I the

In th Name
N off God
G d

Photogrammetric Aerial
Ti
Triangulation
l ti

Dr. Hamid Ebadi

 Photogrammetric Aerial
Triangulation
•In order to create stereo model for measurement, a
certain amount of horizontal and vertical control
points are required.
•Field methods to obtain control points is expensive.
e pensi e
•Aerial triangulation methods allow both horizontal
and vertical control points to be obtained by
photogrammetric methods based on only a few
groundd survey points.
i
Photogrammetric Aerial Triangulation

Indirect Camera Orientation

 Basic Definitions

•Strip
A series of overlapping photographs ordered
in one direction so that stereoscopic models
covering the whole path could be generated
from.
•Pass
P points
i
Common ppoints between successive models
in one strip.
Basic Definitions
 Basic Definitions

•Photogrammetric
Ph t ti M Model
d l
Successive overlapping images can form
a 3D model via relative orientation.
 Basic Definitions

•Photogrammetric Block
A series
i or overlapping
l i strips i off photographs
h h
covering the whole area of interest to be
mapped.
mapped
•Tie Points
Common points between successive strips in
a photogrammetric block.
Basic Definitions
Basic Definitions
Distribution of Pass and Tie
Points
Image Patches for point Transfer
 Types of Pass/Tie Points

•Signalized
Si li d PPoints
i t : ttargets
t iin th
the tterrain
i
•Laid down targets for high accuracy AT
•Targeted cadastral points
•No point transfer error occur

•Natural Points : terrain (image) details

•Corners,
Corners shadows

•Artificially Marked Points : Point Transfer

•Standard procedure for tie points in analogue
photographs
•Point
P i t ttransfer
f ini digital
di it l iimages iis d
done b
by iimage
matching
 Basic Definitions

•AT Aims
In AT process, survey positions of both tie and pass
points are determined and at the same time, exterior
orientation
i i parameters off all
ll existing
i i photographs
h h in
i
the block are solved too.
•AT Definition
Aerial Triangulation is a general term for
photogrammetric methods of coordinating points on
the ground using a series of overlapping aerial
photographs (Faig, 1985)
 Aerial Triangulation Methods

•Analogue (instrumental) AT
•Multi
M lti projector
j t IInstruments
t t
•Universal Instruments

•Independent Model AT
•Strip
p Formation
•Simultaneous

•Analytical AT
•Sequential
•Simultaneous (Bundle Block Adjustment)
 Analytical Aerial Triangulation

¾A bundle of rays that originates from the projective

center and passes through the image points form the
basic computation unit of aerial triangulation.
 Main Steps Of Analytical Aerial
Triangulation

1 Preparation
1.

2. Adjustment computations
 Aerial Triangulation Process Overview

¾Data Collection

• Aerial Photography
g p y

¾Block Formation

¾Control Point Structure Design

¾GCPs data collection
Aerial Triangulation Process Overview

¾Photo Coordinate Observation of points in all

images

•GCPs

•Tie Points

•Pass
P P
Points
i t

¾Bundle Block Adjustment

¾Blunder detection and correction

¾Accuracy assessment
 Bundle Block Adjustment

¾The simultaneous least squares adjustment of all

bundles from all exposure stations, which implicitly
includes the simultaneous recovery of the exterior
orientation elements of all pphotographs
g p and the
position of the object points. (Faig 1985)

¾Co-linearity equation is the fundamental equation

i bundle
in b dl block
bl k adjustment.
dj
 Co Linearity Equation
Co-Linearity

Based on co-linearity
r condition,
r
vectors a , A are parallel.
O
r r r
a
a = λA
a
r
⎛ x − x0 ⎞ ⎛ X − XO ⎞
r ⎜ ⎟ r ⎜ ⎟
A
a = ⎜ y − y0 ⎟ A′ = ⎜ Y − YO ⎟
⎜− c ⎟ ⎜Z − Z ⎟
⎝ ⎠ ⎝ O ⎠
Z
Y
In Image
g Space
p j
In Object Space
p
A

X
 Co Linearity Equation
Co-Linearity

Both vectors should be expressed in the same

coordinate system. Vector (A) in image space
could be written as:
r r
A = R (κ ).
) R (ϕ ).
) R (ω ) A′
⎛ X − XO ⎞
r ⎜ ⎟
A = R (κ ).R (ϕ ).R (ω )⎜ Y − YO ⎟
⎜Z − Z ⎟
⎝ O ⎠

Where R(ω ), R(ϕ ), R(κ ) are rotation matrices around

x y and z axis respectively
x, respectively.
 Co Linearity Equation
Co-Linearity

Co-linearity equation can be formed as:

