0  r3T  r3 x  r3 x0 
T
 
r1T x  r1T x0 x0r3T x  x0r3T x0  fr1T x  fr1T x0

x  x0  f 
r3T x  r3T x0 r3T x  r3T x0
r2T x  r2T x0 y0r3T x  y0r3T x0  fr2T x  fr2T x0

y  y0  f 
r3T x  r3T x0 r3T x  r3T x0
x0 r3T x  x0r3T x0  fr1T x  fr1T x0

x
r3T x  r3T x0
y0 r3T x  y0r3T x0  fr2T x  fr2T x0

y
r3T x  r3T x0
x0 r3T x  x0r3T x0  fr1T x  fr1T x0

x
r3T x  r3T x0
y0 r3T x  y0r3T x0  fr2T x  fr2T x0

y
r3T x  r3T x0
1 x r T
x  fr T
1 x0
( f r1  x r
0 3 )T
x  0 3 0
r3T x0 r3T x0 d1T x  L4
x  T
1 T
 T r3 x  1 d3 x  1
r3 x0
1 y r T
x  fr T
2 x0
( f r2  y r
0 3 )T
x  0 3 0
r3T x0 r3T x0 dT2 x  L8
y  T
1 T
 T r3 x  1 d3 x  1
r3 x0
d1T x  L4 dT2 x  L8
x y
dT3 x  1 dT3 x  1
d1T x  L4 dT2 x  L8
x y
dT3 x  1 dT3 x  1
 fR11  x0 R31   L1 
1
d1  T ( fr1  x0r3 ) 
1  fR  x R    L 
R31 X 0  R32Y0  R33 Z 0 
12 0 32   2
r3 x0
 fR13  x0 R33   L3 
 fR21  y0 R31   L5 
1
d 2  T ( fr2  y0r3 ) 
1  fR  y R    L 
R31 X 0  R32Y0  R33 Z 0 
22 0 32   6
r3 x0
 fR23  y0 R33   L7 
 R31   L9 
1
d3   T r3  
1 R   L 
R31 X 0  R32Y0  R33 Z 0    
32 10
r3 x0
 R33   L11 
d1T x  L4 dT2 x  L8
x y
dT3 x  1 dT3 x  1
 L1   L5   L9 
d1   L2  , d 2   L6  , d3   L10 
 L3   L7   L11 
L1 X  L2Y  L3 Z  L4
x
L9 X  L10Y  L11Z  1
L5 X  L6Y  L7 Z  L8
y
L9 X  L10Y  L11Z  1
9 unknowns x0 , y0 , f ;  ,  ,  , X 0 , Y0 , Z 0
11 unknowns L1 , L2 , L3 , L4 , L5 , L6 , L7 , L8 , L9 , L10 , L11
2 (= 11-9) extra unknowns account for camera calibration

in close range applications with non-metric cameras
Photogrammetric procedures and products
Analytical Photogrammetry
Interior orientation
Exterior orientation
Intersection
Point coordinates
A. Dermanis
Photogrammetric procedures and products
Analytical Photogrammetry Analog Photogrammetry
Interior orientation Interior orientation
Exterior orientation Relative orientation
Model
Intersection
Absolute orientation
Point coordinates Point coordinates

or analog map
A. Dermanis
The coplanarity condition for relative orientation
OB
OA b
baseline
qB
qA B
A b , q A , qB :
all belong to the (OA, OB, P) plane
A. Dermanis
OB
OA b
baseline
qB
qA B
A b , q A , qB :
q A  qB
P is perpendicular to the same plane
b  ( q A  qB )
A. Dermanis
OB
OA b
baseline
qB
qA B
A b , q A , qB :
q A  qB
P is perpendicular to the same plane
b  ( q A  qB )
Coplanarity condition
b  ( q A  qB )  0
A. Dermanis
The coplanarity condition
Reference system relations:
b  ( q A  qB )  0
object
RA RB
RTA RTB R  R A RTB
R  R B RTA
T
photo A photo B
R  R A RTB
A. Dermanis
Reference system relations:
b  ( q A  qB )  0
object
RA RB
RTA RTB R  R A RTB
R  R B RTA
T
photo A photo B
R  R A RTB
reference system
object photo A photo B
qA RTAq A qA RT q A
qB RTB q B Rq B qB
b RTAb b RT b
b  ( q A  qB )  0 bT [q A ](Rq B )  0
A. Dermanis
bT [q A ](Rq B )  0
 x A  x0   xB  x0   bX   1  1 
q A   y A  y0  q B   yB  y0  b   bY   bX b / b   b
 Y X X
 
 Y
  f    f   bZ  bZ / bX    Z 
A. Dermanis
bT [q A ](Rq B )  0
 x A  x0   xB  x0   bX   1  1 
 Y X X
 
