scholarly journals pOSE: Pseudo Object Space Error for Initialization-Free Bundle Adjustment

2018 ◽  
Author(s):  
Christopher Zach ◽  
Je Hyeong Hong
Keyword(s):  
Bundle Adjustment ◽  
Object Space ◽  
Space Error

scholarly journals LiDAR-Aided Interior Orientation Parameters Refinement Strategy for Consumer-Grade Cameras Onboard UAV Remote Sensing Systems

2020 ◽  
Vol 12 (14) ◽  
pp. 2268
Author(s):  
Tian Zhou ◽  
Seyyed Meghdad Hasheminasab ◽  
Radhika Ravi ◽  
Ayman Habib
Keyword(s):  
Precision Agriculture ◽  
Point Cloud ◽  
Point Clouds ◽  
Bundle Adjustment ◽  
Flying Height ◽  
Control Points ◽  
Object Space ◽  
Area Of Interest ◽  
Refinement Strategy ◽  
Orientation Parameters

Unmanned aerial vehicles (UAVs) are quickly emerging as a popular platform for 3D reconstruction/modeling in various applications such as precision agriculture, coastal monitoring, and emergency management. For such applications, LiDAR and frame cameras are the two most commonly used sensors for 3D mapping of the object space. For example, point clouds for the area of interest can be directly derived from LiDAR sensors onboard UAVs equipped with integrated global navigation satellite systems and inertial navigation systems (GNSS/INS). Imagery-based mapping, on the other hand, is considered to be a cost-effective and practical option and is often conducted by generating point clouds and orthophotos using structure from motion (SfM) techniques. Mapping with photogrammetric approaches requires accurate camera interior orientation parameters (IOPs), especially when direct georeferencing is utilized. Most state-of-the-art approaches for determining/refining camera IOPs depend on ground control points (GCPs). However, establishing GCPs is expensive and labor-intensive, and more importantly, the distribution and number of GCPs are usually less than optimal to provide adequate control for determining and/or refining camera IOPs. Moreover, consumer-grade cameras with unstable IOPs have been widely used for mapping applications. Therefore, in such scenarios, where frequent camera calibration or IOP refinement is required, GCP-based approaches are impractical. To eliminate the need for GCPs, this study uses LiDAR data as a reference surface to perform in situ refinement of camera IOPs. The proposed refinement strategy is conducted in three main steps. An image-based sparse point cloud is first generated via a GNSS/INS-assisted SfM strategy. Then, LiDAR points corresponding to the resultant image-based sparse point cloud are identified through an iterative plane fitting approach and are referred to as LiDAR control points (LCPs). Finally, IOPs of the utilized camera are refined through a GNSS/INS-assisted bundle adjustment procedure using LCPs. Seven datasets over two study sites with a variety of geomorphic features are used to evaluate the performance of the developed strategy. The results illustrate the ability of the proposed approach to achieve an object space absolute accuracy of 3–5 cm (i.e., 5–10 times the ground sampling distance) at a 41 m flying height.

scholarly journals EVALUATION OF INTERIOR ORIENTATION MODELLING FOR CAMERAS WITH ASPHERIC LENSES AND IMAGE PRE-PROCESSING WITH SPECIAL EMPHASIS TO SFM RECONSTRUCTION

2021 ◽  
Vol XLIII-B2-2021 ◽  
pp. 17-24
Author(s):  
H. Hastedt ◽  
T. Luhmann ◽  
H.-J. Przybilla ◽  
R. Rofallski
Keyword(s):  
Bundle Adjustment ◽  
Image Space ◽  
Data Sets ◽  
Spherical Lens ◽  
Object Space ◽  
3D Measurements ◽  
Camera Systems ◽  
Low Pass ◽  
Close Range ◽  
The Impact

Abstract. For optical 3D measurements in close-range and UAV applications, the modelling of interior orientation is of superior importance in order to subsequently allow for high precision and accuracy in geometric 3D reconstruction. Nowadays, modern camera systems are often used for optical 3D measurements due to UAV payloads and economic purposes. They are constructed of aspheric and spherical lens combinations and include image pre-processing like low-pass filtering or internal distortion corrections that may lead to effects in image space not being considered with the standard interior orientation models. With a variety of structure-from-motion (SfM) data sets, four typical systematic patterns of residuals could be observed. These investigations focus on the evaluation of interior orientation modelling with respect to minimising systematics given in image space after bundle adjustment. The influences are evaluated with respect to interior and exterior orientation parameter changes and their correlations as well as the impact in object space. With the variety of data sets, camera/lens/platform configurations and pre-processing influences, these investigations indicate a number of different behaviours. Some specific advices in the usage of extended interior orientation models, like Fourier series, could be derived for a selection of the data sets. Significant reductions of image space systematics are achieved. Even though increasing standard deviations and correlations for the interior orientation parameters are a consequence, improvements in object space precision and image space reliability could be reached.

