ENGO 431: Chapter 1

Introduction

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Photogrammetry

• Definition:
– The art and science of determining the position and
shape of objects from photography.
– The process of reconstructing objects without touching
them.
– Non contact positioning method.
• Contemporary definition:
– The art and science of tool development for automatic
generation of spatial and descriptive information from
multi-sensory data and/or systems.

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 Terrestrial (Close Range) Imagery

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Terrestrial (Close Range) Imagery

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 Aerial Imagery

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Aerial Imagery

Bavarian Pigeon Corps, 1903

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 Aerial Imagery

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Aerial Imagery

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 Satellite Imagery

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Satellite Imagery

IKONOS ORBVIEW
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 Photography

d c b a
Image Space

Lens (Perspective Center)

Object Space
B C D
A

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Photogrammetry

• Objective:
– Invert the process of photography.
– Reconstruct the object space from imagery.
– Derive 3-D information from 2-D imagery.

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 Photogrammetry
Conjugate Points

a a´

Object Point (A)

• The relative relationship between the two camera stations has

to be known.
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Stereo-Photography

Overlap
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 Stereo-Photography

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Stereo-Photography : Conjugate Points

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 Photogrammetry

• Applications:
– Reconnaissance.
– Production of Topographic Maps.
– DEM Generation.
– Close Range Photogrammetry:
• Precision survey of buildings and engineering objects.
• Documentation of historical buildings.
• Medical applications.
• Mapping of roads and nearby objects (terrestrial mobile
mapping systems).

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Reconnaissance

Cuban Missile Crisis (1962)

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 Reconnaissance

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Mapping

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 Resource Management

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Topographic Mapping

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 Digital Elevation Models (DEM)

Input Output
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3-D Perspective Views

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 Medical Applications

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Terrestrial Photogrammetry: Input

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 Terrestrial Photogrammetry: Output

Front View Back View

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Documentation of Historical Buildings

Historical church in downtown Calgary, Canada

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 Documentation of Historical Buildings

Generate 3-D CAD model for archiving.

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Documentation of Historical Buildings

AutoCAD wire frame 3D model of the church with

representation of the church surface rendering

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 Documentation of Historical Buildings

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Facial Measurements

Left Image Right Image

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 Personal Identification

Area = 36.0704 cm2 Area = 28.4765 cm2

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Personal Identification

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 Terrestrial Mobile Mapping Systems

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Stereo-Positioning

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 Traffic Signs

sign
signtype
type

height
heightabove
abovepavement
pavement

offset
offsetfrom
fromroad
roadedge
edge

coordinate
coordinatelocations
locations

size
sizeof
ofsign
sign

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Asset Management

Collecting
Collecting inventories
inventories
Database
Database integration
integration

On-going maintenance
On-going maintenance

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 Photogrammetry

What are we trying to do?

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An Image Versus a Map

e d c b a Image Plane a b c d e Map

Perspective center

A B D B D E
E A
C C
Datum Datum
A’ B’ C’ D’ E’ A’ B’ C’ D’ E’

Image Map

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Perspective Versus Orthogonal Projection

Cone
Cone

Cylinder
Building Cylinder Building

(A) Perspective projection (B) Orthogonal Projection

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Perspective Versus Orthogonal Projection

Perspective Projection Orthogonal Projection

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Perspective Versus Orthogonal Projection

Perspective Projection

Orthogonal Projection

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Perspective Versus Orthogonal Projection

• Perspective Projection • Orthogonal Projection

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 An Image Versus a Map
• Images have the following properties:
– Perspective projection.
– Non-uniform scale.
• Maps, on the other hand, have the following
characteristics:
– Orthogonal (parallel) projection.
– Maps have a uniform scale.
• Objective of Photogrammetry:
– How can we obtain orthogonally projected maps from
perspective images?
– How can we recover 3-D information from 2-D
images?
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Photogrammetry: 2-D Æ 3-D

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 Photogrammetric Triangulation

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Object Space From Single Photograph

Single light ray

Object reconstruction is not possible.

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 Object Space From Stereo Imagery

a a´

Object Point (A)

Object reconstruction is possible.

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Object Space From Block Adjustment

Object reconstruction is possible.

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 Block of Aerial Images

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Photogrammetry

Data Acquisition

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 Basic Components of a Camera

• Lens: collects light and brings it to focus at the image

plane.
• Aperture: opening that controls the amount of light
entering the camera.
• Shutter: determines the time period during which the film
will be exposed to light.
• Film: reacts to incident light to form the latent image.
• Body: light proof housing of the camera mechanism.

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Analog Photogrammetric Cameras

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 Analog Aerial Camera: RC30

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Image Formation

Negative

Perspective Center

Diapositive

Foot Print

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 Digital Photogrammetry

• Digital photogrammetry utilizes digital imagery as

an input.
• The rapid technological advances in computer
hardware and software has motivated the shift
from analog to digital imagery.
• How can we get digital images?
– Scanning analog images.
– Using digital camera.

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Photogrammetric Scanner

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 Digital Aerial Camera: DMCTM

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Digital Photogrammetric Environment

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 Digital Photogrammetry

• Ultimate objective:
– Creating map-making machine.

Digital Imagery Automated

Digital Map
& Other Data Processes

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Deriving 3-D Information from 2-D Imagery

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 3-D Information from 2-D Imagery

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3-D Information from 2-D Imagery

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 3-D Information from 2-D Imagery

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3-D Information from 2-D Imagery

100

80

60

40

20

0
0 10 20 30 40 50 60 70 80 90

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 3-D Information from 2-D Imagery

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3-D Information from 2-D Imagery: How?

• Requirements:
– Having at least two images of the object of interest
from different locations.
– Align the captured imagery to simulate their position
and orientation (attitude) when capturing the imagery.
– For 3-D viewing, we need to allow each eye to see only
one image.
• Photogrammetric plotters.
• Anaglyph glasses.
• Polarized glasses.
• Synchronized eyewear.

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 3-D Viewing Using 2-D Images

Pocket Stereo-Scope

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3-D Viewing Using 2-D Images

Mirror Stereo-Scope
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 3-D Information from 2-D Imagery

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3-D Information from 2-D Imagery

3-D Viewing Glasses

3-D Model
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 3-D Information from 2-D Imagery

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3-D Information from 2-D Imagery

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Stereo Viewing with Temporal Separation

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Stereo-Viewing

Polarized Glasses

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 Stereo-Viewing

Synchronized eyewear
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Automation in Photogrammetry

• Current photogrammetric research is focusing on

automating the derivation of 3-D information from
2-D imagery.
• The most important task for the automation
procedure is:
– Automatic identification of conjugate points in
overlapping images (Matching Problem).
• Solving the matching problem is not a trivial task.
– Why?
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 Automatic Derivation of Conjugate Points

Occlusions
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Automatic Derivation of Conjugate Points

Occlusions & Foreshortening

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Automatic Derivation of Conjugate Points

Relief displacement (different background)

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Automatic Derivation of Conjugate Points

Repetitive Patterns
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 Necessary Tools

• Understand the image formation process:

– Electro magnetic radiation (Chapter 2).
– Optics (Chapter 3).
– Film development (Chapter 4).
• Understand the necessary image processing
techniques:
– Mathematical principles behind the reconstruction
process (Chapters 5-8).

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