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Proceedings International Workshop on Mobile Mapping Technology

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fullscreen: Proceedings International Workshop on Mobile Mapping Technology

Monograph

Persistent identifier:: 856671290

Author:: Li, Rongxing

Title:: Proceedings International Workshop on Mobile Mapping Technology

Sub title:: April 21 - 23, 1999, Bangkok, Thailand

Scope:: 1 Online-Ressource (Getr. Zählung [ca. 400 Seiten])

Year of publication:: 1999

Place of publication:: London

Publisher of the original:: RICS Books

Identifier (digital):: 856671290

Illustration:: Illustrationen, Diagramme, Karten

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:: [Session 4: Sensor Integration and Calibration]

Document type:: Monograph

Structure type:: Chapter

Chapter

Title:: METHOD FOR ACCURATE CAMERA ORIENTATION FOR AUTOMOBILE PHOTOGRAMMETRIC SYSTEM. V. A. Knyaz, S. Yu. Zheltov.

Document type:: Monograph

Structure type:: Chapter

Proceedings International Workshop on Mobile Mapping Technology
Cover
ColorChart
Title page
Title page
Proceedings of International Workshop on Mobile Mapping Technology April 21-23, 1999, Maruay Garden Hotel, Bangkok, Thailand
Greeting from Bangkok.
PREFACE.
On behalf of the International Association of Geodesy (IAG) Working Group [...]
TECHNICAL PROGRAM.
[Session 1: Mobile Mapping (1)]
A ROBUST METHOD FOR REGISTERING 2.5D LASER RANGE IMAGES OF URBAN OBJECTS. Huijing ZHAO, Ryosuke SHIBASAKI.
AN INTELLIGENT MOBILE MAPPING SYSTEM. Naser El-Sheimy, Mike Chapman, and C. Tao.
A Mobile Mapping System Based on GPS, GIS and Multi-sensor. Deren Li.
AIRPORT DATA BASIS FOR TAGSY GUIDANCE SYSTEMS. W. Möhlenbrink, R. Bettermann.
INTEGRATING TECHNOLOGIES: DGPS, DEAD RECKONING AND MAP MATCHING. T. A. Hailes.
[Session 2: Mobile Mapping (2)]
FILTERALGORITHMS FOR OPTIMAL DETERMINATION OF POSITION AND ATTITUDE OF THE MOBILE MAPPING SYSTEM KISS. H. Sternberg, W. Caspary and H. Heister.
DEVELOPMENT OF AN INTEGRATED SYSTEM FOR MAPPING ROAD WIDTH USING DIGITAL VIDEO AND GLOBAL POSITIONING SYSTEM. Shanmugam Ganeshkumar, Kiyoshi HONDA, Shunji MURAI.
DIRECT PLATFORM ORIENTATION IN AERIAL AND LAND-BASED MAPPING PRACTICE. Dorota A. Grejner-Brzezinska, Charles K. Toth and Edward Oshel.
TOWARDS AUTOMATED PROCESSING OF MOBILE MAPPING IMAGE SEQUENCES. C. Tao, M. A. Chapman, and N. El-Sheimy, B. Chaplin.
[Poster Session (1) on Airborne & Spaceborne Remote Sensing (JARS)]
Generation of Digital Elevation Model derived from JERS1 SAR Interferometry. Mitsuharu TOKUNAGA.
GENERALIZATION TECHNIQUES FOR LAYERED NEURAL NETWORKS IN THE CLASSIFICATION OF REMOTELY SENSED IMAGES. Eihan SHIMIZU and Morito TSUTSUMI, Le Van TRUNG.
