EP1173725A2 - Method of recording images and corresponding photogrammetric camera - Google Patents

Method of recording images and corresponding photogrammetric camera

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Publication number
EP1173725A2
EP1173725A2 EP00936628A EP00936628A EP1173725A2 EP 1173725 A2 EP1173725 A2 EP 1173725A2 EP 00936628 A EP00936628 A EP 00936628A EP 00936628 A EP00936628 A EP 00936628A EP 1173725 A2 EP1173725 A2 EP 1173725A2
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EP
European Patent Office
Prior art keywords
detectors
camera
terrain
image
detector
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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EP00936628A
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German (de)
French (fr)
Inventor
Wolf D. Dr. Teuchert
Werner Mayr
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Individual
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Individual
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Publication of EP1173725A2 publication Critical patent/EP1173725A2/en
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Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
    • G01C11/02—Picture taking arrangements specially adapted for photogrammetry or photographic surveying, e.g. controlling overlapping of pictures
    • G01C11/025—Picture taking arrangements specially adapted for photogrammetry or photographic surveying, e.g. controlling overlapping of pictures by scanning the object

Definitions

  • the invention relates to a method for recording an image over a terrain or a surface (industrial), in particular for terrestrial aerial or space-based image recording, wherein several individual images of an overflown terrain or surface area are recorded one after the other electro-optically and digitally stored, which form an overall image of the terrain or surface area, and to carry out this method a photogrammetric camera with several electro-optical detectors arranged to form at least one detector group.
  • a photogrammetric camera with several electro-optical detectors arranged to form at least one detector group.
  • a photogrammetric camera is known in which an electro-optical detector group is made up of sensor lines (detectors) with a number of individual picture elements or pixels running directly adjacent to one another and running transversely to the flight direction.
  • sensor lines sensor lines
  • cellular terrain areas terrain areas
  • the scanned off-road lines run parallel to one another and directly adjoin one another in this photogrammetric camera, which in principle improves the evaluation of the line images.
  • At least two overall images are taken from a terrain or surface area, each from a different perspective.
  • an electronic control enables an overlap of, for example, 50 pixels, with which these can be assembled geometrically stable and fully automatically into an image book.
  • This photo book assembly is fully automatic for every perspective, for example forward, backward and center (Nadir).
  • An essential distinguishing feature of the invention from three-line cameras is that a conventional three-strip camera already has two-dimensional partial images and only these have to be subjected to the orientation process. With, for example, 1000 pixel wide partial image strips, the orientation effort compared to the three-line camera is reduced by a factor of 1000, since theoretically every single one-dimensional line would have to be subjected to the orientation process there.
  • orientation lines are used in three-line cameras, for which the orientation parameters are exactly determined.
  • the orientation parameters are interpolated to a greater or lesser extent, ie only approximate orientation parameters are available, whereas the three-strip camera has exact values.
  • the high-precision and expensive INS (InertialNavigationSysteme) units used to support three-line cameras can be completely eliminated.
  • the two camera groups tilted forwards and backwards serve to generate the stereo image pairs, while the nadir cameras located in the middle mediate the connection between the photogrammetric models at different locations and generally have a higher resolution. The latter is a crucial, advantageous differentiator from classic (with analogue) series measuring cameras.
  • the digital images are evaluated automatically or with strong algorithmic support.
  • the result of this is that a coherent, digital individual aerial view does not necessarily have to exist for a computer on which the evaluation is carried out, as was previously the case with a classic series measuring chamber.
