From Imagery to Map: Digital Photogrammetric Technologies 15 th International Scientific and...
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Transcript of From Imagery to Map: Digital Photogrammetric Technologies 15 th International Scientific and...
15th International Scientific and Technical Conference
From Imagery to Map: Digital Photogrammetric Technologies
Camera calibration for UAS. Different approaches
Smirnov AlexeyTechnical Support Department, Racurs
October 2015, Yucatan, Mexico
Objectives
UAS certification (MIIGAiK)
Processing UAS imagery with different calibration methods
Distortion plotting
Results analyzing
Scientific training area MIIGAiK
Department of photogrammetry
2014-2015
Cameras
Point and shoot camera
Single-lens reflex camera
Industrial camera
Objects
Area 4 sq.km.
Distortion
Physical distortion
Mixed distortion
Test № 1
800 m (GSD-6 cm)600 m (GSD-4 cm)
Phase One IXU 150 (f-55 mm)
Ground control points – 109, check points – 19
UAV Orlan-10
Gasoline engine
Max. take-off weight: 21 kg
Wing span: 3.1 m
Max. range: 1000 km
Flight altitude: 100-5000 m
Max. flight time: 10 h
Specifications
CMOS sensor
Sensor size: 8280x6208 pix
Focal length: 55 mm
Phys. pixel size: 5.3 mkm
Central shutter
Phase One IXU 150
Calibration parameters
Project
600 m 800 m
Calibration methods
W/O calibratio
n
Lab calibration
Self-calibration
(Phys)
Lab calibration + phys self-calibration
Self-calibration
(Mix)
Lab calibration + mix self-calibration
W/O calibratio
n
Lab calibration
Self-calibration
(Phys)
Lab calibration + phys
self-calibratio
n
Self-calibration
(Mix)
Lab calibration + mix self-calibration
Focal length
mm 55.0000 55.1407 55.3613 55.1395 55.2328 55.3738 55.0000 55.1407 55.3559 55.1127 55.2335 55.3786
Principal point (PPA,
PPS)
X, mm 0.0000 -0.1098 -0.0066 -0.1109 -0.0055 -0.1104 0.0000 -0.1098 -0.0028 -0.1162 -0.0055 -0.1098
Y, mm 0.0000 1.7203 0.0736 1.7225 0.0347 1.7202 0.0000 1.7203 0.0328 1.7228 0.0341 1.7208
Distortion
K1 0.0000 -2.4953e-05-2.2511e-05-2.4568e-05-1.6065e-05-1.6071e-05 0.0000 -2.4953e-05-2.4078e-05-2.448e-
05-1.6161e-
05-1.6087e-
05
K2 0.0000 1.1253e-08 8.023e-09 9.992e-09 9.746e-09 9.867e-09 0.0000 1.1253e-08 1.0241e-081.0045e-
089.797e-09 9.969e-09
K3 0.0000 0.0000 1e-12 1e-12 1e-12 1e-12 0.0000 0.0000 1e-12 1e-12 1e-12 1e-12
Test № 2
700 m (GSD-5 cm)
Nikon D 800 (f-50 mm)
Ground control points – 96, check points – 18
UAV Ptero-G0
Gasoline engine
Max. take-off weight: 21 kg
Wing span: 3.13 m
Max. range: 800 km
Flight altitude: 80-3000 m
Max. flight time: 8 h
SpecificationsNikon D 800
CMOS sensor
Sensor size: 7360x4912 pix
Focal length: 50 mm
Phys. pixel size: 4.9 mkm
Two-curtain shutter
Calibration parameters
Project
Nikon D 800
Calibration methods W/O calibration Lab calibration
Self-calibration (Phys)
Lab calibration + phys self-calibration
Self-calibration (Mix)
Lab calibration + mix self-calibration
Focal length mm 50.0000 51.8813 50.4456 51.8455 50.2836 52.1451
Principal point (PPA, PPS)
X, mm 0.0000 0.0284 -0.0009 0.0233 -0.0005 0.0234
Y, mm 0.0000 0.2346 0.0075 0.2350 0.0041 0.2357
Distortion
K1 0.0000 -4.65806e-05 -4.64451e-05 -4.55496e-05 -3.02973e-05 -2.99335e-05
K2 0.0000 2.2396e-08 2.4015e-08 2.3189e-08 2.3232e-08 2.3633e-08
K3 0.0000 0.0000 2e-12 2e-12 2e-12 2e-12
