In: Wagner W., Szekely, B. (eds.): ISPRS TC VII Symposium - 100 Years ISPRS, Vienna, Austria, July 5-7, 2010, IAPRS, Vol. XXXVIII, Part 7B 
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1. The image will be initially oriented with the 
laser scanning data according to provided GCPs. 
In this step the rotation angle around Z axis “k“ 
is only rotation angle which is considered for 
further processing, 
2. Equation 1 defining the relationship between the 
laser scanning data and image according to 
parameters of orientation will be constructed, 
3. The interested features will be extracted from 
image and will be transformed to laser scanning 
space according to Equation 1 for matching with 
their correspondences features. 
4. Final transformation 
For implementation of above steps correctly, a special 
filter has been developed that extract the plane from laser 
scanning data. The filter will remove scattered points that 
interferes the matching process. For example, each laser 
scanner pulse signal has three responds from trees and 
bushes. These additional data affect the process of the 
matching and transformation and reduce the accuracy of 
outputs. 
X i 
3 r t 
— 
+ sR K 
> 7 i 
*t. 
Z s- 
Z i- 
3. STUDY AREA 
Test area for registering aerial image on laser scanning 
data locates in Espoonlahti (approximately 60° 8’N, 24° 
38’E) in southern part of Finland. The area can be 
characterized as low residential urban area having mainly 
terrace houses and detached houses with a multistorey 
buildings and apartments in some areas. 
Also the most required and applicable data were provided 
by EuroSDR as well as photographs orientation 
parameters and GCPs. 
GCPs have been measured using real time kinematic 
(RTK) GPS and some of GCPs represent on cornices of 
roofs. 
Laser Scanning images were acquired with Optech 
ALTM 3100 and Leica ALS50-II scanners at 2005 and 
2007. Technical details of imagery systems and camera 
are presented below. 
Optech ALTM 3100 
Scanning angle 24 degrees, 20 degrees is processed 
(±10°) 
PRF 100 kHz 
Scanning frequency 67 Hz 
Flying speed 75 m/s 
Leica ALS50-II 
Scanning angle 40 degrees (±20°) 
PRF 148 kHz 
Scanning frequency 42.5 Hz 
Flying speed 72 m/s 
DMC Photogrammetric Images 
Pixel depth 16 bit 
Size 13824x7680 
Ground resolution 5 cm 
Forward overlap 60% 
Side Overlap 20% 
Interior Orientation 
Focal length: 120.0000 mm (10000 pixels) 
Principle point (differences from the image centre): 
Px=0.000 mm 
Py=0.000 mm 
Pixel size: 0.012 mm 
Image size: 13824x7680 pixels (165.888x92.16 mm) 
The terrestrial images and 3D data have been acquired 
from an ancient site in south of IRAN near city of Shiraz. 
The site’s name is Naqsh-e Rostam which includes a 
number of rock carvings, Graves, and a building named 
Ka’ba-ye Zartosht. The images and 3D model were 
acquired from Ka’ba-ye Zartosht which most of photos 
were acquired from a non-metric camera. 
4. IMPLEMENTATION AND EVALUATION 
For implementation and evaluation of the proposed 
approach, the aerial image and terrestrial images have 
been split to small area according to geometry of objects. 
For example all buildings on the aerial image have been 
extracted and separated from the image. For terrestrial 
images, all windows and the door have been extracted 
and separated. Then according to Equation (1), matching 
between each extracted object and 3D model or laser 
scanning data has been implemented. Some objects such 
as multi stories buildings have a significant depth of view 
and that side wall with windows can be easily recognised. 
Topography of area around Ka’ba-ye Zartosht has set a 
difficulty for stereo image acquiring. The building has 
been constructed by stones and has 13.5m high and only 
by a convergence photography can acquire whole of each 
wall. It was one of the challenging job to compile data of 
each wall in a map and GIS. At first it was tried by using 
a Zeiss Stereoplotter PLANICOMP P33 and a digital 
photogrammetric system to compile data on a map, but 
both systems failed to provide an accurate map. Then, it 
was planned to obtain the 3D data by precise engineering 
surveying approach. A precise 3D model has been 
provided with less than 1mm STD. This 3D model has 
provided precise information for analysing the output 
from registering the image on the 3D model. It needs to 
mention that the photos were acquired by a non-metric 
film based camera. Then photos have been scanned by a 
very basic scanner. The images have a very poor quality 
and mostly blurred.