THE CRANES' NESTING ANALYSIS USING GIS - LANDSCAPE ECOLOGICAL APPLICATIONS -. Koichi HIRATA, Hiroshi MURAKAMI.
INTERPRETABILITY OF GEOGRAPHIC INFORMATION FROM HIGH RESOLUTION SATELLITE IMAGES. Toshiaki Hashimoto.
Reassessment of Todaro's Migration Model to Incorporate Socioeconomic and Natural Resource Environment by Using Remote Sensing and GIS: A Case of Thailand. Bhuwneshwar Prasad SAH, Eihan SHIMIZU and Morito TSUTSUMI.
LAND COVER OF ASIA. Ryutaro Tateishi.
Development of Drain Direction Model based onGTOPO30 and Global Data Sets. Shiro Ochi and Ryosuke Shibasaki.
[Session 3: Kinematic Real-time Positioning]
Positioning Principles and Accuracy of Airborne Laser- Ranging & Multispectral-lmaging Mapping System. Liu Shaochuang, You Hongjian, Xiang Maosheng, Liu Tong, Li Shukai.
Accuracy Assessment and Improvement for Level Survey using Real Time Kinematic (RTK) GPS. Dinesh Manandhar, Kiyoshi Honda, Shunji Murai, Sachio Kubo, Masahiro Yonemura.
Airborne Mapping System with GPS-supported Aerotriangulation. Deren Li, Xiuxiao Yuan.
[Session 4: Sensor Integration and Calibration]
The Calibration of Imaging Sensors Integrated into a Rapid Route Mapping System. C. S. Fraser, A. M. Judd.
CALIBRATING A ZOOM LENS CCD CAMERA FOR A TERRESTRIAL IMAGE BASED SURVEY SYSTEM. Y. D. Huang and D. Chen.
METHOD FOR ACCURATE CAMERA ORIENTATION FOR AUTOMOBILE PHOTOGRAMMETRIC SYSTEM. V. A. Knyaz, S. Yu. Zheltov.
MULTI-SENSOR MAP MATCHING CONCEPTS FOR POSITIONING OF ROAD AND RAIL VEHICLES. R. Czommer, W. Möhlenbrink.
SENSOR INTEGRATION AND CALIBRATION OF DIGITAL AIRBORNE THREE-LINE CAMERA SYSTEMS. Michael Cramer, Dirk Stallmann and Norbert Haala.
[Session 5A: Applications (1)]
Application of Photogrammetric Image Data for Roadway Construction. Guangping He.
SURVEYING AND MAPPING OF URBAN STREETS BY PHOTOGRAMMETRIC TRAVERSE. A. R. SILVA, J. C. BATISTA, R. A. OLIVEIRA, P. O. CAMARGO and J. F. C. SILVA.
[Session 5B: Real-time Imaging (ARIDA)]
ESTIMATION OF ACCURACY OF AIRBORNE LASER PROFILING. Koukichi Kimura, Teruvoshi Fujiwara, Yukihide Akiyama.
CRACK SITUATION GRASP OF DIGITAL IMAGE METHOD. Tatuhide NAKANE, Hisasi TAKAGI, Masaharu OZAWA.
Mobile Mapping Technologies for Safety Driving Assistance in ITS. Yutaka Shimogaki, Tooru Kitagawa, Yoshiki Yamano, Katunori Takahashi.
[Session 6A: Applications (2)]
Virtual Reality Model Created from Mobile Mapping Data as Interface to GIS. Krzysztof Gajdamowicz.
IMPROVED DEM EXTRACTION TECHNIQUES - COMBINING LIDAR DATA WITH DIRECT DIGITAL GPS/INS ORIENTED IMAGERY. Charles K. Toth and Dorota A. Grejner-Brzezinska.
Focal Plane Image Assembly of Subpixel. Si-Dong Zhong, Tian chan Mei.
[Session 6B: Real-time Imaging (ARIDA)]
A Tracking System for Construction vehicles with DGPS and RTK-GPS. Shun'ichi OHTSU, Tomonori TAKADA, Tatsunori SADA.
