Materi kuliah GD3204 Fotogrametri I, Semester I-2009/2010

Chapter 5

Stereoscopic Restitution
Instruments
Compiled & developed by
Saptomo H Mertotaroeno, Ir., M.Sc.
saptomo@gd.itb.ac.id

KK Inderaja & Sains Informasi Geografis

Fakultas Ilmu dan Teknologi Kebumian
Institut Teknologi Bandung
 Contents
 Introduction
 Optical Projection Stereo-plotters
 Mechanical Projection Stereo-plotters
 Analytical Stereo-plotters
 Softcopy Photogrammetric Workstation
 Problems /Exercises
 References
 Tugas No.
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  Definitions
 Fundamental Concept of Analog Stereoscopic Plotting Instrument Design
 Spatial Data Acquisition
 Generasi Alat Restitusi Foto Stereo

INTRODUCTION

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 Definitions
Stereoscopic restitution instruments / stereoscopic plotting ins-
truments / stereo-plotters / photogrammetric plotters / plotters :
 Instruments designed to provide rigorously accurate solutions for
object point positions from their corresponding image positions on
overlapping pairs of photos.
 A three-dimensional digitizer; capable of producing accurate X, Y,
and Z object space coordinates when properly oriented and calibrat-
ed.

The primary uses of stereo-plotters are :

 compiling topographic maps, and
 generating digital files of topographic information.

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 Fundamental concept of analog
stereoscopic plotting instrument design

The keywords : similarity between

stereo-restitution and aerial photography;
 Inner orientation
• Projectors ~ cameras
• Diapositives ~ negatives
• p (principal distance) ~ f (focal length)
Aerial Photography • Angle θ’₁ = θ₁ ; θ’₂ = θ₂
 Parallactic angle φ’ = φ (intersection
angle, relative orientation)
 Model scale b/B
 Stereo-model ~ overlap
 Scaling and levelling (absolute orienta-
tion)

Model-approach : photo/image → stereo-

Stereoscopic plotting instrument model (intermediate) → object (terrain).

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 Spatial Data Acquisition
When orientation is completed, measurements of the model
may be made and recorded, nowadays generally in digital,
computer-compatible form.
 The position of any point is determined by bringing a reference mark
(the floating mark) in contact with the model point.
 At the position of the reference mark, the 3-D coordinates (X, Y, and
Z) are obtained through either an analog or a digital solution.
 Planimetric (X, Y) positions and elevations (Z) of points are thus
obtained.

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 Spatial Data Derived by Stereoplotters
PETA TOPOGRAFI

Informasi Tinggi
(Z)

Grid DEM
Fitur / obyek
planimetrik
(X,Y)

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 Generasi Alat Restitusi Foto Stereo (1)
1. Stereo-plotter Analog :
1.1 Proyeksi Optis : Multiplex, Balplex, Kelsh plotter (American made)
1.2 Proyeksi Optis-Mekanis : Zeiss-C8
1.3 Proyeksi Mekanis : Wild A9, A8, A10, Zeiss Planimat, Planicart, Kern
PG2, PG3 (European –Switzerland & Germany- made)
A. Computer Supported Analog Stereoplotter
B. Automatic Stereoplotter : Wild B-8 Stereomat (mechanical stereoplotter
B8 + image correlators)
2. Analitis/Analytical : AP/C, AP2000, Zeiss P3, Leica SD3000
C. Analytical Stereoplotter from Upgraded Analog Plotter
3.Softcopy/Digital : Leica (Wild-Zeiss), Vertuozo(China-Canada), Helava,
Intergraph Z, Socoph(ITB), PCI
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 Generasi Alat Restitusi Foto Stereo (2)
Anal og
St er eo Pl ot t er

