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From Imagery to Map: Digital Photogrammetric Technologies 15 th International Scientific and Technical Conference From Imagery to Map: Digital Photogrammetric.

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Presentation on theme: "From Imagery to Map: Digital Photogrammetric Technologies 15 th International Scientific and Technical Conference From Imagery to Map: Digital Photogrammetric."— Presentation transcript:

1 From Imagery to Map: Digital Photogrammetric Technologies 15 th International Scientific and Technical Conference From Imagery to Map: Digital Photogrammetric Technologies Camera calibration for UAS. Different approaches Smirnov Alexey Technical Support Department, Racurs October 2015, Yucatan, Mexico

2 Objectives UAS certification (MIIGAiK) Processing UAS imagery with different calibration methods Distortion plotting Results analyzing

3 Scientific training area MIIGAiK Department of photogrammetry 2014-2015

4 Cameras Point and shoot camera Single-lens reflex camera Industrial camera

5 Objects Area 4 sq.km.

6 Distortion Physical distortion Mixed distortion

7 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

8 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

9 Calibration parameters Project 600 m800 m Calibration methods W/O calibration Lab calibration Self- calibration (Phys) Lab calibration + phys self- calibration Self- calibration (Mix) Lab calibration + mix self- calibration W/O calibration Lab calibration Self- calibration (Phys) Lab calibration + phys self- calibration Self- calibration (Mix) Lab calibration + mix self- calibration Focal lengthmm55.000055.140755.361355.139555.232855.373855.000055.140755.355955.112755.233555.3786 Principal point (PPA, PPS) X, mm0.0000-0.1098-0.0066-0.1109-0.0055-0.11040.0000-0.1098-0.0028-0.1162-0.0055-0.1098 Y, mm0.00001.72030.07361.72250.03471.72020.00001.72030.03281.72280.03411.7208 Distortion K10.0000 -2.4953e-05-2.2511e-05-2.4568e-05-1.6065e-05-1.6071e-050.0000-2.4953e-05-2.4078e-05-2.448e-05-1.6161e-05-1.6087e-05 K20.0000 1.1253e-088.023e-099.992e-099.746e-099.867e-090.00001.1253e-081.0241e-081.0045e-089.797e-099.969e-09 K30.0000 1e-12 0.0000 1e-12

10 Test № 2 700 m (GSD-5 cm) Nikon D 800 (f-50 mm) Ground control points – 96, check points – 18

11 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 Specifications Nikon D 800 CMOS sensor Sensor size: 7360x4912 pix Focal length: 50 mm Phys. pixel size: 4.9 mkm Two-curtain shutter

12 Calibration parameters Project Nikon D 800 Calibration methods W/O calibrationLab calibrationSelf-calibration (Phys) Lab calibration + phys self-calibration Self-calibration (Mix) Lab calibration + mix self-calibration Focal lengthmm50.000051.881350.445651.845550.283652.1451 Principal point (PPA, PPS) X, mm0.00000.0284-0.00090.0233-0.00050.0234 Y, mm0.00000.23460.00750.23500.00410.2357 Distortion K1 0.0000-4.65806e-05-4.64451e-05-4.55496e-05-3.02973e-05-2.99335e-05 K2 0.00002.2396e-082.4015e-082.3189e-082.3232e-082.3633e-08 K3 0.0000 2e-12

13 Test № 3 250 m (GSD-7 cm) Sony NEX 5N (f-16 mm) Ground control points – 87, check points – 15

14 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 Specifications Sony NEX 5N CMOS sensor Sensor size: 4912x3264 pix Focal length: 16 mm Phys. pixel size: 4.9 mkm Two-curtain shutter

15 Calibration parameters Project Sony NEX 5N Calibration methods W/O calibrationLab calibrationSelf-calibration (Phys) Lab calibration + phys self-calibration Self-calibration (Mix) Lab calibration + mix self-calibration Focal lengthmm16.000016.158916.168416.332716.115016.2725 Principal point (PPA, PPS) X, mm0.00000.00730.00020.00830.00150.0109 Y, mm0.00000.00970.00420.01140.00990.0193 Distortion K1 0.0000-0.000281494-0.000285462-0.000282905-0.000186768-0.000186017 K2 0.00001.56364e-061.5992e-061.5789e-061.56374e-061.55695e-06 K3 0.0000 -5e-12-4e-12

16 Distortion plotting (Lab calibration)

17 Distortion plotting (Phys self-calibration)

18 Distortion plotting (Mix self-calibration)

19 Distortion plotting (3D)

20 Results analyzing (test № 1) Project 600 m (GSD 4 cm)800 m (GSD 6 cm) Calibration methods W/O calibration (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 calibration (m) Self- calibratio n (Phys) (m) Lab calibration + phys self- calibration (m) Self- calibration (Mix) (m) Lab calibration + mix self- calibration (m) Check pointsRMS XY0.4080.1250.1950.0710.0650.0660.4180.0750.2890.0770.0650.077 Z1.9650.1370.2560.1010.1090.1151.9410.0830.4450.0710.1020.080 XY Phase One IXU 150 (f-55mm)

21 Results analyzing (test № 2, 3) Project Nikon D 800 (GSD 4 cm)Sony NEX 5N (GSD 5 cm) Calibration methods W/O calibration (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 calibration (m) Self- calibratio n (Phys) (m) Lab calibration + phys self- calibration (m) Self- calibration (Mix) (m) Lab calibration + mix self- calibration (m) Check pointsRMS XY 0.2730.10.0960.1010.0960.1010.1480.1270.1110.1160.1010.1 Z 2.2790.1680.2230.1380.2220.1231.0630.3520.150.1650.1320.125 XYZ

22 Image quality Nikon D800 (GSD-5cm)Sony NEX 5N (GSD-5cm)

23 Conclusions Prerequisites for obtaining large scale orthophoto For cameras with central shutter – For cameras with two-curtain shutter – XYMix self-calibration Z Lab calibration + mix self-calibration XYMix self-calibration Z Lab calibration + mix self-calibration

24 Thank you for attention

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