Jan 19, ‘11 Block Adjustment of Cartosat-I Stereo Data Using RPCs MURALI MOHAN...
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Transcript of Jan 19, ‘11 Block Adjustment of Cartosat-I Stereo Data Using RPCs MURALI MOHAN...
Jan 19, ‘11
Block Adjustment Block Adjustment of of Cartosat-I Stereo Data Using RPCsCartosat-I Stereo Data Using RPCs
MURALI MOHANMURALI MOHAN
[email protected]@mobiterrasolutions.com
MOBITERRASOLUTIONS (INDIA) PRIVATE LIMITED
5
BIE (Bisector Elevation Angle)
15.5
26
Bis
ecto
r
0
0
norm
al
640
0
Ang
le o
f ass
ymet
ry (
A)
= 1
0.5
0
About About MMOOBITERRABITERRA
Incorporated in 2010; Located at Hyderabad
Solution Provider
Focus on Algorithms & Custom Solutions
Surveying, Photogrammetry, Remote sensing
Developed 2 products for Land Resurvey
TerraForma: TerraForma: Tool for land resurvey under NLRMPTool for land resurvey under NLRMP
•Hybrid techniques (aerial orthophoto / satellite orthoimage, Total Station data, or any combination)•Pure Ground Surveys (Total Station)•Project structure for different phases of resurvey•Output as ESRI’s shapefile in WGS84/UTM
TerraTippan: TerraTippan: Converts Land Tippans into ESRI’s Shape Files Converts Land Tippans into ESRI’s Shape Files
5
Scope of the PresentationScope of the Presentation
1. Algorithm Development for Block Adjustment• Cartosat-I, RPCs
• Space Resection, Space Intersection, Block Adjustment
• Motivation
2. Experimental Results• Scene level, Block-level
3. Summary & Future work
6
Cartosat-ICartosat-I
5
BIE (Bisector Elevation Angle)
15.5
26
Bis
ecto
r
0
0
norm
al
640
0
Ang
le o
f ass
ymet
ry (
A)
= 1
0.5
0
Change in elevation associated with a pixel of height parallax
dh/dp = GSD/{[tan(A+C/2) – (A-C/2)] * Sin(BIE)}
= 4.1 m
Height Sensitivity Height Sensitivity
7
Raw Product Accuracy Raw Product Accuracy
Residuals at Check points in X,Y,Z without using GCPs
-400
-200
0
200
400
600
800
1000
1200
Point-Id
Res
idua
l Err
or (m
)
Residual Error (X)
Residual Error (Y)
Residual Error (Z)
21 23 24 31 39 40 41 42 43
Residuals at Check points in X,Y,Z without using GCPs
-400
-200
0
200
400
600
800
1000
1200
Point-Id
Res
idua
l Err
or (m
)
Residual Error (X)
Residual Error (Y)
Residual Error (Z)
21 23 24 31 39 40 41 42 43
X-error = 61 mX-error = 61 m
Y-error = 314 mY-error = 314 m
Z-error = 1049 mZ-error = 1049 m
Error Vector (1000X)
8
rn = P1(X, Y, Z) / P2(X, Y, Z)
c n = P3(X, Y, Z) / P4(X, Y, Z)
Where P1 = a a00 + a1Z + a2Y + a3X + a4ZY + a5ZX + a6YX + a7Z2 + a8Y
2+ a9X2 + a10ZXY
+ a11Z2Y + a12Z
2X + a13 Y2Z + a14Y
2X+ a15ZX2 + a16 YX2 + a17Z
3 + a18Y3 + a19Z
3
X,Y,Z : Ground coordinates; a0….a19 : Polynomial Coefficients
rn & c n : Normalized row and column indices in image space
Rational Polynomial Coefficients (RPCs): Rational Polynomial Coefficients (RPCs): User-sideUser-side
LINE_OFF: +5999.97 pixelsSAMP_OFF: +6000.00 pixelsLAT_OFF: +31.71550742 degreesLONG_OFF: +79.04313203 degreesHEIGHT_OFF: +4249.995 metersLINE_SCALE: +6099.98 pixelsSAMP_SCALE: +6100.00 pixelsLAT_SCALE: +0.17195169 degreesLONG_SCALE: +0.19526625 degreesHEIGHT_SCALE: +1349.999 metersLINE_NUM_COEFF_1: +4.832002101528874E-04LINE_NUM_COEFF_2: -2.494192583363085E-01LINE_NUM_COEFF_3: -1.203624337000269E+00LINE_NUM_COEFF_4: +4.784735738655975E-02LINE_NUM_COEFF_5: +2.436545448722357E-02LINE_NUM_COEFF_6: -3.398996506834039E-03LINE_NUM_COEFF_7: -1.734635182453075E-02
…SAMP_DEN_COEFF_1:
+1.000000000000000E+00SAMP_DEN_COEFF_2: -7.503988256474431E-03SAMP_DEN_COEFF_3: -5.702810235082488E-02
.,
SAMP_DEN_COEFF_11: +8.960493156727774E-08SAMP_DEN_COEFF_12: -1.233706699756710E-07SAMP_DEN_COEFF_13:
