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Small-Format Digital Camera: a Study Into Stability Analysis of the Interior Orientation Parameters Through Temperature Variation

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Small-Format Digital Camera: a Study Into Stability Analysis of the Interior Orientation Parameters Through Temperature Variation 6th International Symposium on Mobile Mapping Technology, Presidente Prudente, São Paulo, Brazil, July 21-24, 2009 SMALL-FORMAT DIGITAL CAMERA: A STUDY INTO STABILITY ANALYSIS OF THE INTERIOR ORIENTATION PARAMETERS THROUGH TEMPERATURE VARIATION E. Mitishita *, J. Côrtes, J. Centeno, A. Machado Department of Geomatics - Federal University of Parana, UFPR - Centro Politécnico - Setor de Ciências da Terra CEP 81531-990 - Curitiba, Paraná, Brazil – [email protected]; [email protected]; [email protected]; [email protected] Commission V, WG V/1 KEY WORDS: camera stability, camera calibration, georeferencing, low-cost digital cameras ABSTRACT: In the last years, small and medium format digital cameras have become a potential tool for photogrammetric applications due to its convenience, availability and quick image acquisition and processing. In addition, the resolution of these cameras has significantly increased while their price decreased. However, to extract accurate and reliable 3D metric information from images, an important condition should be considered: Are the interior and exterior orientation parameters accurate enough for photogrammetric applications? Generally, the camera calibration procedure is performed using a target or a linear test field, regardless of the photogrammetric project that will be later performed. For photogrammetric applications, the camera should be stable and the interior orientation parameters not vary with time. In addition, the exterior orientation parameters of the images should be accurately determined. The exterior orientation parameters can be determined by indirect or direct geo-referencing. Traditionally, using ground control points and bundle adjustment, the indirect method is often performed. The direct method is applied when GPS/INS data are available onboard the imaging platform. Considering airborne photogrammetric mapping, the digital camera generally is carried on planes and exposed to different temperatures from the one registered during the calibration procedure. Two aspects should be discussed: Did the interior parameters change? Will the changes modify the quality of the derived information? In the paper we try to answer these questions. The digital camera Sony DSC-F828 is calibrated under different temperatures to determine the geometric stability through a great temperature variation. The camera is calibrated at different times, varying the environmental temperatures from close to zero to twenty-five degrees Celsius. A special procedure is used to achieve temperatures close to zero degrees that enable to take good quality pictures. Two external target testfields are used to perform all experiments. The camera was calibrated no less than twice at each temperature. The geometric stability analysis at different temperatures and epochs is presented and discussed. In addition, airborne photogrammetric experiments, using different sets of interior orientation parameters, are performed to stability analysis at different environmental temperatures. Finally some conclusions are drawn from the experimental results, and future recommendations are proposed. 1. INTRODUCTION from collinearity model. Mitishita et al. (2003) used a set of aerial convergent video images over a target test field and Photogrammetry is the science of extracting accurate metric bundle adjustment with self-calibration to compute the IOP of information from imagery. Nowadays, low-cost digital cameras the video camera HITACHI onboard the Robinson R-44 are being used for many photogrammetric applications. An Newscopter helicopter to perform photogrammetric essential aspect of the suitability of these cameras is the applications. Habib et al. (2002), Habib & Morgan (2005) and determination of their internal geometric characteristics, Tommaselli & Telles (2006) used object space straight lines in commonly known as the interior orientation parameters (IOP). a bundle adjustment with self-calibration, considering that any Without this information, the systematic errors in the image deviations from straight line projected in the image space is measurements can not be modeled, and therefore the derived modeled by distortions parameters. Using bundle adjustment metric information in the object space will be degraded in terms with self-calibration and a set of convergent images, Galo et al. of accuracy. Frequently, the interior orientation parameters (2006) calibrated a Multispectral DuncanTech MS3100 – CIR (IOP) are computed by a bundle adjustment with a self- camera to evaluate the quality of 3D reconstruction in the infra- calibration procedure that uses a set