Analog Rectifier

BINOCULAREYEPIECES

PHOTO CARRIERCOVER/DOOR PHOTO CARRIERCOVER/DOOR

DIGITALPLOTTER LEFT RIGHT

Anal yt i cal JOYSTICK

FLOATING MARK INTENSITYCONTROL

St er eo Pl ot t er JOYSTICK
ASP
2000
SCAN SPEED CONTROL

Analitik

ADAM
ASP-2000
Analytical Stereo Plotter

Softcopy
Sof t copy
Phot ogr ammet r i c
I nst r ument

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 Optical Stereo-plotter Mechanical, or Optical-
mechanical Stereo-plotter
These instruments create a true
3-D stereo-model by projecting Their method of projection is a
transparency images (diaposi- simulation of direct projection
tives) through projector lenses. of light rays by mechanical or
 The model is formed by intersecti- optical-mechanical means.
ons of light rays from correspond-
ing images of the left and right di-  Create a true 3-D model from
apositives. which measurements are
 An operator is able to view the taken.
model directly and make measure-  An operator views the diaposi-
ments on it by intercepting pro-
tives stereoscopically directly
jected rays on a viewing screen
(platen). through a binocular train.
 A description of their operation
provides a good introduction to
the subject of stereo-plotters.

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 Analytical Stereo-plotter Softcopy Stereo-plotter
Form a stereomodel through a Operate in the same manner
purely mathematical procedure as analytical stereoplotters,
which take place in a computer.
except that instead of viewing
 An operator views the diapositive-
s stereoscopically directly through film (hardcopy) diapositives
a binocular train. through binocular optics, scan-
 The movements of the stereosco- ned (softcopy) photographs
pic images are introduced by ser-
vomotors which are under com-
are displayed on a computer
puter control. screen and viewed directly.
 These versatile instruments are  Special viewing systems have
essentially unlimited in terms of been designed which enable
the photographic geometry they
can accommodate. the operator to view the left
 The mathematical basis : Analytic- image with the left eye and the
al Photogrammetry. right image with the right eye.

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  Principal Components of Optical Projection Stereo-plotter
 Projection, and Viewing Systems
 Measuring and Tracing Systems
 Orientation Procedures
 C-factor and S-factor

OPTICAL PROJECTION
STEREOPLOTTERS

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 Principal Components of
Optical Projection Stereo-plotter
1. Main frame
2. Reference table
3. Tracing table
4. Platen
5. Guide rods
6. Projectors
7. Illumination lamps
8. Diapositives
9. Leveling screws
10. Projector bar
11. Tracing pencil

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 Projection & Viewing Systems
Full-scale or reduced-scale
Full-scale projectors
projectors.
Enlarged stereo-model in the
model space above a plotting
surface.
Left/right channel separation :
 the anaglyph technique,
 the image alternator technique, or
 the polarization technique.

The enlargement ratio from pho-

to to map was variable within a
very small range. Kelsh-type optical stereo-plotter

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 Measuring, Tracing, & Projection Systems
Balplex optical A tracing table with an illuminat-
stereo-plotter ed floating mark was fitted with
Reduce-scale  Z-motion control (thumb wheel),
projectors
 an elevation counter, and
 a pencil for tracing map features,
or
 guide rails and digitizing electronics
for digital data capture into a CAD
Enlarged
stereomodel
system rather than manual plotting
of the map directly.
Tracing table Small changes in principal dis-
tance could be easily introduced,
Manuscript map  but changing from a wide angle
lens (152-mm) to a normal angle
lens (210-mm) requires changing
major components of both
projectors.

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 Example of Optical Projection Stereo-plotter
Kelsh
stereoscopic plotting instrument
Nominal principal distance of
152mm.
Optimum projection distance of
760 mm.
 The distance from projection lens
to model surface.

Nominal enlargement ratio of 5

from diapositive scale to model
scale.

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 Orientation Procedures
Analog Inner Orientation
 Centering the diapositives,
 Setting the projector principal
distance,
 Analog correction of systematic
errors.
Analog Relative Orientation
 Independent, or dependent
relative orientation.
The six basic projector motions. Analog Absolute Orientation
Followed by  Scaling the model,
map compilation  Levelling the model.
(spatial data acquisition)

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 C-factor and S-factor
The C-factor (Contouring-factor,  Thus, when using an analytical
dynamic mode) is an attempt to plotter, the imagery could be
quantify the accuracy of a stereo- obtained with higher flights (at
plotter. smaller scale and thus more
economically), and the same level
 This number multiplied by the of accuracy could be achieved.
desired contour interval yields the
flying height above the terrain S-factor (Static-factor) represents
needed to meet conventional map the pointing accuracy with res-
accuracy standards.
pect to the stereoscopic restituti-
 A typical optical projection plotter on instrument.
might have a C-factor of 1500,
whereas a high-performance  S-factor is 2 to 4 times of C-factor.
analytical plotter might have a C-
factor of 2500.