A METHOD OF ROAD REPRESENTATION IN 3D MAPPING TECHNOLOGY. Tsukasa Hosomura.
Fundamental Study on Ground-Based Sensor Integration for Spatial Data Acquisition. Mitsunori YOSHIMURA, Tetsuji ANAI, Hirofumi CHIKATSU, Ryosuke SHIBASAKI.
Fundamental Study on Development and Application of the Local Positioning System using Accelerometer and Gyroscope. Toshio KOIZUMI, Yasuyuki SHIRAI, Atsuro TAKEMOTO.
[Poster Session (2) on Imaging Sensing (ARIDA)]
THE METHOD OF Field INVESTIGATIONS USING DIGITAL IMAGE. Toshiaki Taguchi, Kosuke Tsuru, Hirofumi Chikatsu.
PERFORMANCE OF ARTIFICIAL RETINA CAMERA AND ITS APPLICATION. Yoichi KUNII, Hirofumi CHIKATSU.
MOTION ANALYSIS ON THE CONSTRUCTION PLANT USING SEQUENTIAL IMAGES. Sosuke YOSHIDA, Hirofumi CHIKATSU.
AUTO-TRACKING AND 3D MEASUREMENT FOR MOVING OBJECT USING VIDEO THEODOLITE. Tsutomu KAKIUCHI, Hirofumi CHIKATSU.
Generation of 3D View Map Using by Raster Base Data Processing. Kunihiko Ono, Shunji Murai, Vivarad Phonekeo and Shigetaka Yasue.
REMAPPING OF HISTORICAL MAPS USING MATHEMATICAL MORPHOLOGY AND ITS APPLICATION. Nobuhiro YAMADA, Hirofumi CHIKATSU.
A Comparative Study on Techniques for Optical Flow Estimation : On the Application to Vehicle Motion Analysis. Takashi FUSE and Eihan SHIMIZU.
Dynamic Analysis of Human Motion using Digital Video Camera mounted on Video Theodolite. Tetsuji ANAI, Hirofumi CHIKATSU.
A New Measurement System of Settlement At Airports Using GPS and Laser Level. Bunji Shigematsu.
[Session 7A: Automatic Object Extraction and Recognition]
INTEGRATION OF FEATURE AND SIGNAL MATCHING FOR OBJECT SURFACE EXTRACTION. Pakom Apaphant, James Bethel.
FEATURE EXTRACTION FROM MOBILE MAPPING IMAGERY SEQUENCES USING GEOMETRIC CONSTRAINTS. Fei Ma and Ron Li.
A MULTILAYER HOPFIELD NEURAL NETWORK FOR 3-D OBJECT RECOGNITION. Zhuowen Tu and Ron Li.
DATABASE GUIDED VERIFICATION AND UPDATING OF TRANSPORTATION OBJECTS WITH VERTICAL LINE FEATURES FROM MOBILE MAPPING IMAGE SEQUENCES. C. Tao.
Traffic Sign Detection from Image Sequences. W. B. Tong, J. Y. Hervé, P. Cohen.
ROBUSTNESS TEST TO OBJECT POSITIONING IN PROJECTIVE SPACE. Xingwen Wang, Deren Li.
[Session 7B: Mobile Mapping for Spatial Data Acquisition]
AUTOMATIC MEASUREMENT OF ROAD WIDTHS IN COLOUR STEREO SEQUENCES ACQUIRED BY A MOBILE MAPPING SYSTEM. Krzysztof Gajdamowicz.
Wearable Computing, Wireless Communication & Knowledge Discovery for Mobile Data Acquisition & Analysis. Klaus Brinkkötter-Runde and Ubbo Visser.
Development of a Low-Cost DGPS/DR System for Vehicle Tracking. Xiufeng He, Thor I. Fossen and Yongqi Chen.
OFF Method and Its Practice on Airborne GPS Data Processing for Photogrammetry. Chen Xiaoming, Liu Jiyu, Li Deren.
List of Registered Participants
Cover