of images, geometrically red (IR), red (R) and green (G) spectral regions. Cronk et al. acquired over a calibration test field. (2006) showed a methodology to calibrate color low-cost digital camera, using bundle adjustment with self-calibration, a Camera calibration, using self-calibration procedure and low- procedure to measure targets automatically and an approach to cost digital camera, is a research topic vastly worked by compute initial values of the exterior orientation parameters of photogrammetric and computer vision researchers. There is an the camera stations, without human intervention. extensive number of papers on this topic. Fraser (1997) reviewed the mathematical formulation of self-calibration Together with the quality of IOP estimation, their temporal procedure and discussed the main sources of image deviations stability should be considered for photogrammetric applications * Corresponding author. of low cost digital cameras. In regard to camera calibration georeferencing procedure, have strict requirements regarding subject, there is a small number of papers about the stability the stability of the internal characteristics of the camera. In such analysis of low cost digital cameras. This reduced of literature a case, slight changes in the IOP will have a negative effect on can be attributed to the lack of standards for quantitative the quality of the reconstructed object space. On the other hand, analysis of camera stability (Habib & Morgan, 2005). using EOP from indirect georeferencing procedure, the Commonly, a statistical test is used to verify whether two IOP inaccuracy in IOP can be compensated by EOP estimation. sets are equivalent or not. Due to some uncertainty to perform Considering airborne photogrammetric mapping, the digital the statistical test, Habib et al. (2006) proposed three new camera is generally carried on planes and is exposed to different methodologies for testing camera stability based on the degree temperatures from the one registered during the calibration of similarity between the reconstructed bundles using two sets procedure. Two aspects should be discussed: Did the interior of IOP. Zero Rotation Method (ZROT) fixes two bundles of parameters change? Will the changes modify the quality of the rays in the same position and orientation. It is analogous to derived information? In the paper we try to answer these photogrammetric direct georreferencing. Similar to questions. The digital camera Sony DSC-F828 was calibrated photogrammetric bundle adjustment that fixes position of under different temperatures to determine the geometric camera station by GPS determination, in the Rotation Method stability through a great temperature variation. Varying the (ROT), the bundles can rotate relative to each other to achieve environmental temperatures from close to zero to twenty-five the best fit. In the Single Photo Resection Method (SPR), the degrees Celsius, the camera was calibrated no less than twice at bundles can rotate and shift in order to assure the best fit at the each temperature. The geometric stability analysis at different object space. It is similar to photogrammetric indirect temperatures and epochs is presented and discussed. In georreferencing. addition, airborne photogrammetric experiments, using different sets of interior orientation parameters, the stability analysis at Machado et al. (2003) performed the stability analysis of the different environmental temperatures are performed. Sony DSC-F717 digital camera. The camera was calibrated three times over two months of regular use. The analysis from The following section presents the material and methods for three set of IOP resulted that they can be considered evaluation of geometric stability of a low cost digital camera approximately equal. Therefore, the camera was considered through ambient temperature variation. The last two sections stable over the test period. In Habib & Morgan (2005) the Sony cover results obtained in the performed experiments, as well as, DSC-F707 digital camera was calibrated two times over ten conclusions and recommendations for future work are showed. months of regular use to perform the stability analysis. The IOPs from two calibrated sessions were considered almost identical. Habib et al. (2006) checked the stability analysis of 2. MATERIALS AND METHODS the Kodak 14n digital camera, using ZROT, ROT and SPR methodologies. The camera was calibrated four times over six 2.1 Testfields months of regular use and the four sets of IOP were compared among them. Using the ZROT method, no combination of two Two target testfields were used to perform the proposed IOPs was considered equal. Using the ROT or SPR method in a research. The first is a two-dimensional testfield with forty-five big gradient relief, two combinations were considered equal. targets that were precisely surveyed using a total station. This All combinations of IOP were considered
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