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 • Basic Principles of Mechanical Projection
• Projection and Viewing Systems
• Zeiss Parallelogram
• Measuring and Tracing Systems
• Orientation, Applications, Advantages
• Analog Photogrammetry Environment

MECHANICAL PROJECTION
STEREOPLOTTERS

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Basic Principles of Mechanical Projection

(placed in carriers)
a’ & a” : image points.
(K’ & K” :mechanical photo points,
moves in X & Y direction) V’ & V” : objective lenses
+ half marks
(x”,y”)
(x’,y’) (free to rotate about O’ & O”)
O’ & O” : gimbal joints (fixed),
mechanical projection centers.
O’O” : model base.
(sliding) (sliding)

(Negative
System :
(X, Y) the mecha-
(mechanical model point) (Z)
nical photo
points at
negative
position)

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 Projection and Viewing Systems
The mechanical stereo-
plotter uses a steel space
rod and a gimbal with a
sliding cardan joint to
model the projection of
the rays from conjugate
image points.
 The space rods guide
viewing optics, which
contain the floating
mark;
 Channel separation can
be achieved by having a
separate optical train for
Schematic of Wild B8 analog mechanical stereoplotter
each photograph. (Positive System : the mechanical photo points at positive position)

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 Zeiss Parallelogram
Physical separation of the
model point can be (Positive system)
Mechanical
achieved by devices such projection
as Zeiss parallelogram. centers

First order instruments

have a base-in/base-out Split
model point
capability,
 which allows the left and
right projectors to Handwheels,
interchange roles, via an footdisk
optical switch.
 Application : analog strip
formation only with two
projectors. ZEISS Planimat D2

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 Measuring and Tracing Systems
A tracing stand and half-
marks (floating mark).
 Free-hand movement (XY-
movement), thumb wheel
(Z-movement), and polar-
pantograph (for enlarge- Polar-pantograph
ment from model to map). Free-hand movement

 Handwheels (XY- Drawing table

movement), footdisk (Z-
movement), and XY-
pantograph
Up/down
(coordinatograph). tracing pencil
 Digitizing electronics for
digital data capture. WILD B8
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 Orientation, Applications, Advantages
Orientation procedures :
 Analog orientation (inner, relative, and absolute).

Applications : data collectors for

 independent model triangulation (model coordinates), and
 map compilation (analog / hardcopy, digital).

These instruments are preferred over direct optical projection

plotters due to their :
 versatility,
 higher accuracy,
 overall stability, and
 the fact that they need not be operated in a dark room.

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 Analog Photogrammetry Environment
• Input : hardcopy image
• Analog instrument as data acquisition, and da-
ta processing tools
• Typical instruments : points transfer device,
comparator, stereo-plotter, rectifier, orthopho-
to device
• Highly operator dependence
• No or less software
• Output : hardcopy products, analytical/vector
products
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 • Introduction
• The Essential Capabilities of an Analytical Plotter
• Schematic Diagram of Components and Operation of an Analytical Plotter
• Projection System & Hardcopy Imagery
• Principal Distance & Video Data Capture
• Analytical Plotter Orientation
• The Real Time, 3-D Operation of an Analytical Plotter
• Analytical Photogrammetry Environment
• Developments of Map Compilation from Stereoplotters

ANALYTICAL STEREOPLOTTERS

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 Introduction
By combining computerized con-
trol with precision optical and
mechanical components, analy-
tical plotters enable exact mathe-
matical calculation to define the
nature of the stereomodel.
 They are also easily interfaced
with computer-aided drafting
(CAD) systems, which facilitates
map editing and updates.
 These instruments, with their
digital output capability, are ideal
for compiling data for use in GISs.
Leica SD3000 analytical plotter

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The Essential Capabilities of an Analytical Plotter
(1) To precisely measure x and y Servomotors, which respond to signals
photo coordinates on both from the controlling computer, allow the
photographs to be moved to the defined
photos of a stereopair, and locations.
(2) To accurately move to de-
fined x and y photo locations
(visit points mode).
These operations are carried out un-
der direct computer control.