  • computers "see" pictures mathematically and functionally, but not analog.
  • the computer system can consist of an installation frame installed in the aircraft, which contains several industrial PCs. These PCs take over the digital data from the electro-optical detector groups, add the necessary identifiers for the current image block, format them and save them, for example, on hard disk stacks or tape drives.
  • a photogrammetric camera in which, according to the invention, a detector group has a plurality of detectors which are spaced apart from one another, wherein, viewed in a certain longitudinal direction (flight direction) of the detector group, at least one detector bridges the gap between two in the transverse direction. neighboring detectors at least partially covers.
  • the entire area of the detector group known from DE 197 14 396 AI is filled with sensor rows, ie with detectors
  • a smaller detector area is sufficient for the electro-optical detector group according to the invention because of the gaps provided between adjacent detectors. This enables easier manufacture at a lower cost.
  • adjacent detectors in edge regions of the detector group are spaced from one another less than in the center thereof, wherein detectors in edge regions of the detector group can have a higher resolution than detectors in the center of the detector group.
  • At least three electro-optical detector groups are preferably provided in the flight direction, of which the middle one is designed for color recordings and the other two for black / white recordings.
  • the at least one detector group is preferably attached to a camera known per se instead of a film cassette.
  • This camera approach advantageously rests on a base plate which, for example, can be placed on a row measuring chamber instead of the film cassette. This makes it possible to operate conventional row measuring chambers digitally at full power and to obtain black and white and color digital images.
  • the camera attachment can carry the detectors which, as described above, are offset from one another, and only comprises the actual sensor unit with the detector group. With the sensor electronics of the camera heads, compensation of the flight motion (forward motion compensation, FMC) is possible with CCD detectors of a certain type during the image acquisition. This electronics close to the sensor is combined in an electronics unit that can be mounted on or next to the camera attachment.
  • FMC forward motion compensation
  • An optional inertial platform on the other hand, must be rigidly connected to the camera attachment for precise measurement of the camera line of sight.
  • the main advantage of the digital camera approach with detector groups is the freedom in choosing the angle of view, ie the angle of the stereo base, which is determined by the outer detector groups forwards and backwards.
  • the focal plane of the camera approach can e.g. contain a total of 3 double rows with seven CCD detector groups each. Due to the arrangement of the detectors in the flight direction, it is easily possible to accommodate the CCDs with the associated sensor electronics in a housing and only later to assemble the images of all detectors fully automatically in the computer to form an overall image.
  • the photogrammetric camera can be designed as a multi-head camera, in which a separate camera head is provided for each detector group.
  • the external camera heads contain black and white detectors for optimal performance in aerotriangulation, while the nadir camera in the middle is equipped with color detectors, e.g. in red, green and blue e.g. wear the Bayer pattern RGGB. In this way e.g. colored orthophotos are created in optimal quality.
  • FIG. 1 schematically shows an exemplary embodiment of a photogrammetric camera according to the invention with three detector groups;
  • Fig. 4 is a photogrammetric camera with six camera heads, seen from below through the optical window (Fig. 4a), and their orientation transverse to the direction of flight (Fig. 4b).
  • FIG. 1 schematically shows a photogrammetric camera 1 according to the invention, which is arranged in an aircraft (not shown) and flies over a terrain 2 symbolically represented by the horizon in the direction of flight 3.
  • the camera 1 has three electro-optical detector groups 4a, 4b, 4c, which are arranged at a distance from one another in the direction of flight 3.
  • the outer detector groups 4a, 4c are directed forwards or backwards and the middle detector group 4b is aligned with the nadir.
