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Alexandria University
ORIGINAL ARTICLE
KEYWORDS Abstract This paper presents a study of accuracy of a digital technique that uses a computer pho-
Digital Close Range Pho- togrammetric software which is PhotoModeler, this one based mainly on two mathematical theories
togrammetry (DCRP); to determine some measurement quantification, Direct linear Transformation (DLT) and Scale
PhotoModeler; Invariant Feature Transform (SIFT) will be discussed as an explanation of the software technology.
Laboratory experiments; A set of laboratory experiments were prepared as a comparison with the traditional techniques, a
Sofware; try to assess the highest possible accuracy of the software and to demonstrate if it matches the pro-
(SIFT), (DLT) posed standard values, The pilot recommendations were also taken into account in the conduct of
the tests as well as in the creation of projects by the software. These experiments focused on study of
the accuracy of length monitoring and size measurement, the observation of the ground cartesian
coordinates as well as the camera format size calculation. The results show that this technique could
be relied upon effectively in some different measurements rather than traditional methods.
Ó 2018 The Author. Published by Elsevier B.V. on behalf of Faculty of Engineering, Alexandria
University. This is an open access article under the CC BY-NC-ND license (http://creativecommons.org/
licenses/by-nc-nd/4.0/).
Linear Transformation (DLT) [4] and Scale Invariant Feature whose object-space coordinates are known. Eq. (1) is rewritten
Transform (SIFT) [2] ‘‘ to calculate the camera parameters by to serve in a least squares formulation relating known control
a calibration process, and creating a dense surface model points to image coordinate measurements:
respectively. That is why this study went to examine the accu- Calculation of the lens distortion:
racy of the use of the software in the targeted measurements.
Dx ¼ x d1 s2 þ d2 s4 þ d3 s6 þ e1 s2 þ 2x2 þ 2e2 x y ð2Þ
So some laboratory and computational experiments were sug-
gested to examine the accuracy of the software. The proposed
Dy ¼ y d1 s2 þ d2 s4 þ d3 s6 þ 2e1 x y þ 2e2 s2 þ 2y ð3Þ
set of experiments has been designed to simulate different field
applications that were carried out at ‘‘Survey Engineering Lab- where:
oratory, Faculty of Engineering, KafrelShiekh University”
The experiments were designed to test the following: x ¼ x xo y ¼ y yo s2 ¼ ðx xo Þ2 þ ðy yo Þ2
x, y are the image coordinates e1 , e2 are two asymmetric
Calculation of Camera format size (a calibration process). parameters for decentring distortion, d1 ,d2 and d3 are radial
Measuring of a line length. distortion three symmetric parameters, s is the radial distance
Volumes quantification (3D amount measurement). of the principal point [7].
Point coordinates relative to a specific axis.
2.2. SIFT
2. PhotoModeler mathematical models DCRP is a technique for accurate measuring objects directly
from digital images captured with a camera within a close
Direct Linear Transformation (DLT) and Scale Invariant range. Multiple overlapped images captured consecutively with
Feature Transform (SIFT) are two mathematical theories will different perspectives to produce measurements that can be
be discussed respectively. used to create accurate three dimension models of real objects.
Determination of the coordinates of the used camera is not
2.1. DLT necessary because the local futures of the object are generated
directly from the images. Photogrammetry techniques allow to
The photogrammetric three-dimension coordinate is mainly transform images data of an object into a three-dimension
based on the co-linearity equation which simply states that model by using a pre known parameters- digital camera (lens
object point, camera projective center and image point lies focal length, imager size and number of image pixels and dis-
on a straight line [5]. Thus, each point of interest should be tortion factors). SIFT features from University of British
captured within at least two images, so the point coordinates Columbia (UBC). This product is based in part on the SIFT
could be measured from three-dimension monitoring which technology developed by David Lowe [7], SIFT is an approach
is comprised by a photogrammetric software such PhotoMo- aims to transform stored digital images data into an invariant
deler. Abdel Aziz and Karara (1974) [6] proposed a simple scaling, rotation, transformation and a partially invariant illu-
method for close range photogrammetric data reduction with mination changes as a large collection of local futures vectors.
non– metric cameras; it establishes the DLT between the This approach depends on a four prime stages of computation
two-dimensional coordinates, and the corresponding object- used to generate the image local features [8]:
space coordinates. The DLT between a point (X,Y,Z) in object
space and its corresponding image space coordinates (x,y) can 2.2.1. Scale-space extrema detection
be modeled by two linear fractional equations: Searching the location of images and scales are proceeded
worthily at the first phase by applying difference-of-Gaussian
C1 X þ C2 Y þ C3 Z þ C4
x þ Dx þ ¼0 function to differentiate the prospective interest points which
C9 X þ C10 Y þ C11 Z þ 1
are invariant to orientation and scale.
