new developments in close range photogrammetry … · new developments in close range...

New Developments in Close Range Photogrammetry from Software

Industry‘s Point of View

Bonn, March 2003Jürgen Holltechnet GmbH, Stuttgart

www.technet-gmbh.com

technet GmbHtechnet GmbH

Contents

1. Company Information

2. Products and Services

3. technet‘s Basic Modules

4. Basic Modules – Examples

5. technet‘s New Developments

6. New Developments – Examples

7. Wishes and Goals for the Future

technet GmbHtechnet GmbH

Company Information

technet GmbHgründig + partnerGermany, Berlin, Stuttgart

Founded in 1989

Software: Pictran for Close Range Photogrammetry

technet GmbHtechnet GmbH

technet GmbHtechnet GmbH

Products and ServicesEngineering design of leightweight structures.Gallet-Project, Expo 2002 Switzerlandtechnet did the statical analysis of the hybrid system (gallets)

technet GmbHtechnet GmbH

In the fields of GIS and surveying technet offers products for...

• Interconnected Transformation of Local Systems• Adjustment and Analysis of Geodetic Nets

Products and Services

• Railway Track Surveyingand Planning

technet GmbHtechnet GmbH

Pictran - Close Range Photogrammetry

• Applications range from rectification, 3d-modeling to camera calibration.

• An advanced bundle adjustment program for image orientation and point determination is integrated.

• The measurement is supported by digital image processing methods.

• The system guarantees high accuracy and traceable results.

Products and Services

technet GmbHtechnet GmbH

The basic modules are:

• Rectification

• Bundle block adjustment andcamera calibration.

• 3d-digitizing

Basic Modules

technet GmbHtechnet GmbH

• The Pictran rectification modules do the reprojection of the images for planar and non-planar objects (orthophoto).

• The image map can be produced from asingle image or multiple images.

• The projective distortion as well as theimage errors are corrected.

Basic Modules - Rectification

To present objects as image maps a rectification has to be performed.

technet GmbHtechnet GmbH

• Pictran-B determines all the initial values for the orientation parameters and coordinates of new points.

• Automated recognition and elimination of gross errors is supported.

• Additional observations (distances, coordinate differences, planes, projection centres, ...) can be introduced as observations.

• Statistical analysis of the results are presented in detail.

• Fast and robust algorithms

Basic Modules – Bundle Block Adjustment

Exterior orientation and camera calibration

technet GmbHtechnet GmbH

Basic Modules – 3d Digitizing

3d-measurement module

• The measurement is supported by epipolar lines.

• Accuracy information is always available.

• Graphical objects are overlaid on the images as vectors andcan be used for visual ckecking.

• It is possible to select a plane in object space where the object points are distributed (single image method).

technet GmbHtechnet GmbH

Standard facade project:Measurements and CAD-mapping

Architectural Photogrammetry

technet GmbHtechnet GmbHArchitectural Photogrammetry (Heritage Recording)

Combined facade mapping with rectified thermography images

Project: Ingenieurbüro Wüsteney, Esslingen - Software: Pictran

technet GmbHtechnet GmbHArchitectural Photogrammetry (Heritage Recording)

Thermography images toshow the in-wall truss

Infrared camera:Inframetrix 600

Temperature resolution:0.1-0.3 Kelvin

Project: Ingenieurbüro Wüsteney, Esslingen - Software: Pictran

technet GmbHtechnet GmbHArchitectural Photogrammetry (Heritage Recording)

Detail mapping of the astronomic watch

Project: Ingenieurbüro Wüsteney, Esslingen - Software: Pictran

technet GmbHtechnet GmbHPhotogrammetry for Design Studies

„Wrapping of the Rheinfalls Rock“

(c) Büro für Leichtbau, Tritthardt + Ayerle, Radolfzell

(c) Büro für Leichtbau, Tritthardt + Ayerle, Radolfzell

technet GmbHtechnet GmbHPhotogrammetry for Design Studies

Animation of the wrapped rock

(c) Büro für Leichtbau, Tritthardt + Ayerle, Radolfzell

technet GmbHtechnet GmbHPhotogrammetry for Design Studies

• Control points were fixed with the aid of professional climbers.

• 3d measurements were done in asafe place by photogrammetrist.

• Only the required measurements were performed.

technet GmbHtechnet GmbH

New developments must have a commercial benefit for software industryand their customers.

Customers need systems to solve their problems economically. Softwaremust be....

