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International cooperation and technology transfer

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fullscreen: International cooperation and technology transfer

Monograph

Persistent identifier:: 856489328

Author:: Mussio, Luigi

Title:: International cooperation and technology transfer

Sub title:: Parma, Italy, February 15 - 19, 1999, Bandung, Indonesia, April 13 - 14, 1999, Cotonou, Benin, December 6 - 10, 1999 ; proceedings of the workshops

Scope:: XXX, 398 Seiten

Year of publication:: 1999

Place of publication:: London

Publisher of the original:: RICS Books

Identifier (digital):: 856489328

Illustration:: Illustrationen, Diagramme

Language:: English

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

Publisher of the digital copy:: Technische Informationsbibliothek Hannover

Place of publication of the digital copy:: Hannover

Year of publication of the original:: 2016

Document type:: Monograph

Collection:: Earth sciences

Chapter

Title:: CONTROL DIRECTIONS FOR THE CALIBRATION OF TERRESTRIAL NON-METRIC CAMERAS. Gabriele Fangi.

Document type:: Monograph

Structure type:: Chapter

International cooperation and technology transfer
Cover
ColorChart
Title page
FOREWORD.
Table of Contents.
Compte-rendu of the WG VI/3. Mariano Cunietti Memorial Meeting in Parma. Mojca Kosmatin Fras, WG VI/3 Co - chairperson.
Compte - Rendu of the ISPRS WG VI/3. High Level Tutorial in Bandung. Fahmi Amhar, Tutorial Chairperson.
Compte-rendu of the Wg VI/3. Luigi Solaini 10th Anniversary. Memorial Meeting in Cotonou. Luigi Mussio, WG VI/3 Chairperson.
Opening.
Closure.
Welcome addresses.
Opening.
Closure.
PADUA, BAHIA BLANCA, PERUGIA, PARMA, BANDUNG AND COTONOU, MEETING - LIST OF PARTICIPANTS.
ISPRS WG VI/3 - LIST OF CORRESPONDENTS.
VIRTUAL REALITY (VR) APPLIED TO ENVIRONMENT REPRESENTATIONS: SOME EXAMPLES AT UNIVERSITY OF PADUA (ITALY). V. Achilli, F. Barison, A. Vettore.
SURVEYING METHODOLOGIES IN THE PHLEGREAN VOLCANIC DISTRICT (NAPLES - ITALY). Achilli V., Borgstrom S., Capone M., Del Gaudio C., De Martino P., Klees R., Ricciardi G. P., Ricco C., Sepe V., Usai S., Vettore A.
Integration of GPS and Conventional Surveying For Positioning of The Mobile Phone Antennae in A Local System. Al-Bayari O., Barbarella M., Fazio C..
The Spacewise Approach to the Data Treatment for the SAGE Mission Project. A. Albertella, F. Migliaccio, F. Sansó.
DATA AND METADATA A NEW CONCEPT IN ARCHIVING ARCHITECTURAL DATA. Elena ALBERY, Fulvio RINAUDO.
NOTES ABOUT TOPOGRAPHIC AND PHOTOGRAMMETRIC SURVEYING FOR THE INVESTIGATION OF THE DOME BEARING VERTICAL WALLS IN S. MARIA DEL FIORE CATHEDRAL OF FLORENCE. P. Aminti, I. Chiaverini, D. Ostuni.
NEW SURVEY OF MORIMONDO ABBEY. Bruno Astori, Luca Rinaldi, Grazia Tucci.