  • a terrain area 6a, 6b, 6c is imaged onto the individual detector groups 4a, 4b, 4c via imaging optics 5, which according to FIG. 4 can also consist of an array of individual objectives.
  • each detector group 4 has a plurality of detectors 7 (for example CCD detectors) which are spaced from one another and which are arranged such that, viewed in the direction of flight 3, at least one detector 7 has the gap 8 between two, transverse to the direction of flight 2 spaced adjacent detectors at least partially covers.
  • each terrain area 6a, 6b, 6c is recorded and stored electro-optically as a single image by the detector groups 4a, 4b, 4c over the whole area, but only incompletely as a single image due to the gaps 8 between their individual detectors 7. It is crucial that no image connection of the individual detector groups 4a, 4b, 4c in flight direction 3 is required.
  • FIG. 2 shows three different embodiments of detector groups 41, 42, 43, each with differently arranged electro-optical detectors 7, each of which is laterally surrounded by an outer edge 9.
  • the detector group 41 (FIG. 2a)
  • adjacent detectors 7 in their edge regions are less distant from one another than at their center. This leads to gaps 8 of different sizes, which are larger in the middle than in the edge regions.
  • the detectors 7 of the detector group 42 (FIG. 2b) are - compared to the detector group 41 - more evenly distributed over their entire surface and in particular also arranged in the middle. However, the gaps 8 are also of different sizes here.
  • the detector group 43 (FIG. 2c) shows a completely uniform stringing of the detectors 7 in the flight direction 3 with an identical gap pattern.
  • a certain terrain strip 10 is mapped at a first point in time (Fig. 3a) to the front detectors 7a of the detector group (for example 4a) lying in a front detector strip running transversely to the direction of flight 3 and is recorded as an incomplete first individual image and is stored digitally.
  • FIG. 3b At a somewhat later point in time (FIG. 3b), at which the detector group 4a has moved forward in the direction of flight 3, this terrain strip 10 is again recorded by the detector group 4a as an incomplete second single image, but now by the rear detectors 7b, and as an incomplete second Single picture taken and digitally saved.
  • the two individual images Since the rear detectors 7b are set to a gap in front of the front detectors 7a in the direction of flight 3, the two individual images have matching image sections 11 of the terrain strip 10, on the basis of which the two individual images can then be aligned with one another and superimposed to form a digital overall image of the terrain strip 10.
  • FIG. 4 shows a multi-head camera 12 with six camera heads 13a to 13f, of which a pair 13a, 13b is directed forwards, a pair 13c, 13d for Nadir and a pair 13e, 13f is directed rearwards.
  • a camera head (13a, 13c, 13e) of each pair, as seen in flight direction 3, are each aligned to the right and one (13b, 13d, 13d) is aligned to the left.
  • the outer camera heads 13a, 13b and 13e, 13f contain black and white detectors for optimal performance in aerotriangulation, while the nadir cameras 13c, 13d in the middle are equipped with color detectors that have a color pattern, for example in red, green and blue, for example in the Bayer Wear pattern RGGB. In this way, colored orthophotos can be created in optimal quality.
  • the main advantage of the multi-head camera 12 - as well as the camera 1 - is the freedom in the choice of the image angle, ie the angle of the stereo base, which is determined by the inclination of the two outer camera groups towards the front and back. This results in the distance of the recorded image groups on the ground and thus the number of images in a series to be taken in succession until the scene is completely covered.
  • the partial images of the cameras lying in a row for example a front camera row, have an overlap which can be determined on the basis of the camera arrangement, so that a complete two-dimensional image strip can be produced automatically in the front, rear and in the nadir direction. It is not necessary to achieve full image coverage of approx. 60%, as is the case in classic photogrammetry.
  • the multi-head camera can also be equipped with even more camera heads, for example with nine or more camera heads, then preferably in a 3 ⁇ 3 pattern.
  • a photogrammetric camera 1 is used with at least one detector group 4a, 4b, 4c, which has a plurality of detectors 7 spaced apart from one another, with at least one detector 7, as seen in the direction of flight 3, at least the gap 8 between two adjacent detectors 7 spaced apart in the transverse direction partially covers.