Full text

4-3-3 
3 CCD CAMERAS CALIBRATION 
To obtain image scale suitable for accurate 3D scene 
reconstruction CCD cameras is equipped with 25 mm focal 
length lens. Their interior orientation parameters were 
determined by calibration procedure in laboratory conditions. 
The plane wall with 25 contrast targets was used as testfield 
(Figure 3.), the dimensions of the testfield being about 1.5m x 
1.2m. It provides approximately equal targets density in 
captured images at infinity adjustment.. 
S un der vibration 
e prove d stable I 
' r loads occurring I 
The contrast targets were used as reference points for 
calibration. At this stage of system development there were no 
means to measure spatial coordinates of reference points with 
high precision. So they have to be estimated during the 
calibration. 
Calibration stages 
Initial values definition. The focal length / was taken as 25 
mm. The principal points coordinates were taken as it lays in 
the center of the CCD frame. The CCD image scales in X and 
Y directions respectively were taken as m x =m y =0.008 mm/pix. 
Image coordinates determination for reference points. For 
each captured image coordinates of reference points was 
estimated in semi-automatic mode. For subpixel accuracy 
weight operator was applied. 
Images exterior orientation. For each image exterior 
orientation parameters in coordinate system of the testfield 
were determined, object reference points coordinates and 
internal orientation parameters being frozen. 
lodes: 
rames in the true 
sequences for 1 
1 P* x ds images at 
innat with YUV 
the program is 
; v ideo" (overlay) 
°n the monitors. 
a single frame or 
is brought back 
Reference distances measurements. While testfield reference 
coordinate were known with low accuracy the reference 
distances between some of the reference points were measured 
with higher precision for better system determinability. The 
distances used for calibration are presented in Table 1: 
Table 1. Reference distances used for calibration 
Reference point # 
Distance, mm 
1-25 
1561.3 
5-21 
1560.5 
5-25 
998.5 
1-21 
998.5 
1-5 
1200 
21-25 
1200 
Figure 3. Testfield for the calibration procedure 
For calibration procedure 24 images of testfield were captured 
(12 images for each camera). The average distance between 
camera and testfield was approximately 7 m. The angle position 
of cameras with respect to the testfield was: 
a«0,±45°, (o*0,±45°, k*0, 180° 
Targets image coordinates were determined with subpixel 
accuracy with weight operator. The additional parameters 
describing real physical system in collinearity conditions were 
taken in form: 
Ax = Ax p + ya + xr 2 K x + xr A K 2 + xr 6 K 2 + (r 2 + 2x 2 )P X + 2 xyP 2 
Ay = Ay p +xa + yr 2 K x + yr*K 2 + yr 6 K 2 + 2xyP x + (r 2 + 2 y 2 )P 2 
x = m x (x-x p );y = -m y ( y - y p );r = yjx 2 + y 2 
The parameters of interior orientation: principal point Xp, yp, 
scales in x and y directions m x , m y , and affinity factor a, the 
radial symmetric K,,K 2 ,K 3 distortion and decentering P/,P 2 
distortion are to be estimated. 
Design of estimated parameters vector. The following 
components were included in estimated vector: 
• exterior orientation parameters of all the images 
• interior orientation parameters of both cameras 
• coordinates X, Y of all the object reference points 
excluding the central point (#13) and X coordinate of the 
point #5, which determine the object space coordinate 
system. Z coordinates of all points was taken as 0. 
Estimation of unknown parameters. This stage of calibration 
was performed by the original bundle adjustment software 
developed for Windows 95. 
Results of estimation interior orientation parameters are shown 
in the Table 2. 
The accuracy of estimated unknowns was: 
• Standard deviation of spatial reference points coordinates 
a xs = 0.081 mm 
• Standard deviation of angle exterior orientation parameters 
«W* 0.065° 
• Standard deviation of residuals of collinearity conditions 
CTio= 0.260 mm

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