SARNO (ITALY) LANDSLIDES: DIFFERENT METHODOLOGIES OF DATA ACQUISITION. M. Barbarella, M. Fiani.
DIGITAL PHOTOGRAMMETRY AND LASER RANGE CAMERA FOR PHYSIC MODEL GEOMETRY DETERMINATION. M. Barbarella, A. Vettore.
SAMPLING AND VARIANCE ANALYSIS IN REGGIO CALABRIA. Vincenzo Barrile and Rossella Nocera.
GEOID ESTIMATION THROUGH GPS OBSERVATIONS. R. Barzaghi, A. Borghi.
DATA PROCESSING VERSUS GEOMATICS. T. Bellone, L. Mussio, C. Nardinocchi.
PERTINENCE DE L'OFFRE DE FORMATION DU GDTA A' L'INTERNATIONAL. Jean-Luc BESSIS.
THE ARCHITECTURAL AND ARCHAEOLOGICAL PHOTOGRAMMETRICAL EXPERIENCES IN GREECE AND MIDDLE ASIA. Giorgio Bezoari.
PROCEDURES OPTIMISATION IN THE QUALITY SYSTEM. G. Bezoari, F. Guzzetti.
CARTOGRAPHY FOR TOWN PLANNING. Giorgio Bezoari, Attilio Selvini.
INDEXING TREE METHODS AND SPATIAL ORDERING FOR MAPS AND GEOGRAPHIC DATA: AN OVERVIEW AND APPLICATION TO THE GEODETIC GIS PROJECT. L. Biagi, M. A. Brovelli, M. Negretti and C. Saldarini.
GIS/WEB DESIGN FOR INTERNET/INTRANET DATA SHARING. Piero BOCCARDO, Giuliano COMOGLIO, Nadia CORGIAT LOIA.
SURFACE SPATIAL ANALYSIS IN ARCHITECTURAL AND ARCHAEOLOGICAL SURVEY: DIGITAL AND ANALYTICAL PROCEDURES. Raffaella BOLOGNA, Maurizio MINCHILLI.
VERY LARGE SCALE MAPPING OF THE ARCHAEOLOGICAL SITE IN CERVETERI (ITALY): DATA COLLECTION FROM DIGITAL AUTOMATIC D.T.M., ORTHOPROJECTION AND ANALYTICAL STEREOPLOTTING. Raffaella BOLOGNA, Maurizio MINCHILLI.
DES COMPOSANTS LOGICIELS GEOGRAPHIQUES POUR ELARGIR ET DEMOCRATISER L'ACCES A LA TECHNOLOGIE ETA L’INFORMATION GEOGRAPHIQUE. SPATIAL SOFTWARE COMPONENTS FOR WIDENING AND DEMOCRATIZING ACCESS TO GEOGRAPHIC INFORMATION AND TECHNOLOGY. Patrice BOURSIER, Michel EBOUEYA, Arunas STOCKUS, Alain BOUJU, Frédéric BERTRAND.
VALIDATION OF AN ANCIENT PERSPECTIVE IN LECCO (ITALY). PIETRO BROGLIA, EVA SAVINA MALINVERNI, LUIGI MUSSIO.
THE USE OF SPATIAL-ORIENTED DATA BASE MANAGEMENT SYSTEMS (DBMS) FOR ITALGEO GEOID MANAGEMENT BY GIS. M. A. Brovelli, F. Migliaccio and V. Tornatore.
COMPARISON BETWEEN PHOTOGRAMMETRICAL SURVEYS OF THE ST.STEFANO CHURCH'S CLOISTER IN BOLOGNA AND METRICS EVALUATIONS OF THE OPERATIONS OF RESTORATION. A. Capra, S. Gandolfi, G. Lombardi, A. Zanutta.
EXPERIMENTAL TESTS IN DIGITAL IMAGES PLOTTING. M. Caprioli, P. De Fazio.
GVM - GAC PROCESSING CHAIN : A REMOTE SENSING TOOL FOR ENVIRONMENTAL APPLICATIONS AT CONTINENTAL LEVEL. C. Carmona-Moreno, M. Turchini, M. F. Cruz Martinez, J. Baron, J. Lopez Raya José, A. Moreno Ruiz.
INTERNATIONAL COOPERATION AND TECHNOLOGY TRANSFER GAIA: global astrometry from space at 10 [...] level. D. Cardio, B. Bucciarelli, M. Gai, M. G. Lattanzi and S. Cesare.
ESTABLISHMENT OF A LEVELLING NETWORK FOR THE MONITORING OF POSSIBLE VERTICAL MOVEMENTS IN THE AREA OF PISA - SAN GIULIANO TERME PONTASSERCHIO-MIGLIARINO PISANO (ITALY). G. Caroti, E. Mengali, A. Rossi, C. Scalese.