 Y
  f    f   bZ  bZ / bX    Z 
T
 bx   0 f ( y A  y0 )   xB  x0 
   R y  y   0
bT [q A ](Rq B )  by    f 0  ( x A  x0 )   B 0
b   ( y A  y0 ) ( x A  x0 ) 0    f 
 z
A. Dermanis
bT [q A ](Rq B )  0
 x A  x0   xB  x0   bX   1  1 
 Y X X
 
 Y
  f    f   bZ  bZ / bX    Z 
T
 bx   0 f ( y A  y0 )   xB  x0 
   R y  y   0
bT [q A ](Rq B )  by    f 0  ( x A  x0 )   B 0
b   ( y A  y0 ) ( x A  x0 ) 0    f 
 z
Divide by bz :
T
1   0 f ( y A  y0 )   xB  x0 
    f 0  ( x  x )  R ( ,  ,  )  y  y   0
 Y  A 0   B 0
  Z   ( y A  y0 ) ( x A  x0 ) 0    f 
A. Dermanis
  Y f   Z ( y A  y0 ) R11 ( xB  x0 )  R12 ( yB  y0 )  R13 f  

  f   Z ( x A  x0 )  R21 ( xB  x0 )  R22 ( yB  y0 )  R23 f  
  ( y A  y0 )  Y ( x A  x0 )  R31 ( xB  x0 )  R32 ( yB  y0 )  R33 f   0
A. Dermanis

A. Dermanis

 C C C S S  C C C S C  S S 
 
R    S C  S S S  C C S S C  C S 
 S C S C C 
 
A. Dermanis
  Y f   Z ( y A  y0 ) 
 C C ( xB  x0 )  (C S S  C C )( y B  y0 )  (C S C  S S ) R13 f  
  f   Z ( x A  x0 )  
   S C ( xB  x0 )  ( S S S  C C )( y B  y0 )  ( S S C  C S ) f  
  ( y A  y0 )  Y ( x A  x0 )   S ( xB  x0 )  C S ( y B  y0 )  C C f   0
C  cos  C  cos  C  cos 
S  sin  S  sin  S  sin 
F ( x A , y A , xB , yB ; x0 , y0 , f ;  x ,  y ,  ,  ,  )  0
A. Dermanis
The coplanarity condition – Relative orientation
F ( x A , y A , xB , yB ; x0 , y0 , f ; Y ,  Z ,  ,  ,  )  0
observed known unknown

relative orientation
parameters
A. Dermanis
F ( x A , y A , xB , yB ; x0 , y0 , f ; Y ,  Z ,  ,  ,  )  0
observed known unknown

parameters
One would expect 6 relative orientation parameters:

3 for the orientation of photo B with respect to photo A
3 for the position of photo B with respect to photo A (3 baseline components)
Instead we have only 2 baseline parameters (Y, Z)
Why is that so? SEE NEXT

A. Dermanis
OB
OA
P
object
A. Dermanis
OB
OB
OA
model
P
P
object
A. Dermanis
OB
OB
OA If the bundle rays intersect

being in their real relative position
then
parallel displacement of one photo
with respect to the other along the baseline
preserves the intersection of the bundle rays
P
which intersecting create a
model scaled model
of the real object
Infinite solutions to the

relative orientation problem!
P
object
A. Dermanis
Absolute orientation of the model
 x X  X0 
 y   k R ( ,  ,  )  Y  Y 
  1 2 3  0 
 z   Z  Z 0 
“observed” known unknown

point point transformation
coordinates coordinates parameters
in model system in object system from object to model
X 0 , Y0 , Z 0 : coordinates in the object space of model system origin
1 , 2 ,3 : angles of rotation from object to model reference system
k : scale factor from object to model

A. Dermanis
Photogrammetric procedures (1) Based on
exterior orientations
of both photographs
observations known coordinates observations

x Ai , y Ai xBi , yBi
of known points
X i , Yi , Zi of known points
resection of photo A resection of photo B
exterior orientation parameters exterior orientation parameters
X 0 A , Y0 A , Z 0 A ,  A ,  A ,  A X 0 B , Y0 B , Z 0 B , B ,  B ,  B
A. Dermanis
Photogrammetric procedures (1) Based on
exterior orientations
of both photographs
observations known coordinates observations

