Introduction on Photogrammetry

By: Koert Sijmons

Koert Sijmons
1
 Topographic map Aerial photograph

Koert Sijmons
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 Difference between map and photo

MAP PHOTOGRAPH
Orthogonal projection. Central perspective projection

Uniform scale. Variable scales.

Terrain relief without Relief displacement in the image

distortion (contour
lines).
All objects are represented Only objects that are
also the non visible visible.

An abstract representation Is a real representation

of the earth surface, no legend needed.

4
Koert Sijmons Cont.
 Difference between map and photo
MAP PHOTOGRAPH

Representation geometrically Representation geometrically

correct not correct

Elements appear Objects appear displaced due to

displaced in its real geometric distortions.
position and in different
shapes, due to the generalization
process.

5
Koert Sijmons Cont.
 Basic principles of Photogrammetry
Photogrammetry is the science and technology of obtaining
spatial measurements and other geometrically reliable derived
products from photographs.

Photogrammetric analysis procedures can range from:

Obtaining approximate distances, areas, and elevations using
hardcopy photographic products with unsophisticated equipment

Geometric concepts to generating precise digital elevation

Models (DEMs), Orthophotos,and thematic GIS data

Koert Sijmons
Cont.
6
 Introduction

The terms digital and softcopy photogrammetry are inter-

changeable to refer to any photogrammetric operation
involving the use of digital raster photographic image data
rather than hardcopy images.

Digital photogrammetry is changing rapidly and forms the

basis for most current photogrammetric operations.

However, the same basic geometry principles apply to

traditional hardcopy (analog) and softcopy (digital )
procedures.

Koert Sijmons
Cont.
7
 Introduction

Mapping from aerial photographs can take on numerous forms

and can employ either hardcopy or softcopy approaches.

Traditionally, topographic maps have been produced from

hardcopy stereo-pairs in a stereo-plotter device.

A stereo-plotter is designed to transfer map information

without distortions, from stereo photographs.

A similar device can be used to transfer image information,

with distortions removed, in the form of an Orthophoto.

Koert Sijmons
Cont.
8
 Introduction

Orthophotos combine the geometric utility of a map with the

extra real-world image information provided by a photograph.

The process of creating an Orthophoto depends on the

existence of a reliable DEM for the area being mapped.
The DEM is usually prepared photogrammetrically as well.

A digital photogrammetric workstation generally provide the

Integrated functionality for such tasks as generating:
DEMs, digital Orthophotos, perspective views, and
fly-throughs simulations, as well as the extraction of
spatially referenced GIS data in two or three dimensions
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 Introduction

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 Flight strip 1

Flight strip 2

60% forward overlap 20 - 30% side lap

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 Photographic coverage along a flight strip

1 2 3 4 5 6

Flight line

Terrain

Conditions during exposures

Endlap

Nadir line
2 5 6 (ground trace of aircraft)
1 3 4

Resulting photography
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 Flight paths (Photo run)

Flight line 3

Flight line 2

Flight line 1

Exposure station

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 Geometric elements of an aerial photo
a Negative
b
e o
Focal length d
c
Exposure station (L)

Focal length y
c
d Positive
o e
b x
a

D
E
Optical axis
O

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 Eustasius
June 1982

Message Pad Watch Altimeter

Principle point

Fiducial marks

2205

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 Photography
central projection

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 Central perspective

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 Geometry of Map and Photo
Orthogonal projection Central Perspective projection

Varied scale
Principle
Point

Relief displacement
L

Map Photo Result in:

Different size, shape and

location of static objects

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 Scale S=Hh
f

0
S = scale
50 f = focal length (15.323 cm)
H = flying height (6200 mtr.)
h = local terrain height

590 Scale at sea level (0 mtr.):

1:40.462
Scale at 50 mtr. Terrain elevation:
1:40.136

Closer to the camera = larger scale Scale at top volcano (590 mtr.)
1:36.612
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 Relief displacement Occurs for terrain points
Whose elevation is above
or below the reference
Elevation (at O).
L
Positive
f
Can be used for height
Calculation (h):
o
H a
a dH
d r h=
r

d = 2.01 mm.