Digital encoders provide the

ability to measure x and y photo
coordinates,
 with the output from the encoders
being read by the computer. Schematic representation of a comparator
from an analytical plotter

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Schematic diagram of components and
operation of an analytical plotter
The heart of the
system is the
controller
computer which
accepts input
from the operator
controls and
calculates left and
right plate
positions from
these inputs.

It then operates
the servomotors
to move the
plates, stopping
when the en-
coders indicate
that the correct
positions have
been reached.

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Projection System & Hardcopy Imagery
The projection is done synthetic-
ally (with collinearity equations)
by a real-time computer program
that tracks operator position re-
quests and maintains a parallax-
free stereo view.
 Thus no physical rotations or base
component motions are needed
for the analytical stereo-plotter.

The analytical stereo-plotter could

work with hardcopy imagery from
any sensor, since the sensor model is
part of the real-time program that
control the stage positions. Z/I Imaging analytical plotter
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 Principal Distance & Video Data Capture
Changing the principal distance
become trivially easy with this
type of instrument.
 Just put the new principal distance
as input data.
 This made possible the new deve-
lopment of close-range photo-
grammetry with small-format ca-
meras and with non-metric came-
ras.
Late-model plotters of this type
include video data capture of the
stereo view for automated target
detection and pointing, and semi-
automatic DEM generation.
Zeiss Planicomp
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 Analytical Plotter Orientation
Prior to using an analytical plotter, its measuring system should be
calibrated using a precise grid plate.
Analytical Interior Orientation
 Input : all calibration data and parameters.
 Measurement of fiducial marks (xy-instrument coordinates)
 Data processing, results : the inner orientation parameters.
Analytical Relative Orientation
 Measurements of relative orientation points.
 Data processing, results : the exterior orientation parameters for both photos.

Analytical Absolute Orientation

 Input : coordinates of ground control points.
 Measurements of photo control points.
 Data processing, results : 3-D transformation parameters.

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 The Real-time,
3-D Operation of an
Analytical Plotter
Ideal photo coord.
Minus (inner orientation)
: computational steps

: inputs

: instrument movements

Real time ≈ 60 Hz (Hertz)

(after analytical plotter orientation)
Instrument xy-coord.

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 Analytical Photogrammetry Environment
• Input : hardcopy image
• The analog parts is a stereo-comparator typical instrument
• Instrument as coordinates data acquisition tool, the rest of the
process done analytically
• Collinearity, and Coplanarity Condition
• Space Resection, and Space Intersection by Collinearity
• Analytical Stereo-model
• Analytical Interior, Relative, and Absolute Orientation
• Analytical Rectification, Digital Mono Plotting, Self-calibration
• Output : hardcopy and/or softcopy products
‐ Digital Topographic Data Base / DTDB (“layered information” for GIS)
‐ Profiles
‐ Input data for AeroTriangulation (photo-, model-, or strip-coordinates)

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 Developments of Map Compilation
from Stereo-plotters
Map compilation from stereo-plotters has progressed :
 from direct drawing,
 to pantograph-controlled drawing (polar coordinates),
 to mechanical table linkages (coordinatograph),
 to direct control of electronic pen plotters,
 to the current stage of digital vector data collection into a
computer-aided design (CAD) file.
• CAD data can be collected in 2-D or in 3-D depending
on the application.