ESTIMATING MEASUREMENT PRECISION BY MEANS OF MEASUREMENT DIFFERENCES. V. Casella.
AUTOMATIC FOREST AREA RECOGNITION USING GIS IMAGE ANALYSIS CAPABILITY. Marco Ciolli, Paolo Zatelli.
NEW APPROACH TO THE ESTIMATION OF SNOWPACK ESTENSION VIA REMOTE SENSING. Alessandra Colombo, Giovanmaria Leoni.
CULTURAL HERITAGE WEB SITES: THE SUPPORT OF GEOMATICS. Luigi Colombo.
A METHOD FOR ESTIMATING 3D SHAPES MOTION BY A FREQUENCY DOMAIN TECHNIQUE. G. M. Cortelazzo, A. Guamieri, A. Vettore.
LA FORMATION AU C.R.T.O. A. Coulibaly.
A COMPUTER PROGRAM FOR THE VARIANCE-COVARIANCE ESTIMATION OF GPS BASELINE VECTORS. N. Crocetto, M. Gatti, C. Materazzo, L. Toscano.
INTERFEROMETRIC SAR CALIBRATION. M. Crosetto, B. Crippa.
OPTIMISATION DES DATES D'ACQUISITION DES IMAGES TELEDECTION EN ZONE SOUDANO-GUINEENNE POUR UN SUIVI DES ECOSYSTEMES. Cheick Hamala DIAKITE.
FIELD TESTS ON DGPS USING OMNISTAR CORRECTION. D. Dominici, M. L. Pecetti, F. Radicioni, A. Stoppini.
CONTROL DIRECTIONS FOR THE CALIBRATION OF TERRESTRIAL NON-METRIC CAMERAS. Gabriele Fangi.
EXPERIENCES OF VIRTUAL REALITY. G. Fangi, G. Gagliardini.
THE GRID METHOD, A SIMPLE PROCEDURE FOR THE DETERMINATION OF THE LENSE RADIAL DISTORTION. G. Fangi, Carla Nardinocchi.
DEM'S COMPARISON FOR THE EVALUATION OF LANDSLIDE VOLUME. M. Fiani, S. Troisi.
AUTOMATIC DEM GENERATION IN QUARRIES. Gianfranco FORLANI, Livio PINTO.
STATIC CONTROL OF PALAZZO DELLA RAGIONE IN PADUA. Alberto Giussani, Giorgio Vassena.
Conditions préalables au fonctionnement efficace et durable d'un SIG à base de télédétection. Claus-Peter Gross.
PROCEDURES OF CORRECTION OF THE GEOMETRY DISTORSIONS FOR DIGITAL IMAGES. A. Guarnieri, A. Vettore.
GEOPLANTRANSF: A SOFTWARE FOR THE GEOREFERENCING OF DIGITAL IMAGES BY USING PLANE TRASFORMATIONS. Francesco Guerra, Caterina Balletti, Davide Miniutti.
LA DECADENCE EN PRODUCTION CARTOGRAPHIQUE EN AFRIQUE: CAUSES ET THERAPIES DE REDEMARRAGE. A. L. Gueye, B. F. Agbo, P. M. Kibora.
GEOMATICS EDUCATION IN NIGERIA: THE CURRENT DRIVES. A. L. Gueye, O. Aguda.
DE LA TOPOGRAPHIE CONVENTIONNELLE VERS LA GEOMATIQUE: UNE EVOLUTION TECHNOLOGIQUE DE L'ENSEIGNEMENT TECHNIQUE DANS LE SYSTEME EDUCATIF CAMEROUNAIS. HAPPI MANGOUA FREDERIC.
INTERNET-ATLAS OF NATURAL AND AGRONOMIC RESOURCES IN NIGER AND BENIN - A TOOL FOR PRESENTATION AND EXCHANGE OF SPATIAL DATA - . L. Herrmann, K. Vennemann, K. Stahr.
Mapping from Space. Gottfried Konecny.
CONTEMPORARY METRICAL DOCUMENTATION OF CULTURAL HERITAGE ARCHITECTURE. Mojca Kosmatin Fras.
Acquisition of Topographic Data by Laser Scanning and Digital Photogrammetry. Karl Kraus.
The GeoMed Project: GIS and Spatial/Temporal Statistics in Public Health. Andy Long, Mark Wilson, Geoff Jacquez, Leah Estberg.
GPS and GLONASS in Italy. Giorgio Manzoni.