H (Flying Height) = 1220 mtr.

O
A r = 56.43 mm.
h
A h = 43.45 mtr.
A
D

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 Koert Sijmons
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 Change in positions of
y y stationary objects caused by a
change in viewing position
o o x o o x Parallax of point A
a b
xa a b
xa
Pa = xa xa
L L
Pa = the parallax of point A
o o x = The measured x coordinate
a b a b a
of image a on the left photo
x = the x coordinate of image a
a
B on the right photo

DATUM
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 Y Y

O O
X X
X a b X a b
x xb
b
xa xa

Y Y
Pa = x x
a a
Pa = 54.61 (- 59.45) = 114.06 mm
Pb = x x P = 12.00
b b
Pb = 98.67 (- 27.39) = 126.06 mm
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 Pa
hH
B Pa
__ base
f ====Height
Focal
Flying
parallax
Air Bof point
_____
length
height
above datumA
A =
L f H-h
A
f L
Bf
____
ya a
a Hh=
o ax A Pa
xa ax f
Also from similar triangles:
x
a o
LOA and Loax
H A x
A XA
_____ xa
__
= f
h H - hA
A
Y
A From which:
O
A X x (H hA )
A Ax XA = a
_________
f
O x
a
____
O
X =B
A pa

ya
____
YA = B
p
Koert Sijmons
a
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 x ya
a
____ ____
X =B YA = B Parallax equations
A pa p
a

X and Y are ground coordinates of a point with respect to an arbitrary

coordinate system whose origin is vertically below the left
exposure station and with positive X in the direction of flight

p Is the parallax of the point in question

x and y are the photocoordinates of point a on the left-hand photo

The major assumptions made in the derivation of these

equations are that the photos are truly vertical and that they
are taken from the same flying height.

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 Aerial Photo Concept

Digital Orthophotos are generated from the same type of

Aerial photo as conventional hardcopy Orthophotography.

The difference lies in the scanning of the airphoto, converting

the photo to a digital image product that will be manipulated
and processed with a computer.

Cont.
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 Aerial Photo Concepts

The relationship between photo scale, scanning resolution

and final scale must be considered.

Final resolution of the Orthophoto product is based on the

application that the Orthophotos are being used for, and also
the limitations of disk space that may be encountered during
the project.

It is not always beneficial to scan an airphoto at the highest

number of dots per inch (DPI), if the application does not
warrant such high resolution.

Cont.
Koert Sijmons
28
 Aerial Photo Concepts

A simple equation can be used to calculate the scanning

resolution necessary based on the original scale, final
output pixel size and the size of the hardcopy photo.

The equation is: where:

rs = scanning resolution (DPI)
d
rs = ______
W p
* * 2,54 cm/inch d = Foot print size (cm)
W = photo size (cm)
p = output pixel size (cm)

Cont.
Koert Sijmons
29
 Aerial Photo Concepts

Example:
A photo is 9 inches (22.86 cm) across, and covers a ground
distance of 8 Km. The final resolution required is 3 meter
the scanning resolution in dots per inch (DPI) would be:

800000 cm
rs = _________________
22.86 cm 300 cm * 2.54 cm/inch = 296 DPI
*

Cont.
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 Aerial Photo Concepts

The scanning resolution can also be determinated from

the photo scale, without having calculate the ground distance.
photo scale is more commonly quoted in the aerial survey
report.
d
______
From the previous mentioned equation: s =r
W p
we derive: *
d 2.54
____ 2.54
____
rs = ___ = S
W * p * p

where S = photo scale

Cont.
Koert Sijmons
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 Aerial Photo Concepts

For example, a typical aerial survey might consist of photos

at 1:4,800 scale. The desired output resolution for the
orthophotos is approx. 30 cm. For 22.86 cm airphoto,
a reasonable scanning resolution would be:

2.54
_____ 2.54
_____
rs = S = 4800 = 406 DPI
* p * 30

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 Aerial Photo Concepts

The St. Eustasius demonstration dataset was flown at an

average photoscale of 1:40,500

The photos are 22.86 cm x 22.86 cm.