scholarly journals STRUCTURELESS BUNDLE ADJUSTMENT WITH SELF-CALIBRATION USING ACCUMULATED CONSTRAINTS

2016 ◽  
Vol III-3 ◽  
pp. 3-9 ◽  
Author(s):  
A. Cefalu ◽  
N. Haala ◽  
D. Fritsch
Keyword(s):  
Nonlinear System ◽  
Jacobian Matrix ◽  
Optimization Method ◽  
Computational Effort ◽  
Bundle Adjustment ◽  
Object Space ◽  
Memory Footprint ◽  
Recent Developments ◽  
Consistency Constraints ◽  
Camera Parameters

Bundle adjustment based on collinearity is the most widely used optimization method within image based scene reconstruction. It incorporates observed image coordinates, exterior and intrinsic camera parameters as well as object space coordinates of the observed points. The latter dominate the resulting nonlinear system, in terms of the number of unknowns which need to be estimated. In order to reduce the size of the problem regarding memory footprint and computational effort, several approaches have been developed to make the process more efficient, e.g. by exploitation of sparsity or hierarchical subdivision. Some recent developments express the bundle problem through epipolar geometry and scale consistency constraints which are free of object space coordinates. These approaches are usually referred to as structureless bundle adjustment. The number of unknowns in the resulting system is drastically reduced. However, most work in this field is focused on optimization towards speed and considers calibrated cameras, only. We present our work on structureless bundle adjustment, focusing on precision issues as camera calibration and residual weighting. We further investigate accumulation of constraint residuals as an approach to decrease the number of rows of the Jacobian matrix.

scholarly journals ASSIGNING TIE POINTS TO A GENERALISED BUILDING MODEL FOR UAS IMAGE ORIENTATION

2017 ◽  
Vol XLII-2/W6 ◽  
pp. 385-392 ◽  
Author(s):  
J. Unger ◽  
F. Rottensteiner ◽  
C. Heipke
Keyword(s):  
Pose Estimation ◽  
Point Cloud ◽  
Image Sequence ◽  
Image Sequences ◽  
Bundle Adjustment ◽  
Unmanned Aerial System ◽  
Indirect Approach ◽  
Object Space ◽  
Building Model ◽  
Image Orientation

This paper addresses the integration of a building model into the pose estimation of image sequences. Images are captured by an Unmanned Aerial System (UAS) equipped with a camera flying in between buildings. Two approaches to assign tie points to a generalised building model in object space are presented. A direct approach is based on the distances between the object coordinates of tie points and planes of the building model. An indirect approach first finds planes within the tie point cloud that are subsequently matched to model planes; finally based on these matches, tie points are assigned to model planes. For both cases, the assignments are used in a hybrid bundle adjustment to refine the poses (image orientations). Experimental results for an image sequence demonstrate improvements in comparison to an adjustment without the building model. Differences and limitations of the two approaches for point-plane assignment are discussed – in the experiments they perform similar with respect to estimated standard deviations of tie points.

scholarly journals ON SCALE DEFINITION WITHIN CALIBRATION OF MULTI-CAMERA SYSTEMS IN MULTIMEDIA PHOTOGRAMMETRY

2019 ◽  
Vol XLII-2/W10 ◽  
pp. 93-100 ◽  
Author(s):  
O. Kahmen ◽  
R. Rofallski ◽  
N. Conen ◽  
T. Luhmann
Keyword(s):  
Relative Orientation ◽  
Bundle Adjustment ◽  
Object Space ◽  
Implicit Form ◽  
Camera Systems ◽  
Systematic Effects ◽  
Synthetic Datasets ◽  
Orientation Parameters ◽  
Standard Software ◽  
Implicit Modelling

