1. ISPRS Technical Commission I Symposium “From Sensors To Imagery”, Paris – Marne la Vallée, France, 3-6 July 2006 Institute of Photogrammetry and GeoInformation Section 7 Orthoimage generation and object extraction (mainly roads and buildings) Emmanuel Baltsavias

2. ISPRS Technical Commission I Symposium “From Sensors To Imagery”, Paris – Marne la Vallée, France, 3-6 July 2006 Institute of Photogrammetry and GeoInformation Orthoimage Generation Older sensor models methods: Kratky’s Polynomial Mapping Functions (PMFs) Relief corrected affine transformation - Project GCPs on reference plane (X, Y coordinate corrections) using sensor elevation and azimuth - Reference plane -> reference plane of DTM - Compute affine transformation between X, Y object and x, y pixel coordinates - 3 GCP’s are needed but 4-6 are suggested Current method: Use RPCs and subsequent shifts or affine transformation

3. ISPRS Technical Commission I Symposium “From Sensors To Imagery”, Paris – Marne la Vallée, France, 3-6 July 2006 Institute of Photogrammetry and GeoInformation Orthoimage Generation Test results Luzern Method: Relief corrected affine transformation CPs = check points

4. ISPRS Technical Commission I Symposium “From Sensors To Imagery”, Paris – Marne la Vallée, France, 3-6 July 2006 Institute of Photogrammetry and GeoInformation Orthoimage Generation Test results Method: Relief corrected affine transformation Nisyros

5. ISPRS Technical Commission I Symposium “From Sensors To Imagery”, Paris – Marne la Vallée, France, 3-6 July 2006 Institute of Photogrammetry and GeoInformation Orthoimage generation (IKONOS, Quickbird) in Geneva Input data 2 IKONOS Geo images (IKONOS-West / IKONOS-East) 1 Basic QUICKBIRD Image Orthoimages (for acquisition of GCPs): OP-DIAE: Digital Orthos of Canton Geneva (25 cm pixel size, 0.5 m planimetric RMS) Swissimage: Digital Orthos of Switzerland of Swisstopo (50 cm pixel size, 1m planimetric RMS) DTMs: DTM-AV (from airborne laser scanning): 1 m grid spacing, 0.5 m height RMS DHM25 of Swisstopo (from digitised contours): 25 m grid spacing, 1.5-2 m height RMS Measurement of GCPs with ellipse fit and line intersection. Image orientation with various sensor models. RPCs with subsequent affine transformation used for orthoimage generation.

6. ISPRS Technical Commission I Symposium “From Sensors To Imagery”, Paris – Marne la Vallée, France, 3-6 July 2006 Institute of Photogrammetry and GeoInformation Orthoimage generation (IKONOS, Quickbird) in Geneva

7. ISPRS Technical Commission I Symposium “From Sensors To Imagery”, Paris – Marne la Vallée, France, 3-6 July 2006 Institute of Photogrammetry and GeoInformation Orthoimage generation (IKONOS, Quickbird) in Geneva Pansharpened orthoimages. Left Ikonos, right Quickbird.

8. ISPRS Technical Commission I Symposium “From Sensors To Imagery”, Paris – Marne la Vallée, France, 3-6 July 2006 Institute of Photogrammetry and GeoInformation Orthoimage generation (IKONOS, Quickbird) in Geneva Definition of lines and circles. Left Ikonos, right Quickbird. Note the large visual difference although pixel size is 1m and 0.7m respectively.

9. ISPRS Technical Commission I Symposium “From Sensors To Imagery”, Paris – Marne la Vallée, France, 3-6 July 2006 Institute of Photogrammetry and GeoInformation Orthoimage generation (IKONOS, Quickbird) in Geneva ImageNumber of GCPs/CPs X RMS (m)Y RMS (m)X mean with sign (m) Y mean with sign (m) Ikonos West10/230.550.630.25-0.49 Ikonos East10/330.470.760.10-0.59 Quickbird10/530.560.60-0.08-0.38 Planimetric accuracy of panchromatic orthos with GCPs from OP-DIAE (CPs = check points) Quickbird is not more accurate than Ikonos although GSD was 0.7m and 1m respectively. Planimetric accuracy could be even higher with well defined GCPs measured with GPS. In Y mean (bias) large due to coordinate system differences (Geneva and national systems differ).