x Ai , y Ai xBi , yBi
of known points
X i , Yi , Zi of known points
resection of photo A resection of photo B
observations
exterior orientation parameters x Ai , y Ai ; xBi , yBi exterior orientation parameters
X 0 A , Y0 A , Z 0 A ,  A ,  A ,  A of unknown points X 0 B , Y0 B , Z 0 B , B ,  B ,  B
intersection
coordinates
X i , Yi , Zi
of object points
A. Dermanis
Photogrammetric procedures (2)
observations
relative orientation Based on
x Ai , y Ai ; xBi , yBi of photos A and B
of known points
of the 2 photographs
relative orientation parameters
Y ,  Z ,  ,  , 
A. Dermanis
observations
of known points
observations Y ,  Z ,  ,  , 
x Ai , y Ai ; xBi , yBi
of unknown
and known points Intersection with
exterior orientation parameters
0, 0, 0, 0, 0, 0
bX0 , bX0 Y , bX0  Z ,  ,  , 
model coordinates
xi , yi , zi
A. Dermanis
observations
of known points
of unknown
0, 0, 0, 0, 0, 0 analogic
bX0 , bX0 Y , bX0  Z ,  ,  ,  of photos A and B
model coordinates
observations
xi , yi , zi on model
A. Dermanis
observations
of known points
of unknown
0, 0, 0, 0, 0, 0 analogic
known coordinates bX0 , bX0 Y , bX0  Z ,  ,  ,  of photos A and B
X i , Yi , Zi
model coordinates
observations
Transformation parameters
absolute orientation
of model k ,1 , 2 ,3 , x0 , y0 , z0
A. Dermanis
observations
of known points
of unknown
0, 0, 0, 0, 0, 0 analogic
known coordinates bX0 , bX0 Y , bX0  Z ,  ,  ,  of photos A and B
X i , Yi , Zi
model coordinates
observations
Transformation parameters
absolute orientation transformation from
of model k ,1 , 2 ,3 , x0 , y0 , z0 model to object
object coordinates
X i , Yi , Zi
A. Dermanis
End
A. Dermanis

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PHOTOGRAMMETRY

Used for defining the reference system of the image

Interior orientation refers to the ability

 R11 R12 R13 

 R11 R12 R13 

1 0 0  cos  0  sin    cos  sin  0

 R11 R12 R13 

1 0 0  cos  0  sin    cos  sin  0

The bundle rays from two photos (A and B)

Collinearity condition: O, Q, P lie on the same line: xP   xQ

Collinearity condition: O, Q, P lie on the same line: xP   xQ

Coordinates in camera reference system:

Collinearity condition: O, Q, P lie on the same line: xP   xQ

Coordinates in camera reference system:

 u   x  x0  U   X  X 0   R11 R12 R13   X  X 0 

 u   x  x0  U   X  X 0   R11 R12 R13   X  X 0 

 x  x0   R11 R12 R13   X  X 0 

 x  x0   R11 R12 R13   X  X 0 

 x  x0   R11 ( X  X 0 )  R12 (Y  Y0 )  R13 ( Z  Z 0 ) 

 x  x0   R11 R12 R13   X  X 0 

 x  x0   R11 ( X  X 0 )  R12 (Y  Y0 )  R13 ( Z  Z 0 ) 

Elimination of  (divide first and second with third equation):

R11 ( X  X 0 )  R12 (Y  Y0 )  R13 ( Z  Z 0 )

R11 ( X  X 0 )  R12 (Y  Y0 )  R13 ( Z  Z 0 )

R11 ( X  X 0 )  R12 (Y  Y0 )  R13 ( Z  Z 0 )

observed unknown or known

R11 ( X  X 0 )  R12 (Y  Y0 )  R13 ( Z  Z 0 )

R11 ( X  X 0 )  R12 (Y  Y0 )  R13 ( Z  Z 0 )

R11 ( X  X 0 )  R12 (Y  Y0 )  R13 ( Z  Z 0 )

Interior orientation (Camera calibration)

Exterior orientation (Resection)

observed known known

observed known known

U   R11 R12 R13   X  X 0   r1

U   R11 R12 R13   X  X 0   r1

r1T x  r1T x0 x0r3T x  x0r3T x0  fr1T x  fr1T x0

r2T x  r2T x0 y0r3T x  y0r3T x0  fr2T x  fr2T x0

x0 r3T x  x0r3T x0  fr1T x  fr1T x0

y0 r3T x  y0r3T x0  fr2T x  fr2T x0

x0 r3T x  x0r3T x0  fr1T x  fr1T x0

y0 r3T x  y0r3T x0  fr2T x  fr2T x0

11 unknowns L1 , L2 , L3 , L4 , L5 , L6 , L7 , L8 , L9 , L10 , L11

2 (= 11-9) extra unknowns account for camera calibration

Analytical Photogrammetry Analog Photogrammetry

Interior orientation Interior orientation

Exterior orientation Relative orientation

Point coordinates Point coordinates

object photo A photo B

  Y f   Z ( y A  y0 ) R11 ( xB  x0 )  R12 ( yB  y0 )  R13 f  

  Y f   Z ( y A  y0 ) R11 ( xB  x0 )  R12 ( yB  y0 )  R13 f  

  Y f   Z ( y A  y0 ) R11 ( xB  x0 )  R12 ( yB  y0 )  R13 f  

C  cos  C  cos  C  cos 

S  sin  S  sin  S  sin 

observed known unknown

observed known unknown

One would expect 6 relative orientation parameters:

Instead we have only 2 baseline parameters (Y, Z)

Why is that so? SEE NEXT

OA If the bundle rays intersect

Infinite solutions to the

“observed” known unknown

X 0 , Y0 , Z 0 : coordinates in the object space of model system origin

1 , 2 ,3 : angles of rotation from object to model reference system