Test № 3
250 m (GSD-7 cm)
Sony NEX 5N (f-16 mm)
Ground control points – 87, check points – 15
UAV Geoscan 101
Electric engine
Max. take-off weight: 2.3 kg
Wing span: 1.4 m
Max. range: 80 km
Flight altitude: 120-1000 m
Max. flight time: 1.5 h
SpecificationsSony NEX 5N
CMOS sensor
Sensor size: 4912x3264 pix
Focal length: 16 mm
Phys. pixel size: 4.9 mkm
Two-curtain shutter
Calibration parameters
Project
Sony NEX 5N
Calibration methods W/O calibration Lab calibration
Self-calibration (Phys)
Lab calibration + phys self-calibration
Self-calibration (Mix)
Lab calibration + mix self-calibration
Focal length mm 16.0000 16.1589 16.1684 16.3327 16.1150 16.2725
Principal point (PPA, PPS)
X, mm 0.0000 0.0073 0.0002 0.0083 0.0015 0.0109
Y, mm 0.0000 0.0097 0.0042 0.0114 0.0099 0.0193
Distortion
K1 0.0000 -0.000281494 -0.000285462 -0.000282905 -0.000186768 -0.000186017
K2 0.0000 1.56364e-06 1.5992e-06 1.5789e-06 1.56374e-06 1.55695e-06
K3 0.0000 0.0000 -5e-12 -4e-12 -4e-12 -4e-12
Distortion plotting (Lab calibration)
Distortion plotting (Phys self-calibration)
Distortion plotting (Mix self-calibration)
Distortion plotting (3D)
Results analyzing (test № 1)
Project
600 m (GSD 4 cm) 800 m (GSD 6 cm)
Calibration methods
W/O calibratio
n (m)
Lab calibration
(m)
Self-calibration (Phys)
(m)
Lab calibration
+ phys self-
calibration (m)
Self-calibration (Mix) (m)
Lab calibration + mix self-calibration
(m)
W/O calibration
(m)
Lab calibratio
n (m)
Self-calibrati
on (Phys)
(m)
Lab calibration + phys self-calibration
(m)
Self-calibration (Mix)
(m)
Lab calibration +
mix self-calibration
(m)
Check pointsRMSXY 0.408 0.125 0.195 0.071 0.065 0.066 0.418 0.075 0.289 0.077 0.065 0.077
Z 1.965 0.137 0.256 0.101 0.109 0.115 1.941 0.083 0.445 0.071 0.102 0.080
W/O
calib
ratio
n
Lab
calib
ratio
n
Self-
calib
ratio
n (P
hys)
Lab
calib
ratio
n + p
hys se
lf-ca
libra
tion
Self-
calib
ratio
n (M
ix)
Lab
calib
ratio
n + m
ix se
lf-ca
libra
tion
0
0.1
0.2
0.3
0.4
600 m800 m
0
0.5
1
1.5
2
2.5
600 m800 m
ZXY
Phase One IXU 150 (f-55mm)
Results analyzing (test № 2, 3)
Project
Nikon D 800 (GSD 4 cm) Sony NEX 5N (GSD 5 cm)
Calibration methods
W/O calibratio
n (m)
Lab calibration
(m)
Self-calibration (Phys)
(m)
Lab calibration
+ phys self-
calibration (m)
Self-calibration (Mix) (m)
Lab calibration + mix self-calibration
(m)
W/O calibration
(m)
Lab calibratio
n (m)
Self-calibrati
on (Phys)
(m)
Lab calibration + phys self-calibration
(m)
Self-calibration (Mix)
(m)
Lab calibration +
mix self-calibration
(m)
Check pointsRMSXY 0.273 0.1 0.096 0.101 0.096 0.101 0.148 0.127 0.111 0.116 0.101 0.1
Z 2.279 0.168 0.223 0.138 0.222 0.123 1.063 0.352 0.15 0.165 0.132 0.125
XY
W/O
calib
ratio
n
Lab
calib
ratio
n
Self-
calib
ratio
n (P
hys)
Lab
calib
ratio
n + p
hys se
lf-ca
libra
tion
Self-
calib
ratio
n (M
ix)
Lab
calib
ratio
n + m
ix se
lf-ca
libra
tion
0
0.05
0.1
0.15
0.2
0.25
0.3
Nikon D800Sony NEX 5N 0
0.5
1
1.5
2
2.5
Nikon D800Sony NEX 5N
Z
Image quality
Nikon D800 (GSD-5cm) Sony NEX 5N (GSD-5cm)
Conclusions
Prerequisites for obtaining large scale orthophoto
For cameras with central shutter –
For cameras with two-curtain shutter –
XYMix self-
calibration
ZLab calibration +
mix self-calibration
XYMix self-
calibration
ZLab calibration +
mix self-calibration
Thank you for attention