<p><strong>Abstract.</strong> In multimedia photogrammetry, multi-camera systems often provide scale by a calibrated relative orientation. Camera calibration via bundle adjustment is a well-established standard procedure in single-medium photogrammetry. When using standard software and applying the collinearity equations in multimedia photogrammetry, the refractive interfaces are modelled in an implicit form. This contribution analyses different calibration strategies for bundle-invariant interfaces. To evaluate the effects of implicitly modelling the refractive effects within a bundle adjustment, synthetic datasets are simulated. Contrary to many publications, systematic effects of the exterior orientations can be verified with simulated data. The behaviour of interior, exterior and relative orientation parameters is analysed using error-free synthetic datasets. The relative orientation of a stereo camera shows systematic effects, when the angle of convergence varies and when the synthetic interface is set up at different distances to the camera. It becomes clear, that in most cases the implicit modelling is not suitable for multimedia photogrammetry. An explicit modelling of the refractive interfaces is implemented into a bundle adjustment. This strict model is analysed and compared with the implicit form regarding systematic effects in orientation parameters as well as errors in object space. In a real experiment, the discrepancies between the implicit form using standard software and the explicit modelling using our own implementation are quantified. It is highly advisable to model the interfaces strictly, since the implicit modelling might lead to relevant errors in object space.</p>

scholarly journals STRUCTURELESS BUNDLE ADJUSTMENT WITH SELF-CALIBRATION USING ACCUMULATED CONSTRAINTS

2016 ◽  
Vol III-3 ◽  
pp. 3-9 ◽  
Author(s):  
A. Cefalu ◽  
N. Haala ◽  
D. Fritsch
Keyword(s):  
Nonlinear System ◽  
Jacobian Matrix ◽  
Optimization Method ◽  
Computational Effort ◽  
Bundle Adjustment ◽  
Object Space ◽  
Memory Footprint ◽  
Recent Developments ◽  
Consistency Constraints ◽  
Camera Parameters

Bundle adjustment based on collinearity is the most widely used optimization method within image based scene reconstruction. It incorporates observed image coordinates, exterior and intrinsic camera parameters as well as object space coordinates of the observed points. The latter dominate the resulting nonlinear system, in terms of the number of unknowns which need to be estimated. In order to reduce the size of the problem regarding memory footprint and computational effort, several approaches have been developed to make the process more efficient, e.g. by exploitation of sparsity or hierarchical subdivision. Some recent developments express the bundle problem through epipolar geometry and scale consistency constraints which are free of object space coordinates. These approaches are usually referred to as structureless bundle adjustment. The number of unknowns in the resulting system is drastically reduced. However, most work in this field is focused on optimization towards speed and considers calibrated cameras, only. We present our work on structureless bundle adjustment, focusing on precision issues as camera calibration and residual weighting. We further investigate accumulation of constraint residuals as an approach to decrease the number of rows of the Jacobian matrix.

Distributed Bundle Adjustment in 3D Scene Reconstruction with

2012 ◽  
Vol 38 (9) ◽  
pp. 1428 ◽  
Author(s):  
Xin LIU ◽  
Feng-Mei SUN ◽  
Zhan-Yi HU
Keyword(s):  
Bundle Adjustment ◽  
Scene Reconstruction ◽  
3D Scene ◽  
3D Scene Reconstruction

scholarly journals A High-Precision Registration Technology Based on Bundle Adjustment in Structured Light Scanning System

2014 ◽  
Vol 2014 ◽  
pp. 1-9 ◽  
Author(s):  
Jianying Yuan ◽  
Qiong Wang ◽  
Xiaoliang Jiang ◽  
Bailin Li
Keyword(s):  
High Precision ◽  
Large Scale ◽  
Structured Light ◽  
Bundle Adjustment ◽  
Scanning System ◽  
Control Points ◽  
Registration Method ◽  
Global Control ◽  
3D Data ◽  
Structured Light Scanning

The multiview 3D data registration precision will decrease with the increasing number of registrations when measuring a large scale object using structured light scanning. In this paper, we propose a high-precision registration method based on multiple view geometry theory in order to solve this problem. First, a multiview network is constructed during the scanning process. The bundle adjustment method from digital close range photogrammetry is used to optimize the multiview network to obtain high-precision global control points. After that, the 3D data under each local coordinate of each scan are registered with the global control points. The method overcomes the error accumulation in the traditional registration process and reduces the time consumption of the following 3D data global optimization. The multiview 3D scan registration precision and efficiency are increased. Experiments verify the effectiveness of the proposed algorithm.

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