⎛ x − x0 ⎞ ⎛ r11 r12 r13 ⎞⎛ X − X O ⎞

⎜ ⎟ ⎜ ⎟⎜ ⎟
⎜ y − y0 ⎟ = λ ⎜ r21 r22 r23 ⎟⎜ Y − YO ⎟
⎜− c ⎟ ⎜r r33 ⎟⎠⎜⎝ Z − Z O ⎟⎠
⎝ ⎠ ⎝ 31 r32

rij = rij (ω , ϕ , κ )
 Bundle Block Adjustment

r11 ( X − X O ) + r12 (Y − YO ) + r13 ( Z − Z O )

Fx = x − x0 + c =0
r31 ( X − X O ) + r32 (Y − YO ) + r33 ( Z − Z O )

r21 ( X − X O ) + r22 (Y − YO ) + r23 ( Z − Z O )

Fy = y − y0 + c.k y =0
r31 ( X − X O ) + r32 (Y − YO ) + r33 ( Z − Z O )

k y is
i the
th scale
l factor
f t for
f y axis i in
i digital
di it l
cameras. (This factor is 1 in film base cameras)
 Bundle Block Adjustment

Fx (ω , ϕ , κ , X O , YO , Z O , X A , YA , Z A ) = 0

Fy (ω , ϕ , κ , X O , YO , Z O , X A , YA , Z A ) = 0

¾Fx and Fy in co
co-linearity
linearity equations may deviate
from zero (perfect case) since the measured image
coordinates include random errors.

¾The co-linearity
¾Th li it equations
ti are non-linear,
li
therefore, they have to be linearized using Taylor’s
expansion.
 Case #1: Space Resection

¾Observed photo coordinates

¾Known object space coordinates
¾Unknown exterior orientation elements

Th linearized
The li i d observation
b ti equation
ti iis:

W p = AEOδ EO
Case #1: Space Resection

c
a b

C
A
Z
Y
B

X
 Case #1: Space Resection

¾W p is the misclosure vector

W p = (− Fx ,− Fy )T

¾AEOO is the design

g matrix (exterior
( orientation
parameters)

⎛ ∂Fx ∂Fx ∂Fx ∂Fx ∂Fx ∂Fx ⎞

⎜ ∂ω ∂ϕ ∂κ ∂X O ∂YO ∂Z O ⎟
A=⎜ ⎟
⎜⎜ ∂Fy ∂Fy ∂Fy ∂Fy ∂Fy ∂Fy ⎟⎟
⎝ ∂ω ∂ϕ ∂κ ∂X O ∂YO ∂Z O ⎠
 Case #1: Space Resection

¾δ EO is the correction vector of exterior orientation

parameters
δ EO = (δω δϕ δκ δX O δYO δZ O )T
¾Correction vector is determined using least
square approach

δ EO = ( AEO T Pp AEO ) −1 AEO T PpW p

¾ Pp is the weight matrix of image coordinates

 Case #1: Space Resection

¾An iterative solution may be exercised until the

co ec o s too thee unknown
corrections u ow parameters
pa a e e s become
beco e
insignificant.

n
X EO n −1
= X EO + δ EO
n −1

¾Where EO is the vector of exterior orientation

n
X
in the n thiteration.
Case #2: Space Resection and Intersection

¾Observed photo coordinates

¾ Known
K object
bj t space coordinates
di t
¾Unknown object
j space
p coordinates
¾Unknown exterior orientation elements

The linearized observation equation is:

⎛ δ EO ⎞
W p = ( AEO AS )⎜⎜ ⎟⎟
⎝δ S ⎠
Case #2: Space Resection and Intersection

O1 O2 O3

Image Plane c f c f i f i
b e e
e b h h
a d a d g d g
I

Z C F

Y
B E
A H
ZA
XA D
G
YA
X
Case #2: Space Resection and Intersection

¾ AS is the design matrix (Object Space

Coordinates)
Coo d a es)
⎛ ∂Fx ∂Fx ∂Fx ⎞
⎜ ∂X i ∂Yi ∂Z i ⎟
A=⎜ ⎟
⎜⎜ ∂Fy ∂Fy ∂Fy ⎟⎟
⎝ ∂X i ∂Yi ∂Z i ⎠

¾ δ S is the correction vector of object

j space
p
coordinates
δ S = (δX i δYi δZ i )T
Case #2: Space Resection and Intersection

• The
Th correction
ti vector,
t δ,is-
δ i given
i as:
−1
1
⎡δ EO ⎤ ⎛⎜ ⎡ A ⎤ ⎞ ⎡ AT ⎤
T