We want a ground resolution of 3m., so we must calculate the

scanning resolution.
2.54 = 40.500
____ 2.54
____ = 342.9 DPI
rs = S
* p * 300

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 Photogrammetric Triangulation

What is it?
- Increasing the density of whatever ground control you have;
called Control Point Extension

What does it do?

- Computes coordinate values for any point measured on two
or more images (tie points)

- Computes positions and orientation for each camera station

Cont.
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 Photogrammetric Triangulation

Computes position of
Each camera station
- X,Y and Z (where Z is
flying height)

- Omega ()
- Phi ()
- Kappa ()

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 Aerial photographs
f Deformations
Z

Z Z
Y
Y Y

f

X X X

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 Photogrammetric Triangulation
How do you do it?

Image measurements

Interior Orientation

Exterior Orientation

Koert Sijmons
Ground Control Points (GCP)
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 Interior Orientation
Objective: Interior Orientation models the
geometry inside the camera

- Lens focal length

- Origin of co-ordinate system (principal point)
- Radial lens distortion
Coordinate systems
- Establish the relationship between positions in the image
(pixel) and the corresponding position in the camera (mm.)
The coordinates of the fuducial points in the camera are
known.
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 Aerial photographs en stereo

left right

Principle point Principle point

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 Interior Orientation: Image used
during demonstration
Image details:
Fiducial marks Average photo scale:
1:40,500

Scanning resolution:
Principle point
300 DPI

Ground resolution per pixel:

(2.54 / 300)*405 =
3.43 m.
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 Interior Orientation

Film: coordinate position are measured in

microns (Image coordinate system)
Digital image: coordinates positions are
measured in pixels (Pixel coordinate system)
Using fiducial points a linear relationship can
be established between film and image
coordinate postions

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 3 4
X and Y coordenates of
the fuducial points
Principal point
-X

1: 106.004 -106.008
1 2: -105.999 -105.998
2
3: -106.004 106.005
4: 106.002 106.002

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 Y

Column

Relation between
Pixel coordinates
X (Line,Column)
and
Image coordinates
(in the camera in millimeters)
(x,y)
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 Image coordinate system (film)
Pixel coordinate system
Col pixel
0,0 A Col pixel
0
Colum

A
Lin pixel
A 0
Lin pixel
0

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 Interior Orientation

- Camera calibration information

- Obtained from camera calibration certificate
- Calibration elements:

- Focal Length

- Fiducial coordinates

- Principal point location

- Radial lens distortion

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 Exterior Orientation

Objective: Establishing a relationship between the digital image

(pixel) co-ordinate system and the real world (latitude and longitude)
co-ordinate system
Ground Control Points
Visually identifiable

Preferably on multiple images

Larger image blocks need less control per image

Need to be well distributed in X,Y and Z

Ground control types:

Full (X,Y,Z)

Horizontal (X,Y)

Vertical (Z)

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 colinearity condition
O (Uo, Vo, Wo)
O: Projection centre
A: Point on the ground
a: Image of A on the
photograph
Wo -Wa
a (Ua, Va, Wa) from similar triangles:

Ua -Uo U A U o VA Vo WA Wo
sa
Wo -WA A (UA, VA, WA) U a U o Va Vo Wa Wo
or :
UA Uo Ua Uo
V V s V V
UA -Uo A o a a o

WA Wo Wa Wo
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 angles

Z
(Kappa)
Y
(Phi)