• easy to use

• robust (algorithms and user interfaces)

• highly automated

• fast

• able to generate accurate and traceable results

• problem-oriented

New DevelopmentsWhat is the basis for new developments?

technet GmbHtechnet GmbH

• Integration of coded targets

• Upgrading bundle block adjustment (simulation mode, alternative calculation mode, automatic elimination oferrors)

• Implementation of problem-oriented software tools

• Integration of specialized editors for data analysis

• Improvements at customers option

New Developments

What are we doing in the moment?

technet GmbHtechnet GmbH

New Developments – Integration of Coded Targets

• Customers are able to createand print their own coded targets

technet GmbHtechnet GmbH

New Developments – Upgrading Bundle Adjustment

2 calculation methods:

• The compact method (old) calculates good results for 95 % of the applications.

• The advanced method (new) is an alternative way.Control points are not used for the calculation of the initial values. So control point errors and image pointerrors can be detected in seperated calculation steps.

1 planning mode (new):

• This mode calculates data for the bundle blockadjustment. (Input: digital surface model, camera definition, camera position and direction)

The calculation of the exterior orientation parameters is still a problem for non-specialists.

technet GmbHtechnet GmbH

New Developments – Camera Calibration

PROJECT DATA

OBSERVATIONS (OB) 14914

UNKNOWNS (UN) 5063

NU. CONSTR. EQUATIONS (CON) 12

REDUNDANCY (OB-UN+CON) 9863

SUM OF REDUNDANCY NUMBERS 9863.000

NU. OF DIAGONAL SUBMATRICES 5821

NU. OF ALL SUBMATRICES 26618

NU. OF ALL SINGLE ELEMENTS 256878

FILLING OF ATPA [%] 0.8919E+00

Time for image point measurements: 25 sec/image

Calculation time for bundle adjustment: 30 secComputer: Pentium IV, 1800 MhZ

Example: Calibration with coded targets

technet GmbHtechnet GmbH

New Developments - Automated Rectification

Example for an problem-oriented application

Reasons for the development:

• Users are non-specialists. The software tool must be easyto use.

• Users can‘t generate a global control point system at the object.

• The dimension of the objects is large. More than one images are necessary.

• Short object occupation time is important.

technet GmbHtechnet GmbH

New Developments - Automated Rectification

Workflow:

• The local control point and tie points has to be marked.Customers should use controlpoint frames. Additionalobservations (distances) are possible.

• Take the photographs.

• Perform the imagemeasurements.

• Start the automated rectification tool.

• Result: One image map

technet GmbHtechnet GmbH

New Developments - Automated Rectification

User interface and control point frame

technet GmbHtechnet GmbH

New Developments - Automated Rectification

Traffic accident reconstruction without global coordinate system

technet GmbHtechnet GmbH

New Developments - Automated Rectification

Traffic accident reconstruction without global coordinate system

Results:

• The method is capable of reducing time exposureand costs

• The achieved accuracy is sufficient to perform traffic accident reconstruction

technet GmbHtechnet GmbH

New Developments - Automated Rectification

Test: Building 3d spaces with plane base elements for tiling problems

?

technet GmbHtechnet GmbH

New Developments – PictranMed

An orthodontic application of digital photogrammetry

• The interior and exterior orientations are calculated without any intervention from an operator

• The pre-processing enables non-specialists to do the measurements.

• The measurements are provided by wizards

technet GmbHtechnet GmbH

New Developments – PictranMed

Digitizing of 3d points within Pictran

During export the points can be transformed to a standard coordinate system which is defined by 4 prominent points at the ears and below the eyes.

technet GmbHtechnet GmbH

New Developments – Data Presentation

New editors for...

• the preparation and analysis of input data

• the statistical analysis of results

technet GmbHtechnet GmbH

New Developments – Data Presentation

Preparing the input data...

• Fixities

• Enslavements

technet GmbHtechnet GmbH

New Developments – Data Presentation

Grafical tools for monitoring the results

• Precision and reliability analysis

• Error Ellipsoids

• Stress in control points

• ...

technet GmbHtechnet GmbH

• The number of commercial close range photogrammetry users must increase!

• No camera calibration is needed.

• Higher sensor resolution for higher metric accuracy (cameras 2000 €-5000 €)

• No known geometry on the objects is needed.

• No targets on the objects are needed.

• Automated determination of image point correspondences is possible.

• Automated measurement of free form shaped surfaces is possible.

• Automatic mapping of complex structures is possible.

• All these things must be integrated in an economical system

Wishes and Goals for the future

technet GmbHtechnet GmbH

... thank you for your attention!

The End ...