⎥ PP [AEO AS ]⎟ ⎢ EO
EO
⎢ ∂ ⎥ =⎜ ⎢⎢ AT
⎥⎦ ⎟ ⎣ AS ⎦
T ⎥ PPWP
⎣ S ⎦ ⎝⎣ S
⎠
−1
⎡δ EO ⎤ ⎡ A P AEO
T
A P A ⎤ ⎡ AEO
T T
PPWP ⎤
⎢δ ⎥ = ⎢
EO P EO P S
T T ⎥ ⎢ T ⎥
⎣ S ⎦ ⎣ A P AEO
S P A P A ⎦ ⎣ AS PPWP ⎦
S P S
Case #3: Object Space Coordinates as Quasi-
Ob
Observations
ti

¾Observed photo coordinates

¾Observed object space coordinates
¾Unknown object space coordinates
¾Unknown exterior orientation elements
Case #3: Object Space Coordinates as Quasi-
Ob
Observations
ti

¾The observation equations for object

space coordinates could be written as:
f ( X i ) = X iobserved − X iunknown = 0
f (Yi ) = Yi observed − Yi unknown = 0
f ( Z i ) = Z iobserved − Z iunknown = 0

¾Object space coordinates could be

obtained
bt i d from
f a GPS survey, fi
field
ld survey or
from available maps with known standard
d i ti
deviation.
Case #3: Object Space Coordinates as Quasi-
Ob
Observations
ti

¾The observation equations in matrix form

can be shown as:
⎛ AEO AS ⎞⎛ δ EO ⎞ ⎛WP ⎞
⎜⎜ ⎟⎟⎜⎜ ⎟⎟ = ⎜⎜ ⎟⎟
⎝0 − I ⎠⎝ δ S ⎠ ⎝WS ⎠

¾Where WS is the misclosure vector of

object
bj t point
i t coordinates
di t
 Case #3: Object Space Coordinates as Quasi-
Ob
Observations
ti
-
•The correction vector, δ,is given as:
−1
⎡δ EO ⎤ ⎡ A P AEO
T T
A PP AS ⎤ ⎡ T
AEO PPWP ⎤
⎢δ ⎥ = ⎢
EO P EO
⎥ ⎢ T ⎥
T
⎣ S ⎦ ⎣ A P AEO
S P AS PP AS + PS ⎦ ⎣ AS PPWP − PS WS ⎦
T

• PS is the weight matrix of object point coordinates

• WS is the misclosure vector of object point coordinates
Case #4: Exterior Orientation elements as
Q i Ob
Quasi-Observations
ti

¾Observed photo coordinates

¾Observed object space coordinates
¾Unknown object space coordinates
¾Observed exterior orientation elements
¾Unknown exterior orientation elements
Case #4: Exterior Orientation elements as
Q i Ob
Quasi-Observations
ti

¾The equations for the observed exterior

oorientation
e a o parameters
pa a e e s can
ca be written
w e as:
g ( X O ) = X Oobserved − X Ounknown = 0
g (YO ) = YOobserved − YOunknown = 0
g ( Z O ) = Z Oobserved − Z Ounknown = 0
g (ω ) = ω observed − ω unknown = 0
g (ϕ ) = ϕ observed − ϕ unknown = 0
g (κ ) = κ observed − κ unknown = 0
Case #4: Exterior Orientation elements as
Q i Ob
Quasi-Observations
ti

¾Exterior orientation parameters could be

ob a ed us
obtained usingg G
GPS
S aandd INS
NS observations
obse va o s
acquired at the time of imaging.
The observation
Th b ti equations
ti in
i matrix
t i form
f
can be given as:
⎛ AEO AS ⎞ ⎛WP ⎞
⎜ ⎟⎛ δ EO ⎞ ⎜ ⎟
⎜0 − I ⎟⎜⎜ ⎟⎟ = ⎜WS ⎟
⎜− I ⎟ ⎝ δS ⎠ ⎜ ⎟
⎝ 0 ⎠ ⎝ EO ⎠
W

¾W
Where
e eWEO iss thee misclosure
sc osu e vector
vec o of
o
exterior orientation parameters
 Case #4: Exterior Orientation elements as
Q i Ob
Quasi-Observations
ti

¾ The correction vector is determined as:

−1
⎡δ EO ⎤ ⎡ A PP AEO + PEO
T
A PP AS ⎤ ⎡ AEO
T T
PPWP − PEOWEO ⎤
⎢δ ⎥ = ⎢
EO EO
⎥ ⎢ T ⎥
⎣ S ⎦ ⎣ A T
S PP AEO AS PP AS + PS ⎦ ⎣ AS PPWP − PS WS ⎦
T