(Omega) X
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 What do these letters mean?
r11 ( U U o ) r12 ( V Vo ) r13 ( W Wo )
x c x PP
r31 ( U U o ) r32 ( V Vo ) r33 ( W Wo )

r21 ( U U o ) r22 ( V Vo ) r23 ( W Wo )

y c y PP
r31 ( U U o ) r32 ( V Vo ) r33 ( W Wo )
Position of a point in the image: x, y
Position of the corresponding terrain point: U, V, W
Known after interior orientation: xPP, yPP , c
From Exterior orientation: Uo, Vo , Wo,
r11, r12, r13, r21, r22, r23, r31, r32, r33 (computed from of , , )
For each point in the terrain its position in the image
can be computed from these two equations. (Different
for the left and the right image.)
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 Resampling one pixel
Center of the orthophoto-
pixel in the original image

Nearest neighbour:
the value of this pixel

Bilinear: interpolated
between these 4
pixelcenters

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Example St Eustatius: How to accurately
transfer interpretation from photo to map!!!

Shoreline from topographical map Aerial photo

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 Available:
2 digital stereo Aerial Photos at scale 1:40,000
of the Island of Sint Eustasius (Caribbean Sea)

Left Right

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 Available: Topographic map at
scale:1:10,000 of St. Eustasius

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 Koert Sijmons
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 Software: ERDAS IMAGINE 8.6

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 Create New Block File

Working Directory

Sint_eustasius.blk

Type: Block File name

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 Setup of Geometric Model

Frame Camera
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 Select Projection

Set Projection
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 Select Projection

UTM Zone 20 (Range 66W-60W)

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 Select Spheroid Name

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 Koert Sijmons
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 Set Horizontal/Vertical Units in:
Meters

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 Set Fly Height in meters

V 6200

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 Loading images

Load left and right images

From your working directory

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 Loading Left and Right image

d:/het mooie eiland st eustasius/left img

d:/het mooie eiland st eustasius/right img

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 Set up for Interior Orientation

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 Set Focal Length

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 Type: 4

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 Interior orientation for left image

Indicating: left.img

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 1st Fiducial point Jumps automatically to next fiducial point

Load left image

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 1st fiducial point

Set fiducial mark

2753.202 2655.394

Coordinades 1st. Fiducial point

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 Measure 2nd fiducial point, as
done for point 1

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 Measure 3rd fiducial point, as
done for point 1 and 2

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 Measure 4th fiducial point, as
done for point 1, 2 and 3

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 All 4 fiducial points are measured

Should be less than 1 pixel

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 Make adjustments for the fiducial points in
order to get less than 1 pixel RMSE

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 Green infill indicates, that Interior orientation
has been carried out for left.image

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 Indicating:left.img
Indicating: right.img

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 Interior Orientation for right image

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 Measure the 4 fiducial points for the
Right image, starting with point 1,as
done for the Left image

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 The measurement for the 4 fudical points
are completed with less then 1 pixel RMSE

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 Set Ground Control
Points (GCPs)

Both images have their interior

orientation (green)

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 16
15

14

6
17 13
1
5
3 9

4
1 12

7 8 10 Coordinates:
11
X = 502865
Y = 1932070
Control Points
Z = 107 m.
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 Control Point in map with corresponding point in left image

1
1

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 Pnt nr. X Coordinates Y Coordinates Z Value
1 502865 1932070 107
2 501610 1932850 23
3 502775 1933430 52
4 502135 1932060 45
5 503780 1933750 55
6 502265 1935180 20
7 502400 1931430 32
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 Pnt. Nr. X coord. Y coord. Z value
8 503260 1930760 46
9 505250 1933420 62
10 505190 1930820 10
11 504340 1930600 35
12 506030 1931880 20
13 503515 1934460 0
14 502450 1936998 0
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 Pnt. Nr. X coord. Y coord. Z value
15 501480 1936998 0
16 500730 1937315 0
17 500570 1934310 0

