I N D I A N I N S T I T U T E O F R E M O T E S E N S I N G, D E H R A D U N

Stereophotogrammetry

Dr. Poonam S. Tiwari

Scientist, GIT & DL
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Parallax
Apparent shift in the position of
object due to shift in the position
of observation

• Pencil is more displaced because it is

close to observer
• Church is less displaced because it is
further away
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Calculation of Height from Parallax

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Depth Perception
 Methods of judging depth:
1. Monoscopic
2. Stereoscopic

Monoscopic method
1. Relative size of objects.
2. Hidden objects
3. Shadows
4. Difference in focusing of eye
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Stereoscopy/ Stereovision

 Stereoscopy is based on stereoscopic or

binocular vision
 When the eyes are focussed on an object,
the optical axes of the two eyes converge on
that point intersecting at an angle called-
parallactic angle.
 Nearer the object- greater the parallactic
angle and vice a versa
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 Stereoscopy is the name given to the phenomenon of an

apparent three dimensional "model" created by viewing two
photographs of the same object, one photograph with each
eye, simultaneously
 Thisstereomodel is a subjective phenomenon and is not
physically real, but is formed by the brain using the normal
process associated with binocular vision
 Depth cues are given by object sizes, perspective,
occlusion, movement parallax and change in eye focus
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In the brain

Preprocessing of left Preprocessing of right

image (image Expec- image (image
enhancement etc.) tation enhancement etc.)

Knowledge
Stereo
(Experience)
processing

Image understanding

Storage (memory) Decision taking

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Viewing a 3D Object

Real 3D Object

The Left Eye’s View (Real Object) The Right Eye’s View (Real Object)

Viewing these two Images

Gives a 3D Impression

The Left Eye’s View (Image) The Right Eye’s View (Image)
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Depending on
Magnification
Viewing Position Viewing Distance
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Some StereoView
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Viewing Stereophotographs in Analog Environment

 Three basic types of stereoscopes;
 Pocket,
 Mirror and
 Scanning

Pocket

Scanning

Mirror
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Viewing Stereophotographs in Digital Environment

A display which produces an effect of depth for the viewer by means of stereo image
pairs and active (shutter) or passive (coloured, polarized etc.) glasses/monitor.
Basic requirement for 3D stereo-viewing
• Observer's left eye must see the left image only of the two
overlapping images and

• the right eye, should see the corresponding part of the right
image only.

Methods of stereo display in digital environment

• Split Screen View

• Anaglyph View
• Separation by polarization
• Alternating Images

https://www.researchgate.net/publication/325881387_3D_Stereo-Viewing_of_Digital_Imagery_Is_Auto-Stereoscopy_the_Future_for_3D
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Split screen viewing

Corresponding image points are separated such, that

the left eye’s point is left of the right eye’s point.

Point appears behind

the screen.

Screen

Left image Right image

Screen Corresponding image points
are separated such, that the
left eye’s point is further right
Left eye than the right eye’s point.

Right eye Point appears in front of

the screen

Screen Stereoscope
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Anaglyph viewing
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Separation by polarisation
Left image shown Right image shown

Right polarisation,
Left polarisation,
left eye sees a
right eye sees a
dark screen
dark screen

Combined effect:

Stereo!
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Left image shown
Alternating Images
Right image shown

Left glass black, left eye

Right glass black, right sees nothing
eye sees nothing

Combined effect:
Alternating images on the monitor screen with
alternating shutters for 3D stereo-viewing

Stereo!

Alternating images for stereoview

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Stereophotogrammetry

•Stereophotogrammetry is the general term applied to the science of

measurement from photographs when an overlapping stereopair of
photographs is used
•In contrast to single photographs, which can only extract 2D
information, stereophotogrammetry allows 3D information to be
extracted
•An overlapping stereopair is a pair of photographs on which the
same object or area of terrain is pictured, but from different views or
perspectives
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Understanding the Rotation Matrix

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Collinearity Condition

The exposure station of a photograph, an object point

and its photo image all lie along a straight line.
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Collinearity Condition (XL, YL, ZL )

 m11 ( X A  X L )  m12 (YA  YL )  m13 ( Z A  Z L ) 

xa   f  
 31 A
m ( X  X L )  m32 (Y A  YL )  m33 ( Z A  Z L 
)

 m21 ( X A  X L )  m22 (YA  YL )  m23 ( Z A  Z L ) 

ya   f   (XL, YL, ZL )

 m31 ( X A  X L )  m32 (YA  YL )  m33 ( Z A  Z L ) 