GEOMATICS EDUCATION AND TRAINING IN BOTSWANA. L. Maphale, M. B. Manisa, B. Nkwae, C. Ezigbalike.
THE TWOFOLD NATURE OF MEASUREMENT AS EMPIRICAL AND LINGUISTIC OPERATION. Luca Mari.
UNCERTAINTY IN MEASUREMENT: A SURVEY. Luca Mari.
A RECTIFICATION OF DIGITAL IMAGES OBTAINED FROM AN ANALOGICAL VIDEORECORDING. Patrizia Midulla.
GENE FUCTIONAL MAPPING. Luciano Milanesi, Raffaella Rizzi.
THE APPLICATION OF GEOGRAPHIC INFORMATION SYSTEMS IN ENVIRONMENTAL IMPACT ASSESSMENT IN AFRICA: CHALLENGES AND OPPORTUNITIES. MLENGE FANUEL MGENDI.
GIS: TEACHING EXPERIENCE IN THE COURSE AT DIIAR POLITECNICO OF MILAN. Carlo MONTI, Raffaella BRUMANA, Luigi FREGONESE.
GIS TECHNOLOGY TO SUPPORT SURVEY DATA AND MANAGEMENT OF DIFFERENT QUARRY TYPOLOGIES. Carlo MONTI, Raffaella BRUMANA, Luigi FREGONESE, Giorgio Vassena.
LA FORMATION ET LA RECHERCHE AU CENTRE NATIONAL DES TECHNIQUES SPATIALES. A. OUSSEDIK, M. A. TRACHE.
GEOID BEHAVIOUR IN THE BAHIA BLANCA AREA. Raúl Perdomo y Daniel Del Cogliano, Nilda Di Croché, Esteban Napal, Beatriz Aldalur, Ana María De Aduriz, Pablo Napal, Nora Plana, Irene Pintos, Miguel Angel Martínez, Santiago Rosso.
GEOID MODELLING IN THE SOUTHERN REGION OF THE BUENOS AIRES PROVINCE. Raúl Perdomo, Daniel Del Cogliano, Nilda Di Croche, Esteban Napal, Beatriz Aldalur, Pablo Napal, Irene Pintos.
SATELLITAL IMAGING, INFORMATION SUPPORT OF A PROVINCIAL CARTOGRAPHIC PROJECT. E. QÜESTA, R. YANICELLI, V. FARES, L. LUNA, E. GOLDAR, D. SANDEZ, C. ISORNI, W. COSTA, E. TONELLI.
FORMATION ET PROJETS EN GEOMATIQUE MIS EN PLACE PAR L'ASSOCIATION POUR LE DEVELOPPEMENT DE L'INFORMATION ENVIRONNEMENTALE (ADIE) EN AFRIQUE CENTRALE. Ralph Ridder, Brice Montfraix, Stéphane Lombardo.
CONSTRUCTION OF BASIC DIGITAL MAP FOR CITY GIS BY STEREOPHOTOGRAMMETRIC APPROACH. B. Ruzgiene.
SAGE: AN ITALIAN PROJECT OF SATELLITE ACCELEROMETRY. F. Sanso, A. Albertella, G. Bianco, A. Della Torre, M. Fermi, V. lafolla, A. Lenti, F. Migliaccio, A. Milani, A. Rossi.
THE TEACHING OF REMOTE SENSING IN SOUTH AMERICA. Tania Maria Sausen.
CROP GROWTH MODELLING IN MALI BASED ON ERS SCATTEROMETER INFORMATION. Pierre C. Sibiry Traoré, Mamadou D. Doumbia, Salifou Sissoko, Abderamane Yoroté, Wolfgang Wagner, Klaus Scipal, Anne Gobin, Paul Campling, Erik Nobbe, Rob Beck.
TER LOW COST SMALL SATELLITES FOR EARTH OBSERVATION AND TECHNOLOGY TRANSFER TO DEVELOPING COUNTRIES. Martin Sweeting, Wei Sun.
MAPPING OF HYDROTHERMAL ALTERATION BY REMOTE SENSING AT THE ACOCULCO CALDERA, PUEBLA, MEXICO. VICENTE TORRES RODRÍGUEZ & GABRIEL ORIGEL GUTIÉRREZ.
ISSUES AND APPROACHES IN MAPPING THE IMPACTS OF MINING ON THE ENVIRONMENT IN AFRICA (WITH TEST CASE FROM KITWE MINE, ZAMBIA). Tsehaie Woldai, Daniel Limptlaw.
POTENTIAL FOR COMPUTER ASSISTED DISTANCE LEARNING IN ZAMBIA: WHAT ARE THE CONSTRAINTS AND THE WAY FORWARD. Paul Zambezi.
Appendix: Authors and Co-authors Index.
Cover