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 Measuring Ground Control Points
(GCPs)
Set Ground Control
Points (GCPs)

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 Koert Sijmons
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 Add 1st. Ground
Control Point (GCP)

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 Set register mark to point 1 in the left image,
1
according
1
to the position of the Ground
Control Point in the map

Register Ground
Control Point
Set register mark to point 1 in the right
1
image, according to the position of the
Ground Control Point in the map

502865.000 1932070.000 107.000

Type in: X-coordinates: 502865.000

Y-coordinates: 1932070.000
Z-value: 107.000
for Point 1 Click: Enter
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 Set register mark to point 2 in the left image,
2
according
2 to the position of the control point
in the map
Register Ground
Control Point
Set register mark to point 2 in the right
image, according to the position of the
2 2
control point in the map

501610.000 1932850.000 23.000

Type in: X-coordinates: 501610.000

Y-coordinates: 1932850.000
Z-value: 23.000
95
Koert Sijmons for Point 2 Click: Enter
 Set register mark to point 3 in the left image,
3
according
3 to the position of the control point
in the map
Register Ground
Control Point
Set register mark to point 3 in the right
image, according to the position of the
control point in the map
3
Type in: X-coordinates: 502775.000
3
Y-coordinates: 1933430.000
Z-value: 52.000
for Point 3 Click: Enter

502775.000 1933430.000 52.000

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 4 4

Register Ground
Set register mark to point 4 in the left image, Control
Automatically Point
display the
according to the position of the control
Set register mark topoint
point 4 in the right
in the map image, according to the position ofImagethe positions of Control
control point in the map Points on the overlap areas
4
of 2 images. This capability
Is enabled when 3 or more
4
Control Points have been
Type in: X-coordinates: 502135.000
measured
Y-coordinates: 1932060.000
Z-value: 45.000
for Point 4 Click: Enter

502135.000 1932060.000 45.000

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 Continue the same
Procedure for the Remaining Ground
Control Points according to map and
Coordinate list

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 Change type none into Full
and
Change Usage into Control
For all GCPs

Full
Control

Click right
Click
button
right button

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 Click: the automatic Tie
Point Collection Properties
icon

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 Checktotoconfirm
Check confirmthat
thatthe
the
ImageType
Initial Used radio
radio button
button isis
set toset to All available
Check to confirm that the
Exterior/Header/GCP
1 Image Layer Used for
Computation is set to 1

Click Check to confirm

in the Intended that the
Number
50 Keep
of Points Per All Points
Image field and
checkbox
type: 50, thenispress
off (unchecked)
Enter

Click the Run button

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 Close
Save

Click in the > column of

Point Ids to see where tie points
were placed. Tie points outside
the land area have to be deleted.
If the tie points needs to be
Activate Point Adjusted, click the Select Point
48 icon and adjusted it in the
Detail View

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 Triangulation Properties

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 Koert Sijmons
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 Koert Sijmons
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 Save as
The X and Y deviations of the
Coordinates are within the tolerance
of 1 pixel.

The image was scanned with a Ground

Resolution of 3 meter

The height value accuracy is

Within 0.64 meter

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 St_Eustasius

ASCII Text File (*.txt))

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 Exterior orientation
has been completed

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 After Triangulation all
Tie Points have
X, Y, Z References

Activate Point Delete Tie Points with

45, 46, 47 negative height values

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 DTM Extraction

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 Select:
Single DTM Mosaic

File Chooser

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 OK

DTM_ St.Eustasius

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 Make Pixels square
DTM_ St. Eustasius

30.000000 30.000000

V
Type: 30 meters

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 DTM processing

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 Save

DEM is calculated

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 OK

dem_st. eustasius

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 Koert Sijmons
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 Orthophoto generating

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 Orthophoto Resampling

DEM
DEM.IMG

3.000000 3.000000

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 Orthophoto generated

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 Orthophoto

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 DEM Orthophoto

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 Topographic map Orthophoto

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