10. ISPRS Technical Commission I Symposium “From Sensors To Imagery”, Paris – Marne la Vallée, France, 3-6 July 2006 Institute of Photogrammetry and GeoInformation Orthoimage generation (IKONOS, Quickbird) in Geneva ImageNumber of GCPs/CPs X RMS (m)Y RMS (m)X mean with sign (m) Y mean with sign (m) Ikonos West10/580.910.72-0.07-0.30 Ikonos East 10/570.670.750.00-0.33 Quickbird10/930.660.77-0.06-0.11 Planimetric accuracy of panchromatic orthos with GCPs from OP-DIAE and Swissimage Submeter accuracy even with GCPs from not so accurate Swissimage orthos.

11. ISPRS Technical Commission I Symposium “From Sensors To Imagery”, Paris – Marne la Vallée, France, 3-6 July 2006 Institute of Photogrammetry and GeoInformation Road Extraction – Project ATOMI Automated Reconstruction of Topographic Objects from Aerial Images using Map Information. It’s a co-operation between swisstopo (Swiss Federal Office of Topography) and ETH Zurich, financed by swisstopo. ATOMI uses edge detection and existing knowledge and cues about road existence to detect road centrelines from orthophotos. ATOMI is used to remove cartographic generalisation and fit the geometry of roads to the real world to an accuracy of better than 1m in x, y and z ATOMI keeps the topology and attributes of the input vector map data set (VECTOR25) The result is a new accurate 3D road centreline data set without gaps, containing the topology and attributes of the input data as well as new weighted mean road width attributes

12. ISPRS Technical Commission I Symposium “From Sensors To Imagery”, Paris – Marne la Vallée, France, 3-6 July 2006 Institute of Photogrammetry and GeoInformation ATOMI input and output data 3D accurate structured road vector data 2D inaccurate structured road vector data DTM/DSM Ortho images ATOMI Automatic road centreline extraction

13. ISPRS Technical Commission I Symposium “From Sensors To Imagery”, Paris – Marne la Vallée, France, 3-6 July 2006 Institute of Photogrammetry and GeoInformation Classification of roads according to landcover forest urban rural area Current work only in rural areas

14. ISPRS Technical Commission I Symposium “From Sensors To Imagery”, Paris – Marne la Vallée, France, 3-6 July 2006 Institute of Photogrammetry and GeoInformation General Strategy Use of existing knowledge, rules and models Use and fusion of multiple cues about road existence Creation of redundancy through multiple cues to account for errors Early transition to object space, use of 2D and 3D interactions to bridge gaps and missing road parts Object-oriented approach in multiple objects (e.g. road classes) +

15. ISPRS Technical Commission I Symposium “From Sensors To Imagery”, Paris – Marne la Vallée, France, 3-6 July 2006 Institute of Photogrammetry and GeoInformation 15 Features, Cues and Algorithms 2-D straight edges 2-D road marks zebra crossings Stereo color aerial images / orthos Feature Extraction Geodatabase Information Derivation road geometry road attributes road topology landcover 3-D straight edges 3-D road marks Image Matching road regions shadows vegetation buildings Image Classification above-ground and ground objects DSM nDSM Generation Input Features, cues Processing

16. ISPRS Technical Commission I Symposium “From Sensors To Imagery”, Paris – Marne la Vallée, France, 3-6 July 2006 Institute of Photogrammetry and GeoInformation a.Straight edge extraction b.Removal of irrelevant edges c.Detection of Parallel Road Sides d.Evaluation of Missing Road Sides e.Bridging Gaps f.Linking Road Sides to Extract Roads How ATOMI road extraction works

17. ISPRS Technical Commission I Symposium “From Sensors To Imagery”, Paris – Marne la Vallée, France, 3-6 July 2006 Institute of Photogrammetry and GeoInformation Test site in Switzerland Geneva 7km² Aerial Film 50cm (summer ‘98) IKONOS PSM 100cm (May ‘01) Quickbird PSM 70cm (July ‘03) Manually measured reference data from 50cm orthophotos