Full text

214 
CONTROL DIRECTIONS FOR THE CALIBRATION OF TERRESTRIAL NON-METRIC CAMERAS 
ISPRS - COMMISSION VI, WG 3 
Gabriele Fangi - Ancona University - Italy - fangi@popcsi.uman.it 
Key words: non-metric cameras, close-range photogrammetry, distortion, calibration 
Abstract: 
The camera calibration methods are essentially distinguished in calibration in the laboratory by optical goniometers and calibration 
in the field by bundle adjustment. In a previous work (Fangi, Nardinocchi, 9, 1999), we set up the so-called grid method for the 
determination of the camera radial distortion curve. The distortion is obtained as the non-linear part of the homographic 
transformation from object plane the image plane. The homographic transformation is a special case of the Direct Linear 
Transformation, where the object space is reduced to an object plane. The principal point is estimated by intersection of the vectors 
of the transformation residuals. Since the determination is separated from full interior orientation calibration, the estimate is not 
very accurate. When the lens is distortion free no principal point can be estimated. The reason for separate the computation of the 
distortion from the interior orientation is that sometimes, especially with narrow angle lens, numerical problems arise, leading to the 
instability of the system solution. Therefore a simple method for full calibration, making use of what we called control directions, has 
been set-up. First the control direction is defined as known direction toward an unknown point, measured directly by means of a 
theodolite whose centre coincides with the exterior nodal point of the camera to be calibrated. In the collinearity equations the 
exterior orientation parameters reduce to three. The grid method is then coupled to the control directions method, in the sense that a 
first estimate of the principal point position can be achieved by this last method, followed by the distortion determination, and finally 
again by bundle adjustment. Some tests are described and shown. 
Introduction 
The camera calibration methods are essentially distinguished 
in calibration in the laboratory by optical goniometers 
(Hakkarainen, 1978, Taymann, 1978) and calibration in the 
field by bundle adjustment (Tayman, 1978, Tayman 
Ziemann, 1984, Ziemann, 1986). Normally for non-metric 
cameras the determination of the radial and tangential 
distortion is carried out contemporary to the interior 
orientation (Abdel-Aziz, 1973, Adams, 1981, Fryer, 1989, 
Kruck, 1985). The distortion varies not only with the 
focussing distance (Fraser, 1982), but also in the depth of 
field (Fryer, 1986, Magill 1955). The configuration of the 
control points can be near to the critical one ( Faig , Shih, 
1986) and the estimation of the interior orientation brings to 
the instability of the system solution. This holds especially 
with marrow angle lenses. A possible solution is to use the 
known terrain co-ordinates of the projection centre as control 
information (Fangi, 1990). Nevertheless the contemporary 
estimation of the distortion and of the interior orientation 
parameters gives high numerical problems. The separation in 
two steps of the calibration procedure can cope with these 
numerical problems. The determination of the radial 
distortion by the grid method (Fangi, Nardinocchi, 1999) 
neglects the possible variations of the distortion. Now here 
the calibration by control direction is proposed as second step 
of the full camera calibration. 
1. The control directions 
In the collinearity equations 
x = x .r 1 (X-X 0 ) + r 4 (y-y 0 ) + r 7 (Z-Z 0 ) 
M /3(X-X 0 ) + r 6 (y-y 0 ) + r 9 (Z-Z 0 ) 
,r 2 (X-X 0 ) + r 6 (y-y 0 ) + /- 8 (Z-Z 0 ) 
r 3(^ - ^o) + r 6 - ^o) + r 9 (Z -Zq) 
the quantities (X-X 0 ), (Y-Y 0 ), (Z-Z 0 ) are 
proportional to the direction cosines of the projective line 
going from the projection centre to the object point. 
This present research has been financed by Cofin97 
cos(A7?) = (X Xq) = sin(0 0 + r) 
d 
COS07?) = (y ~ Yo) = cos(fl 0 + r) (2) 
d 
cos (ZR) = ———- = ctan(0 o + r) 
d 
The directions (horizontal, r and zenital co) can be measured 
with a theodolite whose centre coincides with the projection 
centre O (figure 1). The control direction can be defined as 
the direction toward an unknown point P(X,Y,Z) but visible 
in the image as P’(*,y). 
Fig.l- The measured quantities by theodolite 
The Orientation parameters are for exterior Orientation: a*, 
oty, a*, rotations about the co-ordinate axes and for interior 
Orientation the principal distance c, and the image co 
ordinates x m , y m of the principal point M. In this occasion a* 
= 0 O . is the so-called constant of station or zero bearing. He 
can take full advantage of the terrestrial photogrammetry. 
The operator has the advantage to have more freedom in the 
selection of control directions than in the control points. 
We don’t know exactly were the projection centre is placed. 
The larger the object-camera distance the smaller the 
eccentricity errors; 1/100 mm over 100mm corresponds to 
10cm over 1000 m (figures 2, 3).

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