Photogrammetry

(FG 3124)

Photogrammetry

H A Nalani
Faculty of Geomatics
HAN

Sabaragamuwa University of Sri Lanka

Photogrammetry II (FC3124) 2007

Introduction

Review Previous Lecture

HAN

Photogrammetry II (FC3124) 2007

Introduction

Review Previous Lecture

Elementary Derivation of the

differential formula
The Relative Orientation

HAN

Photogrammetry II (FC3124) 2007

Introduction

Review Previous Lecture

p
x

Image plane
d
O

dy0

dx0

dz0

Projection Plane
R
P

dy
HAN

Photogrammetry II (FC3124) 2007

Introduction

Error due to differential movements

Combining all the movements:
Movements
dbx

dx
dbx

dby

dy

y
.dbz
h

x
.dbz
h
y.d

dbz
d

x.d

x2
h 1 2
h

.d

xy
.d
h

d
HAN

xy
.d
h

y2
h 1 2 .d
h

Photogrammetry II (FC3124) 2007

Introduction

Review Previous Lecture

Elementary Derivation of the
differential formula

x
x
xy
dx dbx .dbz yd h 1 2 d .d
h
h
h

y
xy
y
dy dby .dbz xd .d h 1 2 d
h
h
h

HAN

Photogrammetry II (FC3124) 2007

Introduction

Differential Formula
bz

X 2 X1 b

bz
by
bx

Y2 Y1

by

Z 2 Z1

bx

Y
Z

X1

Y1
N

Y
Z

B
HAN

X2

Y2

Photogrammetry II (FC3124) 2007

Introduction

Differential Formula

x
x2
xy
dx dbx .dbz yd h 1 2 d .d
h
h
h

y
xy
y2
dy dby .dbz xd .d h 1 2 d
h
h
h

x b
x b
x b y
d

dx dbx
.dbz yd h 1
.
d

h
h
h

y
x b y
y2
dy dby .dbz x b d
.d h 1 2 d
h
h
h

HAN

Photogrammetry II (FC3124) 2007

Introduction

The Relative Orientation

a

a
b

a, a are the
image points of
the terrain point A
o, o projection
centers

+z

Px

+y

P
+x

Py

P- Parallax
Px Parallax in x

plane

HAN

Photogrammetry II (FC3124) 2007

Py Parallax in y
Introduction

The Relative Orientation

The corresponding rays ao and ao, which do
not interest before relative orientation, meet this
plane in the points A and A.
The distance AA is called Parallax (P).
If the plane move up and down, the points A
and A move.Then,
There is a position for , where Px = 0.
The y parallax the has to be eliminated by the
use of the orientation elements.
HAN

Photogrammetry II (FC3124) 2007

Introduction

The Relative Orientation

The points that use for relative orientation are
shown in following figure:
b

o
Zm

4
+
2 d

b
1
-d
5

HAN

Photogrammetry II (FC3124) 2007

Introduction

The Relative Orientation

The points 1 and 2 are the nadir points of the 2
projections.
The points 3 and 5 are chosen in the cross
section through 1 in such a way that the angles
are equal.
For flat terrain this means that the distances 1-3
and 1-5 are equal.

HAN

Photogrammetry II (FC3124) 2007

Introduction

The Relative Orientation

Each camera have 6 orientation elements that is 12 in total.
Some of these have identical influences on the parallax:
+ bx has the same effect as bx
+ by has the same effect as by
+ bz has the same effect as bz
Provided that the axes of the two are in line,
+ has the same effect as
But this is so for y parallexes only

Then eight elements are left: bx, by, bz, , , , ,

HAN

Photogrammetry II (FC3124) 2007

Introduction

The Relative Orientation

If we consider each pair of these as one
element, Then the eight elements are left: bx, by,
bz, , , , ,
The bx has no influence at all on y parallaxes, it
changes only the x parallax.
In considering the influences of orientation
elements on parallaxes, we will assume a fully
oriented model, which is distributed by a small
change of one of the orientation elements.
HAN

Photogrammetry II (FC3124) 2007

Introduction

The Relative Orientation

The influence of orientation elements on parallaxes:
So, parallax at that point is
given by;
o

Px = dx dx
Py = dy dy

dy
dx

dy
Px
Py

dx

y2
y
xy.
Py dby dbz xd d h 1 2 d
h
h
h

HAN

y2

y
x b y
dby dbz x b d
d h 1 2 d
h
h
h

Photogrammetry II (FC3124) 2007

Introduction

Orientation elments on Parallaxes

dx

dy

bx

+1

bx

-1

by

+1

by

-1

bz

-x/z

-y/z

bz

(x-b)/z

+y/z

-y

+x

+y

-(x-b)

-xy/z

-z(1+y2/z2)

+(x-b)y/z

+z(1+y2/z2)

+z(1+x2/z2)

+xy/z

+z(1+(x-b)2)/z2

-(x-b)y/z

HAN

A recapitulation of all
the formulae which
have been derived is
given in this table.
This allows to
compute the
parallaxes in the
model caused by a
correction of any
orientation element.

Photogrammetry II (FC3124) 2007

Introduction

Example...
Given a parallax free model, compute the y parallax in a
point with coordinates x = + 50 mm, a 0 +100 mm, z =
-300 mm and b = 200mm. If
1. is turened 0.01 radius
2. is turened 0.1 grades
3. bz is turned 0.3 mm

Py ( ) ( x b)d
(50 200) 0.01
1.5mm
HAN

xy
d
z
50 100

0.1
300
200
0.026mm
Py ( )

Photogrammetry II (FC3124) 2007

Introduction

The Relative Orientation

There are three groups of methods of relative
orientation:
Empirical Methods
Numerical Methods
Graphical Methods

HAN

Photogrammetry II (FC3124) 2007

Introduction

To be continued.....

Numerical Orientation
etc

HAN

Photogrammetry II (FC3124) 2007

Introduction

HAN

Photogrammetry II (FC3124) 2007

Introduction