18. ISPRS Technical Commission I Symposium “From Sensors To Imagery”, Paris – Marne la Vallée, France, 3-6 July 2006 Institute of Photogrammetry and GeoInformation 50cm Aerial Film 100cm IKONOS 70cm QUICKBIRD Results from Geneva (yellow VECTOR25, black result)

19. ISPRS Technical Commission I Symposium “From Sensors To Imagery”, Paris – Marne la Vallée, France, 3-6 July 2006 Institute of Photogrammetry and GeoInformation 50cm Film 100cm IKONOS 70cm QUICKBIRD

20. ISPRS Technical Commission I Symposium “From Sensors To Imagery”, Paris – Marne la Vallée, France, 3-6 July 2006 Institute of Photogrammetry and GeoInformation Quality evaluation of the results of Geneva

21. ISPRS Technical Commission I Symposium “From Sensors To Imagery”, Paris – Marne la Vallée, France, 3-6 July 2006 Institute of Photogrammetry and GeoInformation Results from Geneva The system achieved good results with the 50cm aerial film imagery with 90% of rural roads extracted. The performance (mainly the completeness) of the satellite data was inferior to aerial imagery, especially the 1m IKONOS imagery In the satellite data, higher class (wider) roads were usually extracted, while most lower class (narrower) roads were not. This is because of ATOMI’s algorithm requirement of min. 3 pixels road widths was not fulfilled. The smaller GSD of Quickbird made more roads visible and the road surface and road edges were clearer. But compared to aerial film the completeness was lower. With smaller GSD, correctness and accuracy do not deteriorate much, but completeness yes. Other road extraction methods and results with aerial and Ikonos images as part of EuroSDR working group on road extraction See paper Mayer et al. in coming ISPRS Com. III Symposium, Bonn, September 2006

22. ISPRS Technical Commission I Symposium “From Sensors To Imagery”, Paris – Marne la Vallée, France, 3-6 July 2006 Institute of Photogrammetry and GeoInformation Building Extraction, Ikonos, Melbourne Roof corners 19 roof corners measured by GPS Measured in mono and stereo in all three images of Melbourne Results from stereo images and 6 GCPs (RMSE): RPCs:XY = 0.7m Z = 0.9m

23. ISPRS Technical Commission I Symposium “From Sensors To Imagery”, Paris – Marne la Vallée, France, 3-6 July 2006 Institute of Photogrammetry and GeoInformation Building Extraction Aerial Photography (1:15,000) Ikonos 1m Pan Stereo  Omission of 15% of buildings (small & large)

24. ISPRS Technical Commission I Symposium “From Sensors To Imagery”, Paris – Marne la Vallée, France, 3-6 July 2006 Institute of Photogrammetry and GeoInformation Building Extraction 3D Model of University of Melbourne Campus from Ikonos 1m PAN Stereo Produced with CyberCity Modeler

25. ISPRS Technical Commission I Symposium “From Sensors To Imagery”, Paris – Marne la Vallée, France, 3-6 July 2006 Institute of Photogrammetry and GeoInformation Building Extraction Aerial Photography (1:15,000) Ikonos 1m Stereo Imagery

26. ISPRS Technical Commission I Symposium “From Sensors To Imagery”, Paris – Marne la Vallée, France, 3-6 July 2006 Institute of Photogrammetry and GeoInformation Building Extraction Aerial Photography (1:15,000) Ikonos StereoIkonos Nadir Pan-Sharp. Conducive to building feature measurement

27. ISPRS Technical Commission I Symposium “From Sensors To Imagery”, Paris – Marne la Vallée, France, 3-6 July 2006 Institute of Photogrammetry and GeoInformation Building Extraction Aerial Photography (1:15,000)Ikonos StereoIkonos Nadir Pan-Sharp. Ikonos stereo of questionable value to building feature measurement in this case

28. ISPRS Technical Commission I Symposium “From Sensors To Imagery”, Paris – Marne la Vallée, France, 3-6 July 2006 Institute of Photogrammetry and GeoInformation Building Extraction Aerial Photography (1:15,000) Ikonos StereoIkonos Nadir Pan-Sharp. Ikonos stereo of questionable value to building feature measurement in this case

