XXII ISPRS Congress 2012: Technical Commission VII

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Multivolume work

Persistent identifier:: 1663813779

Title:: XXII ISPRS Congress 2012

Sub title:: Melbourne, Australia, 25 August-1 September 2012

Year of publication:: 2013

Place of publication:: Red Hook, NY

Publisher of the original:: Curran Associates, Inc.

Identifier (digital):: 1663813779

Language:: English

Additional Notes:: Kongress-Thema: Imaging a sustainable future

Corporations:: International Society for Photogrammetry and Remote Sensing, Congress, 22., 2012, Melbourne; International Society for Photogrammetry and Remote Sensing

Adapter:: International Society for Photogrammetry and Remote Sensing, Congress, 22., 2012, Melbourne; International Society for Photogrammetry and Remote Sensing

Founder of work:: International Society for Photogrammetry and Remote Sensing, Congress, 22., 2012, Melbourne; International Society for Photogrammetry and Remote Sensing

Other corporate:: International Society for Photogrammetry and Remote Sensing, Congress, 22., 2012, Melbourne; International Society for Photogrammetry and Remote Sensing

Document type:: Multivolume work

Volume

Persistent identifier:: 1663821976

Title:: Technical Commission VII

Scope:: 546 Seiten

Year of publication:: 2013

Place of publication:: Red Hook, NY

Publisher of the original:: Curran Associates, Inc.

Identifier (digital):: 1663821976

Illustration:: Illustrationen, Diagramme

Signature of the source:: ZS 312(39,B7)

Language:: English

Additional Notes:: Erscheinungsdatum des Originals ist ermittelt.; Literaturangaben

Usage licence:: Attribution 4.0 International (CC BY 4.0)

Corporations:: International Society for Photogrammetry and Remote Sensing, Congress, 22., 2012, Melbourne; International Society for Photogrammetry and Remote Sensing

Adapter:: International Society for Photogrammetry and Remote Sensing, Congress, 22., 2012, Melbourne; International Society for Photogrammetry and Remote Sensing

Founder of work:: International Society for Photogrammetry and Remote Sensing, Congress, 22., 2012, Melbourne; International Society for Photogrammetry and Remote Sensing

Other corporate:: International Society for Photogrammetry and Remote Sensing, Congress, 22., 2012, Melbourne; International Society for Photogrammetry and Remote Sensing

Publisher of the digital copy:: Technische Informationsbibliothek Hannover

Place of publication of the digital copy:: Hannover

Year of publication of the original:: 2019

Document type:: Volume

Collection:: Earth sciences

Chapter

Title:: [VII/7, III/2, V/1, V/3, ICWG V/I: LOW-COST UAVS (UVSS) AND MOBILE MAPPING SYSTEMS]

Document type:: Multivolume work

Structure type:: Chapter

Chapter

Title:: AUTOMATIC EXTERIOR ORIENTATION PROCEDURE FOR LOW-COST UAV PHOTOGRAMMETRY USING VIDEO IMAGE TRACKING TECHNIQUE AND GPS INFORMATION T. Anai, T. Sasaki, K. Osaragi, M. Yamada, F. Otomo, H. Otani

Document type:: Multivolume work

Structure type:: Chapter

2. AUTOMATIC EXTERIOR ORIENTATION USING VIDEO IMAGE AND STILL IMAGES This section describe about the automatic exterior orientation process in this investigation. In order to perform automatic detection of corresponding points from discontinuous high resolution still images without using coded target or manual operation, the keypoint detector and descriptor such as SIFT (D. G. Lowe. 2004.) or SURF (H. Bay. 2006.) are widely used now. By the way, if assume that the video image between discontinuous still images are obtained, video image sequences gives information about the motion of corresponding points. Therefore, the authors developed the procedure of automatic detection of corresponding points using video image sequences and high resolution still image. Moreover, robust exterior orientation that using corresponding points, GPS on UAV and minimum ground control point was also investigated. 2.1 Integrated Devices on UAV The authors have developed the UAV system which has ability of acquiring video image and still image simultaneously. Figurel shows the UAV system of this investigation. This system is based on “AscTec Falcon8” which developed by "Ascending Technologies GmbH". Tablel shows the details of integrated devices of this UAV system. The finder image of digital still camera RICHO GX200 is connected to video recorder by NTSC video line. Therefore, high resolution still images (12 mega-pixels) at each waypoint and the video image (VGA size) during a flight are obtained. The synchronization between video image and still images is performed by detection of shuttered frame from video image sequences. Also, the positioning results at each waypoint are obtained by KML format file as the function of “AscTec Falcon 8”. Figure 1. UAV of This Investigation UAV ASCTEC Falcon 8 Payload: 500g Flight Time: 16-18 min GPS Ublox LEA-5T GPS L1 frequency, C/A Code GALILEO Open Service L1 frequency SBAS surport Resolution:4000x3000 Pixel Focal Length: £-5.1 mm(at wide side) Input Video Signal: NTSC/PAL Recording Resolution: 640 x 480 pixel Video File Format: AVI (mepg4) Tablel. Details of Integrated Devices Digital Camera Ricoh GX-200 Video Recorder] kingdom System Technology Angel Eye International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences, Volume XXXIX-B7, 2012 XXII ISPRS Congress, 25 August — 01 September 2012, Melbourne, Australia 2.2 Flow of Automatic Exterior Orientation procedure Figure 2 shows the flow of automatic exterior orientation procedure in this investigation. The waypoint planning and flight control are performed by “AscTec autopilot control software” provided by Ascending Technologies GmbH. High resolution still images at waypoints, video image during flight, and also positioning information of each waypoint are obtained as the result of a flight. At the first of this processing, the detection of common feature points from high resolution still image and tracking of detected feature points on video image sequences are performed using robust feature point tracking method based on the OC image processing. The tracking result of feature points are obtained in the image coordinate on high resolution still image. As the next step, sub-pixel matching of each feature point is performed. The good results of this sub- pixel matching are used as candidate of correct pass points. In order to perform tie point matching, the exterior orientation using these candidate pass points is performed. The result of exterior orientation in this step gives the geometry of candidate pass points and still images in arbitrarily position and scale. Finally, registration in global coordinate using the positioning information of waypoints and minimum ground control points is performed by using bundle adjustment with robust regression. These photogrammetric procedures are developed based on “TOPCON Image Master”. Therefore, the 3D modelling from still image also can be performed easily. Waypoint Planning and Flight (ASCTEC Falcon 8) } Robust Feature Point Tracking (OC image processing) ! Sub-pixel Matching (LSM) i Tie Point Matching and Exterior Orientation (in arbitrarily position and scale ) | Bundle Adjustment with Robust Regression| 3D Modeling on “Topcon Image Master?’ Figure 2. Flow of Automatic Exterior Orientation 2.3 OC Image Processing In this investigation, the detection of common feature point and tracking procedure are performed by “Orientation Code” (OC) image processing. The most unique point of OC image processing is that the coded images are used instead of the original gray-scale images. The OC means a quantization of the maximal intensity change direction around interest pixel. The OC of each pixel is defined as following equation:

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