Palestine Polytechnic University College of Engineering Civil & Architectural Engineering Department Surveying and Geomatics Engineering Graduation Project The use of mobile phone camera in close range photogrammetry BY Ayat Abed Al Aziz Majdoleen Ayaydeh Mariam Abu Attalah Supervisor: DR. Ghadi Zakarneh Hebron-West Bank Palestine December-2015 اﻹهداء إلى شهداء الوطن الحبيب اللذين امتزجت دمائهم بثرى الوطن الحبيب ليرسمو الىطريق الحرية إلى القابعين خلف قضبان الحديد ينتظرون يوم الحرية إلى من أصبحت المستشفيات بيوتهم الثانية إلى أمي الغالية رفيقة دربي في ليالي السهر الطوال إلى أبي رمز العطاء الدائم المغني عن السؤال إلى كل من تحرك القلم في يده بخط كلمه خير تشرق بها شموس الفجر إلى الدموع السائلة ترقب الفجر القريب إليك يا وطن و إلى كل القلوب الصافية إلى إخواني وأخواتي وزمﻻئي و إلى كل من علم حرفا وإلى كل من ساهم في انجاح هذا المشروع فريق العمل I Acknowledgment Thanks God ( Allah) , the most Merciful who granted us the ability and willing to start this project. Thanks our University and Department of civil and architectural engineering. We express our thanks to Dr. Ghadi Zakarneh who gave us knowledge, valuable help, encouragement, supervision and guidance in solving the problems that we faced from time to time during this project. Finally our deep sense and sincere thanks to our parents, brothers and sisters for their patience, also for ever one who helped us during our work and gave us strength to complete this task especially to Shoroq Swiety. II Abstract The use of mobile phone camera in close range photogrammetry Abstract The project aims to use the simple technology owned by anyone for close range photogrammetric applications by using different mobile phone cameras in different levels of resolution. This is applied to make a 3D modeling of close objects by using different software. These cameras are nowadays available with high resolution in different levels. So we are going to study the use of these cheap tools in the fields of close range photogrammetry. The project requires three stages. First we are going to test the use of the photos for 3D modeling of close range objects. Then, we are going to check the accuracy of the modeled objects. Finally we are going to summarize the proper use of these cameras for close range photogrammetry Supervisor Dr.Ghadi Zakarneh Group names Ayat Abed Al Aziz Majdoleen Ayaydeh Mariam Abu Attalah III ملخص استخدام كاميرات الهواتف المحمولة في التصوير اﻻرضي الملخص: يهدف المشروع إلى استخدام التكنولوجيا البسيطة المتاحة بين يدي أي شخص في تطبيقات التصوير عن قرب عن طريق استخدام كاميرات ﻷنواع مختلفة من الهواتف بمستويات مختلفة من الدقة. هذا يطبق لعمل مجسم ثﻻثي اﻷبعاد ﻷجسام مختلفة باستخدام برامج حاسوب مختلفة . لذا نحن سندرس استخدام هذه اﻷدوات الرخيصة في مجال التصوير عن قرب. يمر المشروع بثﻻث مراحل : أوﻻ سنختبر استخدام الصور لجسم عن قرب في عمل مجسم ثﻻثي اﻷبعاد, ثانيا سنختبر دقة المجسم الثﻻثي اﻷبعاد, وأخيرا سنلخص خصائص الكاميرات المستخدمة في عمل مجسم ثﻻثي في التصوير عن قرب. إشراف د. غادي زكارنة فريق العمل آيات عبد العزيز مجدولين عيايدة مريم أبو عطا هللا IV Table Of Contents DEDICATION I ACKNOWLEDGMENTS II ABSTRACT III ABSTRACT IN ARABIC IV TABLE OF CONTENTS V TABLE OF FIGURE VII TABLE OF TABELS VIII TABLE OF ABRIVIATIONS IX Table Of Contents CHAPTER ONE: INTRODUCTION 1 1.1 INTRODUCTION 1 1.2 OBJECTIVE 2 1.3 TIME TABLE 3 1.4 METHODOLOGY 4 1.5 PROJECT SCOPE 4 CHAPTER TWO: INTRODUCTION TO PHOTOGRAMMETRY 5 2.1 Definition of Photogrammetry 6 2.2 History of Photographs 6 2.3 Aerial Photography 7 2.4 Close Range 8 2.5 Close Range Cameras 10 2.6 Horizontal and Oblique Terrestrial Photos 12 2.6.1 Depression angle 13 2.6.2 Horizontal and Vertical Angles 14 2.6.3 Location points by intersection from two photos 15 CHAPTER THREE: MOBILE CAMERAS 17 3.1 Introduction 18 3.2 camera Resolution 18 3.3 camera Calibration 19 3.3.1 Elements Of Interior Orientation 19 3.3.1.1 Calibrated Focal Length (CFL) 20 3.3.1.2 Symmetric Radial Lens Distortion 20 3.3.1.3 Decentering Lens Distortion 20 3.3.1.4 Principal Point Location 22 V 3.3.1.5 Fiducial Mark Coordinates 22 3.3.2 Laboratory Methods of Camera Calibration 22 3.3.3 Stellar Methods 23 3.3.4 Field Methods 23 3.3.5 Analytical Self Calibration 23 3.3.6 Automatic Camera Calibration 24 3.3.7 Computation Of Self Calibration 25 3.3.8 Test Field 26 3.3.9 Zoom Dependent Camera Calibration 27 3.3.10 Z-D Calibration Model 28 3.4 Best Smartphone Cameras of 2014 28 3.4.1Infinx 29 3.4.2 Samsung Galaxy Grand 30 3.4.3 Sony Xperia Z2 30 3.4.4 Samsung Galaxy S3 32 3.4.5 Samsung Galaxy E7 32 CHAPTER FOURE: APPLICATION OF CLOSE RANGE PHOTOGRAMMETRY 37 4.1 Introduction 38 4.2 Medical Rehabilitation 38 4.2.1 The Face 38 4.2.2 The Back 39 4.2.3 Skin 40 4.2.4 Teeth 40 4.2.5 Measurements Within the Body 41 4.3 Rail Ways 41 4.4 Accident reconstruction 42 4.5 Crime scene 42 4.6 Cyclic Documentation for Change Detection 43 4.7 Documenting Cultural Resources. 