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  • Engineering & Computer Science (AREA)
  • Multimedia (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Stereoscopic And Panoramic Photography (AREA)
  • Length Measuring Devices By Optical Means (AREA)
  • Studio Devices (AREA)
  • Cameras Adapted For Combination With Other Photographic Or Optical Apparatuses (AREA)
  • Television Signal Processing For Recording (AREA)

Abstract

The invention relates to a method for recording an image of an area (2) of overflown ground, according to which several individual images of an overflown area (6a; 6b; 6c) are sequentially recorded by electrooptic means, stored digitally and assembled into a single image of said area (6a; 6b; 6c). According to the invention the individual images recorded each represent the entire area (6a; 6b; 6c) whose image is to be obtained but such that each image presents different gaps (8). To obtain a single image of the area (6a; 6b; 6c) at least two individual images are digitally superimposed on the basis of concordant image sections (11). To this end a photogrammetric camera (1) is used which has at least one detector group (4a, 4b, 4c) comprising several detectors (7) positioned at a distance from each other. Seen in the direction of flight (3) at least one detector (7) at least partly covers the gap (8) between two adjacent detectors (7) which are positioned at a distance from each other in the transverse direction.

Description

Aufnahmeverfahren und photogrammetrische Kamera dafür Recording process and photogrammetric camera therefor
Die Erfindung betrifft ein Verfahren zur Bildaufnahme eines überflogenen Geländes oder eine Oberfläche (industriell) , insbesondere zur terrestrischen luft- oder weltraumgestützten Bildaufnahme, wobei von einem überflogenen Gelände- bzw. Oberflächenbereich zeitlich nacheinander mehrere Einzelbilder elektrooptisch aufgenommen und digital gespeichert werden, die zu einem Gesamtbild des Gelände- bzw. Oberflächenbereiches zusammengesetzt werden, sowie zur Durchführung dieses Verfahrens eine photogrammetrische Kamera mit mehreren zu mindestens einer Detektorgruppe angeordneten elektro- optischen Detektoren. Ein derartiges Aufnahmeverfahren und eine derartige photogrammetrische Kamera sind beispielsweise aus der DE 197 14 396 AI bekanntgeworden.The invention relates to a method for recording an image over a terrain or a surface (industrial), in particular for terrestrial aerial or space-based image recording, wherein several individual images of an overflown terrain or surface area are recorded one after the other electro-optically and digitally stored, which form an overall image of the terrain or surface area, and to carry out this method a photogrammetric camera with several electro-optical detectors arranged to form at least one detector group. Such a recording method and such a photogrammetric camera have become known, for example, from DE 197 14 396 AI.
Aus der DE 197 14 396 AI ist eine photogrammetrische Kamera bekannt, bei der eine elektrooptische Detektorgruppe jeweils aus quer zur Flugrichtung verlaufenden, unmittelbar aneinan- derliegenden Sensorzeilen (Detektoren) mit einer Reihe einzelner Bildelemente bzw. Pixel aufgebaut ist. Für ein Gesamtbild werden zu verschiedenen Zeitpunkten zellenförmige Geländebereiche (Geländezeilen) auf die Sensorzeilen abgebildet. Im Gegensatz zu einer Dreizeilenkamera verlaufen bei dieser photogrammetrischen Kamera die abgetasteten Gelände- Zeilen parallel zueinander und schließen unmittelbar aneinander an, wodurch die Auswertung der Zeilenbilder prinzipiell verbessert ist.From DE 197 14 396 AI a photogrammetric camera is known in which an electro-optical detector group is made up of sensor lines (detectors) with a number of individual picture elements or pixels running directly adjacent to one another and running transversely to the flight direction. For an overall picture, cellular terrain areas (terrain lines) are mapped onto the sensor lines at different times. In contrast to a three-line camera, the scanned off-road lines run parallel to one another and directly adjoin one another in this photogrammetric camera, which in principle improves the evaluation of the line images.