+6.362072176937147E-07SAMP_DEN_COEFF_14: -3.936217087164640E-08SAMP_DEN_COEFF_15: -1.245484072673269E-06SAMP_DEN_COEFF_16:
+6.296562904257587E-08SAMP_DEN_COEFF_17: -1.244273828362835E-07SAMP_DEN_COEFF_18: -3.913700126388425E-07SAMP_DEN_COEFF_19: -4.839891323942274E-07SAMP_DEN_COEFF_20: -3.835211837080171E-08
9
BUNDLE ADJUSTMENTBUNDLE ADJUSTMENT
Input: RPCs, GCPs, Tie Points
RFM= new RPC_Process;RFM setTotalBlockImages(N); // reads the Block details
RFM setIndex_Value(0);RFM- Read_File("image1.RPC"); // reads all the RPC files
..RFM setIndex_Value(N);RFM-> Read_File("imageN.RPC");
RFM setGCPFile(“GCP.dat"); // reads the Control and Tie pointsRFMsetTiePointsFile(“TiePoints.dat”);
RFM->PerformBundleAdjustment(0); //For Biasor
RFM->PerformBundleAdjustment(1); //For Affine
//To apply the corrected RPCs
RFM setIndex_Value(1); //Using the 1st image
RFM Apply_G2I( Longitude, Latitude, Height, line,pixel); // Ground to Image transformation
Delete RFM;
Output: Corrections to each image, Refined RPCs
Test Results:Test Results:Plan Error: Single Stereo PairPlan Error: Single Stereo Pair
Latitude
Longitude
Height Error: Height Error: Single stereo pairSingle stereo pair
Test2: Two Stereo Pairs Test2: Two Stereo Pairs
Control Configurations for the BlockControl Configurations for the Block
Error in LongitudeError in Longitude
GCP in Left Pair
GCP in Right Pair
GCPS in Common Area
GCPs in Left, Right Pairs and Common Area
X-axis: Point Id.Y-axis: Error in Degrees
Error in LatitudeError in Latitude
GCP in Left Pair
GCP in Right Pair
GCPS in Common Area
GCPs in Left, Right Pairs and Common Area
X-axis: Point Id.Y-axis: Error in Degrees
Height ErrorHeight Error
GCP in Left Pair
GCP in Right Pair
GCPS in Common Area
GCPs in Left, Right Pairs and Common Area
X-axis: Point Id.Y-axis: Error in in Metres
Height ErrorHeight Error
GCP in Left Pair
GCP in Right Pair
GCPS in Common Area
GCPs in Left, Right Pairs and Common Area
X-axis: Point Id.Y-axis: Error in in Metres
18
SUMMARYSUMMARY Library of tools developed
1. Ground to Image function
2. Image to Ground function
3. Stereo intersection function
4. Bundle adjustment
Tested on two data sets; Carto data amenable for block adjustment with minimum control
Generic enough & adoptable to other sensors
To be expanded for DEM and ortho generation
19
Mobiterra Solutions (India) Private Limitedwww.mobiterrasolutions.com Phone: +91 99852 93505
Email: [email protected]
References
1.Grodecki, J., and Dial, G., 2001, IKONOS Geometric Accuracy, Proceedings of Joint ISPRS Workshop on High Resolution Mapping from space, 19-21 September, pp. 77-86
2. Dial, G., and Grodecki, J., 2002, Block Adjustment with Rational Polynomial Camera Models, ACSM-ASPRS 2002 Annual Conference Proceedings
3. Lillesand, T.M., Kiefer R.W., and Chipman J.W., 2004, Remote Sensing and Image Interpretation, John wiley & Sons, Inc.
4. Vincent Tao, C., and Yong Hu, “ A comprehensive study of the Rational function model for photogrammetric processing”, PERS, Vol 67, No. 12, Dec 2001, PP 1347-1357
5. Wolf, P.R., 1983, Elements of Photogrammetry, Mc Graw- Hill, Inc.
6. Rao B.S., Murali Mohan, K. Kalyanaraman and K. Radhakrishnan, 2006, International Archives of Photogrammetry, Remote Sensing and Spatial Information Sciences, Vol. 36, Part 4, on CD-ROM. Also in Vol. XXXVI, Part-IVB, pp. 1026-1029
7.Vincent Tao & Hu, 2001, A comprehensive Study of the Rational Function Model for Photogrammetric Processing, Photogrammetric Engineering & Remote Sensing, Vol 67, No.12 December 2001, pp 1347-1357