44 CHAPTER Five: RESULTS AND ACCURCY 5.1 Introduction 46 5.1.1PhotoModeler Scanner 46 5.1.2Agisoft photo scan professional 46 5.1.3Memento Autodesk 47 5.1.4 MeshLab 47 5.2Work procedure 47 5.3 Results 47 CHAPTER SIX: CONCLUSIONS AND RECOMMENDATIONS 6.1 Conclusions 67 6.2Recommendations 68 REFERENCES 69 VI Table of Figures CHAPTER TWO: INTRODUCTION TO PHOTOGRAMMETRY Figure (2. 1) Camera housed in unoccupied airborne vehicles 8 Figure (2. 2) Camera housed in unoccupied airborne vehicles 9 Figure (2. 3) Camera suspended below helium-filled blimps 9 Figure (2. 4) Camera mounted on tripods 10 Figure (2. 5) terrestrial photograph 10 Figure (2. 6) phototheodolite 11 Figure (2. 7) Ballistic camera 11 Figure (2. 8) Horizontal Terrestrial Photo 12 Figure (2. 9) Oblique Terrestrial Photo12 12 Figure (2 . 10) Depression angle 13 Figure (2 . 11) Horizontal angle 14 Figure (2 . 12) Vertical angle 14 Figure (2 . 13) Location points by intersection from two photos 15 Figure (2 . 14) position of a point 15 CHAPTER THREE: MOBILE CAMERAS Figure(3.1) a typical symmetric radial lens distortion pattern with magnitudes of distortion greatly exaggerated 20 Figure(3.2) a typical decentering distortion pattern, again with the magnitudes greatly exaggerated 21 Figure(3.3) a typical pattern of combined symmetric radial and decentering distortion 21 Figure (3. 4) 13 collimators for camera calibration 22 Figure (3. 5) The test field 27 Figure (3. 6)The distribution of exposure stations 27 Figure(3.7) Infinix mobile 29 Figure (3. 8)Galaxy Grand mobile phone 30 Figure (3 . 9) Sony Xperia Z2 31 Figure (3. 10) Samsung Galaxy S3 32 Figure (3. 11) Samsung Galaxy E7 33 CHAPTER FOUR:APPLICATION OF CLOSE RANGE PHOTOGRAMMETRY Figure (4. 1) Three dimensional model for face measurement 38 Figure(4. 2) Back measurement 39 Figure(4. 3) Three-dimensional representation to solve a problem in the teeth 40 Figure (4. 4) Frame of control points 41 Figure (4. 5) Analyze the dynamics of the collision event 42 Figure (4. 6) Example of images of crime scene 43 Figure (4. 7) Three dimensional model for detect small changes in soil movement 43 Figure (4. 8) Documenting Cultural Resources in charge 44 Figure (4. 9) Image for PhotoModeler Scanner Interface 45 VII Table Of Tables Table (1.1) Time Schedule For First Semester 2 Table (3 .1) Infinix mobile Properties 31 Table (3 . 2) Samsung Galaxy Grand Properties 32 Table (3 . 4) Samsung Galaxy S3 Properties 34 Table (3 .5)Samsung Galaxy E7Properties 35 Table (5.1) Model #1 first part by Samsung Galaxy E7 results 49 Table (5.2) Model #1 second part by Samsung Galaxy E7 results 50 Table (5.3) Model #2 by Samsung Galaxy S3 results 51 Table (5.4) Model #3by Samsung Galaxy S3 results 53 Table (5.5) Model #4 by Samsung Galaxy S3 results 54 Table (5.6) Model #5 by Samsung Galaxy Grand results 56 Table (5.7) Model #6 by Infinix results 57 Table (5.8) Model #7 by Infinix results 59 Table (5.9) Model #8 by Infinix results 60 Table (5.10) Model #9 by Infinix results 62 Table (5.11) Model #10 by Infinix results 63 Table (5.12) Model #11 by Infinix results 65 Table (6.13)Results comparison 68 VIII Table Of Abbreviations Abbreviation UAS Unmanned Aerial System US United State DTM Digital Terrain Models CRP Close Range Photogrammetry GPS Global Position System TB Tubercle Bacillus GNSS Global Navigation Satellite System IMU Inertial Measurement Unit CCD Charge Coupled Device CMOS Complementary Metal Oxide Silicon VIM International Vocabulary of basic and general terms in Metrology CFL Calibrated Focal Length IO Interior Orientation INS Internal System AP Additional Parameters Z-D Zoom Dependent LED Light Emitting Diode HRD High Dynamic Range HD High Definition TV Television MP Mega Byte DMM Dimensional Measuring and Modeling AR Accident Reconstruction OHV Off Highway Vehicles DSM Dense Surface Modeling LCD liquid Crystal Display HDR High Dynamic Range GB Giga Byte IX CHAPTER ONE INTRODUCTION 1.1 Background 1.2 Objective 1.3 Time Schedule 1.4 Methodology 1.5 Project Scope 1 1.1 Background Terrestrial photogrammetry is an important branch of the photogrammetric science. It deals with photographs taken with cameras located on or near the surface of the earth. The term close range photogrammetry is generally used for terrestrial photographs having object distances up to about 300 m.