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 Mass storage Scanner

Hardcopy output Stereo monitor

Computer
Console monitor 3D cursor control

Keyboard & mouse Network

• Introduction
• Components of a Softcopy Photogrammetric Workstation
• Major Functions Performed by a Softcopy Photogrammetric
Workstation
• Digital Photogrammetry Environment

SOFTCOPY PHOTOGRAMMETRIC
WORKSTATION

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 Introduction
The fundamental operation Software
of a softcopy plotter is the
same as that of an analytical
plotter except that instead of
employing servomotors and
encoders for point measure-
ment, softcopy systems rely
on digital imagery.
 Softcopy plotters can per-
form all the operations of an
analytical plotter, and can
perform a wealth of digital
image processing routines as
well. Softcopy Photogrammetric System

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 Components of a Softcopy Photogrammetric Workstation

Computer

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The Essential Component & Stereo Viewers
The essential component of a
softcopy plotter is a computer
with a high-resolution graphic
display.
 The computer must capable of
manipulating large digital images
efficiently and must be able to
display left and right photos of a
stereopair simultaneously.

Softcopy stereo viewers can either

 pan and scroll the imagery over
fixed floating marks, or
 pan and scroll the floating marks Intergraph Image Station Z
over fixed imagery. softcopy plotter
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 Channel Separation
Channel separation for stereo
viewing within the computer
environment can be achieved by
 the anaglyph approach,
 the split-screen approach,
 computerized polarization, or
 high-frequency flicker.

Softcopy Photogrammetric
Workstation
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 Operator Input
 A standard keyboard for
routine data entry, and
 Control which provide
continuous input of the
primary X, Y, and Z coordinates,
i.e.,
• A cursor for XY input and a
thumbwheel for Z input, or
• Handwheels controls for X and Y,
and a footwheel for Z input.

• Zeiss PHODIS ST
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 Major functions performed by a
softcopy photogrammetric
workstation

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 Multiple Viewers
Softcopy stereo permit multiple
viewers to observe the stereo-
model simultaneously.
 This opportunity for discussion
and collaboration while viewing
the same 3-D model is a significant
value of the softcopy stereo
environment.
 Training new operators in the use
of stereo benefits from this
possibility.
 Other ambiguous measurement
and interpretation tasks also
benefit in the same way. Leica DPW 770
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 Automatic Features & Manual Use
One of the most useful automatic Manual use of softcopy plotter is
capabilities is the ability to per- most similar to that of an
form routine point measurement analytical stereoplotter.
by computer processing, requir-
ing little or no operator input.
 It can significantly speed up the
process of orienting the plotter,
 It assists in collecting DEM
information, profiles, and cross-
sections,
 It assists in AT processes (coding,
points selection, points transfer,
points mensuration).

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 Vector Superimposition
Another advantage of the soft-
copy stereo environment is the
ease of including what used to be
called super-imposition.
 It is often desirable to display col-
lected vector feature information
overlaid on the source imagery, in
stereo if possible.
 This is very important for checking
accuracy and completeness in a
mapping project.
 Such a capability was available
only at the cost of enormous com-
plexity in the optical/mechanical/ Screen print from softcopy
analytical plotter environment photogrammetric workstation

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 Digital Photogrammetry Environment
• Input : softcopy/digital image
• The analog parts is only the viewing system
• Automatic or Semi-automatic Orientation Procedures
• Epipolar Geometry
• Digital Image Matching
• Automatic Production of Digital Elevation Models
• Automatic Production of Digital Orthophoto
• Automatic Feature Extraction
• Output : softcopy products
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 PROBLEMS / EXERCISES

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 References
• McGlone, J.C., ed., 2004. Manual of Photogrammetry, 5th ed., American
Society of Photogrammetry and Remote Sensing, Maryland 20814, USA,
1151 p.
• Mikhail, E.M., J.S. Bethel, and J.C. McGlone, 2001. Introduction to Modern
Photogrammetry, John Wiley & Sons, Inc., New York, 479 p.
• Wolf, P.R., and B.A. Dewitt, 2000. Elements of Photogrammetry : with
Application in GIS, 3rd ed., McGraw-Hill, New York, 608p.

Aknowledgements
Some data, information, illustrations, and diagrams in this presentation are quoted
from .ppt files developed by Dr. Ir. Bobby S. Dipokusumo, M.Sc., Ir. Andri Hernandi, MT,
and Dr. Ir. D. Muhally Hakim, M.Sc.

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 Tugas No. 5

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