29. ISPRS Technical Commission I Symposium “From Sensors To Imagery”, Paris – Marne la Vallée, France, 3-6 July 2006 Institute of Photogrammetry and GeoInformation DEM (X,Y,Z) Image plane, (line,sample) Sensor model DEM Initial Z from DEM Line, Sample XY Solver Interpolating Z Convergence XYZ Z No Yes Monoplotting: 3D Information Extraction from Single Satellite Images (implemented In Barista software, C. Fraser, Univ. of Melbourne)

30. ISPRS Technical Commission I Symposium “From Sensors To Imagery”, Paris – Marne la Vallée, France, 3-6 July 2006 Institute of Photogrammetry and GeoInformation 3D mapping of points and linear features by monoplotting Measure single points in monoplotting mode using one image in combination with a DEM Measure polylines/closed polyline in monoplotting mode  3D mapping of points and linear features

31. ISPRS Technical Commission I Symposium “From Sensors To Imagery”, Paris – Marne la Vallée, France, 3-6 July 2006 Institute of Photogrammetry and GeoInformation Measure groundpoint using one image in combination with a DEM  XYZ Measure roofpoint  Z from line,sample and XY  Height ΔH Height measurement of buildings by monoplotting

32. ISPRS Technical Commission I Symposium “From Sensors To Imagery”, Paris – Marne la Vallée, France, 3-6 July 2006 Institute of Photogrammetry and GeoInformation 3D mapping of buildings from single IKONOS image Measure first ground point of the building (by monoplotting) Measure first roof point, assuming the same XY-position as ground point Force same height for other roof points and find XY Get other ground points by keeping XY-position and interpolate height from underlying DEM >>> 3D building reconstruction

33. ISPRS Technical Commission I Symposium “From Sensors To Imagery”, Paris – Marne la Vallée, France, 3-6 July 2006 Institute of Photogrammetry and GeoInformation Building reconstruction from single IKONOS image Export of buildings in VRML dataData collection with Barista

34. ISPRS Technical Commission I Symposium “From Sensors To Imagery”, Paris – Marne la Vallée, France, 3-6 July 2006 Institute of Photogrammetry and GeoInformation Quality assessment of results derived from IKONOS and Quickbird imagery GCPs and multi-image data used as reference Single image point positions and building heights were measured Bias-corrected RPCs and affine sensor model was used Measurements were performed in three IKONOS and two Quickbird images Regular monoplotting mainly depending on DEM quality Single-image height measurement affected significantly by off-nadir angle

35. ISPRS Technical Commission I Symposium “From Sensors To Imagery”, Paris – Marne la Vallée, France, 3-6 July 2006 Institute of Photogrammetry and GeoInformation Quality assessment of results derived from Ikonos and Quickbird Sensor orientation model Height RMS discrepancy at CPs (m) e = 83°e = 61° RPCs 6.591.081.31 No. of CPs202322 3D-Affine3.050.690.76 No. of CPs202422 Accuracy of Building Height Determination Sensor orientation model Height RMS discrepancy at CPs (m) e = 60° e = 58° RPCs 1.011.03 No. of CPs30 3D-Affine1.341.33 No. of CPs29 Accuracy gets worse with higher elevation Quickbird Ikonos

36. ISPRS Technical Commission I Symposium “From Sensors To Imagery”, Paris – Marne la Vallée, France, 3-6 July 2006 Institute of Photogrammetry and GeoInformation 3D site modeling (Silvereye from Geotango, CA) Semi-automatic system, using one oriented image (monoplotting) and additional information (similar to Barista). Software for 3D site modeling and orthoimage generation. Not available any more (company bought by Microsoft)

37. ISPRS Technical Commission I Symposium “From Sensors To Imagery”, Paris – Marne la Vallée, France, 3-6 July 2006 Institute of Photogrammetry and GeoInformation 3D city modeling (Cybercity AG) Quickbird stereo images, Phoenix, USA

38. ISPRS Technical Commission I Symposium “From Sensors To Imagery”, Paris – Marne la Vallée, France, 3-6 July 2006 Institute of Photogrammetry and GeoInformation WEB-based 3D earth visualisation and Location Based Services Google Keyhole (Quickbird) Similar devepments by Microsoft (Orbimage) Geotango‘s (CA) Globeview (company bought by Microsoft) Use of satellite images, espec. HR DSM from usually unknown sources 3D building models Driving directions Location of various services