C5 X þ C6 Y þ C7 Z þ C8 Bðx; y; rÞ ¼ Gðx; y; rÞ Mðx; yÞ
y þ Dy þ ¼0
C9 X þ C10 Y þ C11 Z þ 1 And it could be explained as:
By taking random error into account, it forms as 1
eðx þy Þ=2r
2 2 2
Avx þ ADx þ x þ C1 X þ C2 Y þ C3 Z þ C4 þ C9 xX þ C10 xYþ Gðx; y; rÞ ¼ ð4Þ
2pr2
C11 xZ ¼ 0
where:
Avy þ ADy þ y þ C5 X þ C6 Y þ C7 Z þ C8 þ C9 yX B is a blurred image, G is the Gaussian Blur operator, M is
þ C10 yY þ C11 yZ ¼ 0 ð1Þ an captured image, x,y are the location coordinates and r is
the ‘‘scale” parameter. the amount of blur gets greater by the
where: greater scale value.
C1 ,C2 ,C3 . . .C11 are the transformation parameters X, Y and
Z are the object space coordinates, vx and vy are random error 2.2.2. Keypoint localization
in image coordinates, A is (C9 X þ C10 Y þ C11 Z þ 1). Eq. (1) Measuring of keypoints stability, determines their efficiency.
results from the equation of the central perspective in an obvi- Moreover a precise model is generated to identify scale and
ous manner; Dx, Dy are systematic deformations of the image, location.
such the deviations from the central perspective. Eq. (1) can be
calculated directly for the eleven transformation parameters @DT 1 @2D
DðXÞ ¼ D þ X þ XT X ð5Þ
(C1 ,C2 ,C3 . . .C11 ) if there are at least six points in the image @X 2 @X2
Study the accuracy of digital close range photogrammetry 173
where: tion result is compared with the result comes out of an exper-
X ¼ ðx; y; rÞT is scale-space function so maximum and min- iment established by installing a specific centric preset A4
imum specified from the derivative of the function equivalent white sheet vertically on a dark wall and in parallel a digital
to zero, T is the offset from the sample point. phone camera was installed on a tri-horizontal rack. By adjust-
2 1 ing the camera center from the imaging settings and matching
@ D @D it to the center of the paper, a picture was capturd that con-
xb ¼ ð6Þ
@X2 @X tained a scene of the sheet about 75% of the total area of pho-
where: tography. The captured image was digitally stored and worked
D can be calculated from image subtraction, xb is the max- on it to determine the required values.
imum or minimum location extremum.
4.1.1. Camera calibration
2.2.3. Orientation assignment By using a single calibration sheet Fig. 1 printed on an A4
The single or multiple orientation of each keypoint are deter- paper with 4 control points,one of them will be considered
mined basically on local directions of images. Orientation, as principle point (0,0,0), it is noticed that all points at the
scale and location of each future, control the operations of sheet have Z = 0 and X&Y values differenced in a constant
image data transformation. determined values, known by the software. Three pictures cap-
0:5 tured in (0,90,180) degree rolling around the orientation of the
mðx; yÞ ¼ ðLðx þ 1; yÞ Lðx 1; yÞÞ2 þ ðLðx; y þ 1ÞLðx; y 1ÞÞ2 camera lens of each side of the sheet. So the total captured pic-
tures = 12 (this number of images is enough to determine the
ð7Þ
lens unknown distortion values (d1 ,d2 ,e1 ,e2 and the camera for-
hðx; yÞ ¼ tan1 ððLðx; y þ 1Þ Lðx; y 1ÞÞ=ðLðx þ 1; yÞ Lðx 1; yÞÞÞ mat size).
By using PhotoModeler calibration pane, 12 calibration
ð8Þ
sheet images were loaded into the software to be analyzed.
h is the orientation of the peak of histogram descriptor One of the most important calibration results is ‘‘the camera
according to the keypoints number n (h1. . ... hn). format size”. This pattern will be calculated manually to be
compared with software calibration result.
