Full text: Proceedings International Workshop on Mobile Mapping Technology

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V.A. Knyaz, S.Yu. Zheltov 
State Research Institute of Aviation System 
125319, 7, Victorenko str, Moscow 
KEY WORDS: Close-range photogrammetry, Camera orientation, Calibration. 
Progress in close-range digital imaging over the recent years provides the basis for creating mobile mapping systems for spatial data 
acquisition purposes. Applying close-range photogrammetric technique in system based on automobile for road mapping, road surface 
control etc. looks rather attractive but has some problems. On the one side to obtain required precision in measurements one has to use 
lenses with long focal length for suitable image scale. On the other side the possible basis of the stereosystem is restricted by vehicle 
dimensions. This results in bad condition for relative orientation parameters determination and therefore in low precision of spatial 
The paper describes the method for accurate automated cameras relative orientation for photogrammetric system based on automobile 
developed in State Research Institute of Aviation system. The method is based on bundle adjustment procedure, using special test scene 
and additional information about reference points of the test scene. It uses original coded targets as reference points markers for 
automatic and precise reference points determination. It allows to calculate image coordinate of reference points with subpixel accuracy, 
using elliptic approximation for target image. The correspondence problem is solved automatically due to target code recognition. 
The developed method was applied for cameras positioning on laboratory vehicle used for road scenes acquisition. Acquired stereopairs 
was used for objects feature extraction such as road digital model and surrounding objects reconstruction. The description of hardware 
of the mobile photogrammetric system and software for system calibration is presented. The results of cameras orientation are given in 
comparison with standard relative orientation procedure. The results of system application, estimations of system precision along with 
approaches to further accuracy enhancement are presented. 
p. 69-14. 
Fast progress in GIS-technologies creates the growing demand for 
3D models of urban objects such a buildings, bridges, roads etc. 
for filling appropriate layers of databases. Digital 
photogrammetry approves to be an adequate technique for precise 
and productive acquiring necessary information. It becomes 
background for creating mobile mapping system based on various 
platforms such as planes, balloons, automobiles [Klemm, 1997]. 
For automobile mapping photogrammetric system the developer 
has to find compromise between needed image scale determined 
by focal length of lenses used and requirements to stereosystem 
precision depending on its configuration (basis of stereosystem, 
developed for accuracy enhancement are described along with 
accuracy estimation and results of system application. 
Mobile photogrammetric system is developed for acquiring 
primary data for roads and surrounding areas GIS layers. It is 
aimed at the solution of the next primary tasks: 
• stereo images and stereo sequences registration of 
environment data to create and update database of roads 
• capturing data for urban cadaster and management land areas. 
The system is based on ZIL-131 vehicle (Figure. 1.) which has 
special systems for working in hard conditions such as bad roads 
and winter. 
Below an overview of automobile mapping photogrammetric 
system created in State Research Institute of Aviation system is 
presented. System is designed for primary data collecting about 
roads and surrounding area. At the present stage of development 
it is equipped only with photogrammetric subsystem, external 
position system such as GPS being installed later. So the problem 
of vehicle positioning has to be solved only by photogrammetric 
methods. The methods for system calibration and orientation 
The surveying system includes two CCD cameras, two PC 
equipped with framegraber and special software developed for 
capturing stereo images and stereo sequences. CCD cameras is 
installed in the vehicle bumper, basis being 1.62 m. Zoomed 
image of CCD is shown in right upper comer of Figure 1. 
For capturing left and right images simultaneously cameras are 
synchronized each other, left camera working in the internal 
synchronization mode and its HD (horizontal drive) and VD

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