•PEO is the weight matrix of exterior orientation

parameters
• W EO is the misclosure vector of exterior orientation
parameters
Case #5: Introducing Geodetic
Measurements

• Observed photo coordinates

• Observed object space coordinates
• Unknown object space coordinates
• Observed exterior orientation elements
• Unknown exterior orientation elements
• Observed Geodetic measurements
 Case #5: Introducing Geodetic
Measurements
¾ Observation equation for slope distance is writen as:

f = d ij − ( X j − X i ) + (Y j −Yi ) + ( Z j − Z i ) = 0
2 2 2

d ij is the observed distance between point I and point j,

(Xj,yj,zj) are the unknown object coordinates of point j,
((Xi,Yi,Zi)
, , ) are the unknown object
j coordinates of point
p i.
¾ The observation equation are given as:
⎛ AEO AS ⎞ ⎛ WP ⎞
⎜ ⎟ ⎜ ⎟
⎜ 0 − I ⎟⎛ δ EO ⎞ ⎜ WS ⎟
⎜−I ⎜⎜ ⎟⎟ = ⎜
0 ⎝ δ S ⎠ WEO ⎟
⎟
⎜ ⎟ ⎜ ⎟
⎜ 0 ⎟ ⎜ ⎟
⎝ AG ⎠ ⎝ G ⎠
W
 Case #5: Introducing Geodetic
Measurements

™ AG is the design matrix of geodetic observation

[
AG = ∂f / ∂Xj ∂f / ∂Y j ∂f / ∂Z j ∂f / ∂X i ∂f / ∂Yi ∂f / ∂Z i ]
™ WG is the misclosure vector of geodetic observation.
-
¾ The correction vector,δ,is given as:
−1
⎡δ EO ⎤ ⎡ A P AEO + PEO
T T
A P AS ⎤ ⎡ T
AEO PPWP − PEOWEO ⎤
⎢δ ⎥ = ⎢
EO P EO P
⎥ ⎢ ⎥
⎣ S ⎦ ⎣ A PP AEO
T
S AST PP AS + PS + AGT PG AG ⎦ ⎣ AST PPWP − PSWS − AGT PGWG ⎦

™ PG is the weight matrix of geodetic observation

Case #6: Interior Orientation elements as
Q i Ob
Quasi-Observations
i

•Observed photo coordinates

•Observed object space coordinates
•Unknown object space coordinates
•Observed exterior orientation elements
•Unknown exterior orientation elements
•Observed Geodetic measurements
•unknown interior orientation elements
•Observed interior orientation elements
 Case #6: Interior Orientation elements as
Q i Ob
Quasi-Observations
i
¾ The observation equation are written as:
⎛ AEO AS AIO ⎞ ⎛ WP ⎞
⎜ ⎟ ⎜ ⎟
⎜ 0 −I 0 ⎟⎛ δ EO ⎞ ⎜ WS ⎟
⎜ ⎟ ⎜
⎜ −I 0 0 ⎜ δ S ⎟ = WEO ⎟
⎟
⎜ ⎟ ⎜ ⎟
⎜ 0 AG 0 ⎟⎜⎝ δ IO ⎟⎠ ⎜ WG ⎟
⎜ 0 ⎜W ⎟
⎝ 0 − I ⎟⎠ ⎝ IO ⎠
• AIO is the design matrix and WIO is the misclosure
vector
t off the
th observed
b d interior
i t i oriantetion
i t ti andd
additional parameters.
 Case #6: Interior Orientation elements as
Q i Ob
Quasi-Observations
i

• The equations for observed interior orientation and

additional parameters are similar to those of observed
exterior orientation parameters.

• The correction vector ,δ,is computed using the least

square
q method as:
 Case #6: Interior Orientation elements as
Q i Ob
Quasi-Observations
i
⎛ AEO
T
PP AEO + PEO T
AEO PP AS T
AEO PP AIO ⎞
⎜ ⎟
N =⎜ AST PP AEO AST PP AS + PS + AGT PG AG AS PP AIO ⎟
T

⎜ AT P A T
AIO PP AS T
AIO PP AIO + PIO ⎟⎠
⎝ IO P EO

⎛ T
AEO PPW P − PEOW EO ⎞
⎜ T ⎟
U = ⎜ AS PPW P − PS WS + AG PGWG ⎟
T

⎜ A T
P W − P W ⎟
⎝ IO P P IO IO ⎠
⎛ δ EO ⎞
⎜ ⎟
δ = ⎜ δS ⎟
⎜δ ⎟
δ =N U −I

⎝ IO ⎠
™PIO is the weight matrix of interior and additional parameters