Collinearity equations involve 9
Where,
unknowns:
xa, ya are the photo coordinates of image point a
1. omega, phi, kappa inherent
XA, YA, ZA are object space coordinates of object/ground point A in the m’s
XL, YL, ZL are object space coordinates of exposure station location 2. Object coordinates (XA, YA,
ZA )
f is the camera focal length
3. Exposure station
m’s are functions of rotation angles omega, phi, kappa
coordinates (XL, YL, ZL )
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Coplanarity Condition
The two exposure stations of a stereopair, any object point and its
corresponding image points on the two photos, all lie in a common
plane.
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Orientation of Stereopair:
Recreating same condition as
existed at time of photography

Unknowns:
• Image coordinates
• Exposure station Coordinates
• Orientation of photographs
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Orientation of Stereopair
Measured Photo coordinates
Inner/Interior Orientation: No unknown solved

Refined Photo coordinates

Relative Orientation: 5unknown solved

Exterior Orientation
12 unknowns solved (GCP required) Model Coordinates
Absolute Orientation: 12 unknowns solved
(GCP required)

Ground Coordinates
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Interior Orientation
Purpose:
allow reconstruction of the bundle of rays, which formed the
image.
Method:
transform coordinates measured in
the image to the camera coordinate
system
Result:
Corrected Image Coordinates
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Elements of Interior Orientation

Elements of interior orientation which can be determined through camera calibration are as follows:
1. Calibrated focal length (CFL), the focal length that produces an overall mean distribution of
lens distortion. Better termed calibrated principal distance since it represents the distance
from the rear nodal point of the lens to the principal point of the photograph, which is set as
close to optical focal length of the lens as possible.

2. Principal point location, specified by coordinates of a principal point given wrt

x and y coordinates of the fiducial marks.
3. Fiducial mark coordinates: x and y coordinates of the fiducial marks which
provide the 2D positional reference for the principal point as well as images on
the photograph.
4. Symmetric radial lens distortion, the symmetric component of distortion that occurs along
radial lines from the principal point. Although negligible, theoretically always present.
5. Decentering lens distortion, distortion that remains after compensating for symmetric radial
lens distortion. Components: asymmetric radial and tangential lens distortion.
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How to know?
?
?

Where were the ? ? What was their

images inclination
taken from ? (rotation) ?

Exposure station Coordinates Orientation of photographs

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Image pair: How to know?

Where were the What was their
images inclination
taken from ? (rotation) ?

Exterior Orientation

Relative Orientation Absolute Orientation

Orientation of the images with respect Orientation of the model formed after
to each other relative orientation with respect to the
terrain
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Relative orientation
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Relative Orientation
Purpose: Method:
allow reconstruction of a make corresponding rays
geometric model of the terrain intersect (without y-parallax)

Computation: Result:
•coplanarity (5 parameters) •3D Model Coordinates
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Absolute Orientation of Model

Model
Purpose:
make the reconstructed
model fit to the terrain.
(ground control points) Terrain

Method:
transform coordinates measured
Transformation:
in the model to the terrain
coordinate system •3D conformal (7 parameters)
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Elements of Exterior Orientation

The collinearity conditions involve 9 unknowns:
1) Exposure station attitude (omega, phi, kappa),
2) Exposure station coordinates (XL, YL, ZL ), and
3) Object point coordinates (XA, YA, ZA).

Of these, we first need to compute the position and attitude of the exposure station, also
known as the elements of exterior orientation.

Thus the 6 elements of exterior orientation are:

1) spatial position (XL, YL, ZL) of the camera and
2) angular orientation (omega, phi, kappa) of the camera

All methods to determine elements of exterior orientation of a single tilted photograph,

require:
1) photographic images of at least three control points whose X, Y and Z ground
coordinates are known, and
2) calibrated focal length of the camera.
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GCP Requirement (3 GCP per model)

Solution: Aerial Triangulation

Arial Triangulation

Concept of Triangulation
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Result (3 D stereo model)

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Digitisation in 3D: Measuring Capability

• Free-hand device for moving the cursor in
the XYZ directions.
• used for carrying photogrammetric
operations.
• Features include a mouse-style trackball for
the XY movements and a Z-wheel for Z
movements.
• User definable buttons are available.

Leica (LH) TopoMouse™

https://www.vrmapping.net/help5/index.html?topomouse.htm
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Digitisation in 3D

3D City Model

3D GIS
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Thank You