2.2.4. Keypoint descriptor
Surround each identified keypoint, local gradients of image are 4.1.2. Calculation of camera format size manually [4]
determined through the selected scale to create a representation, By taping the A4 white sheet on a dark wall in Figs. 2 and 3 to
even if the image contains distortion or illumination differences. make the edges of paper more contrasted. About 75% covered
From the previous paragraphs. it is shown some advantages scene image by the sheet is captured as shown in Fig. 4, the
of this theroy: image Fig. 4 got digitalized Fig. 5 to calculate parameters
(Sx, Sy, Nx, Ny). Sheet corners in the image, as well as the
Locality: Expression of the objects depicted in a coherent image corners are specified precisely by point mark mode, once
model free of interference and dispersion. standing by the mouse arrow on any point mark, the software
Distinguish objects by collecting as many individual details shows at which pixel in the image it locates.
as possible.
Px f sx Py f sy
Ability to collect enough data for the smallest visual object. Fx ¼ Fy ¼ ð9Þ
S Nx S Ny
Close to instantaneous performance.
where:
sx , sy : The image total number of pixels according to X, Y
3. Testfield preparation direction. Nx , Ny : The total number of pixels that are needed to
capture both length Px , Py .
A digital mobile phone main camera (Microsoft Lumia 640 By applying the equation, image format size is calculated.
XL, 13 MP, f = 3.71 mm constant focus, 1/3 in. sensor size) Fx , Fy : Image format size in X, Y direction. (horizontal and
is used to carry out all the mentioned experiments at Survey perpendicular), Px : the length of the A4 sheet = 297 mm, Py :
Engineering Lab. Coded target sheets are used for easy auto
marking process, created by the software from ‘‘Create coded
target pane, by a Core i5 6200u 2.3 mghz CPU, 12 GB ram,
AMD Radeon R5 M330 computer device, all modeling opera-
tions are processed. A trail PhotoModeler UAS [64-bit] ver-
sion is used. (Sokkia SET330RK) Total station was used for
ground observations.
4. Laboratory experiments
deler with specific distance between their centers, with the aim
of making that distance as a guiding scale measurement of the
software to be able to measure a distance drawn across two
points at a standard distance on any ruler. Through the soft-
ware, a standard distance was measured on the ruler to be
compared with its real value observed to identify the potential
error rate at the software measurements of longitudinal
Fig. 2 Elevation and sideview positions.
distances.
According to manual calculations, Camera format size is surements may range between 98.23 mm and 101.77 mm as
Fx Fy ¼ 4:41 2:44 mm2. percentage of error 1.77% in general.
It is clear from this experiment that, calculated values are
too close to the values detected by the software, with a percent- 5.3. Volumes quantification (3D amount measurement)
age of error ranging between 2.86%:4.31% of the value
observed by the software. It is noticeable that the more accu- The sample model is subject to a tight virtual surface that lim-
rate the manual procedures in determining the parameters, its the size of the sample. Therefore, any simple position
the lower the error rate. changing of the surface control points, effectively affects on
the calculated final value. Once that default surface and model
5.2. Measurement of a line length surface are selected together, the volume of the sample is cal-
culated immediately. Fig. 19 shows how PhotoModeler tight
Four lines were created to be measured by the software, each the volume with the textured created surface, the software
one of them equals to 100 mm on each ruler. The measuring divides the simulated surface into two parts, a volume above
pane shows all information about any selected object Table 2. the surface and the other one is below to be both limited.
Measuring pane shown a set of varied measurements of the According to the local coordinates axis, the volume is defined.
same value of line length, by calculation of standard deviation The software measuring pane shows the volume of the sam-
r = ±1.77 mm, it indicates to the predicted error rate in mea- ple = 455.726 cm3, the calibrated volume = 435 cm3, with a
relative expected error about = ±4.7%.
References
International Symposium on Optomechatronic Technologies, [10] Hossam El-Din Fawzy, The accuracy of determining the
California, United States, 2008. volumes using close range photogrammetry, J. Mech. Civil
[8] David G. Lowe, Distinctive image features from scale- invariant Eng. IOSR 12 (2) (2015) 10–15.
keypoints, Int. J. Comput. Vision 60 (2) (2004) 91–110. [11] Benoit Dierckx, Christophe De Veuster, Measuring, et al,
[9] Bryan Randles et al., The accuracy of photogrammetry vs. Measuring a Geometry by Photogrammetry: Evaluation of the
hands-on measurement techniques used in accident Approach in View of Experimental Modal Analysis on
reconstruction, SAE International, 2010. Automotive Structures, Society of Automotive Engineers, 2001.