Es ist die Aufgabe der Erfindung, das Aufnahmeverf hren der eingangs genannten Art weiter zu verbessern sowie eine photogrammetrische Kamera dafür bereitzustellen.It is the object of the invention to further improve the recording method of the type mentioned at the outset and to provide a photogrammetric camera therefor.
Diese Aufgabe wird bei dem eingangs genannten Aufnahmeverfahren erfindungsgemäß dadurch gelöst, daß die Einzelbilder den aufzunehmenden Gelände- bzw. Oberflächenbereich jeweils vollflächig, aber mit unterschiedlichen Lücken behaftet aufnehmen und daß für das Gesamtbild des Gelände- bzw. Oberflächenbereiches mindestens zwei Einzelbilder anhand übereinstimmender Bildabschnitte digital überlagert werden.This object is achieved according to the invention in the recording method mentioned at the outset in that the individual images capture the area or surface area to be recorded in each case over the full area, but with different gaps, and in that at least two individual images are digitally superimposed for the overall image of the area or surface area on the basis of corresponding image sections become.
Vorzugsweise werden von einem Gelände- bzw. Oberflächenbereich mindestens zwei Gesamtbilder aus jeweils unterschiedlicher Perspektive aufgenommen. Zur Verknüpfung mehrerer aufeinanderfolgender streifenförmi- ger Einzelbilder ermöglicht eine elektronische Steuerung eine Überlappung von z.B. 50 Pixel, womit diese geometrisch stabil und vollautomatisch zu einem Bildband montiert werden können. Diese Bildbandmontage erfolgt für jede Perspektive, z.B. nach vorne, nach hinten und Mitte (Nadir), vollautomatisch. Ein wesentliches Unterscheidungsmerkmal der Erfindung zu Dreizeilenkameras besteht darin, daß bei einer herkömmlichen Dreistreifenkamera bereits zweidimensionale Teilbilder vorliegen und nur diese dem Orientierungsvorgang unterzogen werden müssen. Bei z.B. 1000 Pixel breiten Teilbildstreifen reduziert sich erfindungsgemäß der Orientierungsaufwand gegenüber der Dreizeilenkamera um den Faktor 1000, da dort theoretisch jede einzelne eindimensionale Zeile dem Orientierungsvorgang unterzogen werden müßte. Allerdings wird dies aus Kostengründen nicht gemacht, sondern bei Dreizeilenkameras werden sogenannte Orientierungszeilen verwendet, für die die Orientierungsparameter exakt bestimmt werden. Für alle dazwischenliegenden Zeilen, oft mehrere hundert, werden die Orientierungsparameter mehr oder weniger aufwendig interpoliert, d.h., es liegen nur genäherte Orientierungsparameter, bei der Dreistreifenkamera hingegen exakte Werte vor. Weiter gilt, daß die zur Unterstützung bei Drei- zeilenkameras eingesetzten hochgenauen und teuren INS (Iner- tialNavigationsSysteme) Einheiten vollständig entfallen können. Die beiden nach vorne und hinten geneigten Kameragruppen dienen dabei zur Erzeugung der Stereobildpaare, während die in der Mitte liegenden Nadirkameras den Anschluß zwischen den photogrammetrischen Modellen an verschiedenen Orten vermitteln und in der Regel über eine höhere Auflösung verfügen. Letzteres ist ein entscheidendes, vorteilhaftes Unterscheidungsmerkmal zu klassischen (mit analog bezeichneten) Reihenmeßkameras . Gegenüber bekannten Auswertesystemen besteht ein grundsätzlicher Unterschied auch darin, daß erfindungsgemäß die digitalen Bilder automatisch bzw. stark algorithmisch unterstützt ausgewertet werden. Das hat zur Folge, daß für einen Computer, auf dem die Auswertung erfolgt, nicht notwendigerweise ein zusammenhängendes, digitales Einzelluftbild existieren muß, wie es bisher bei einer klassischen Reihenmeßkammer zwangsweise der Fall war. Denn Computer "sehen" Bilder mathematisch und funktional, nicht aber analog. Das Rechnersystem kann aus einem im Flugzeug installierten Einbaurahmen bestehen, der mehrere Industrie-PCs enthält. Diese PCs übernehmen die digitalen Daten von den elektrooptischen Detektorgruppen, ergänzen die notwendigen Kennungen für den aktuellen Bildblock, formatieren sie und speichern sie z.B. auf Festplattenstapel oder Bandlaufwerke ab.Preferably, at least two overall images are taken from a terrain or surface area, each from a different perspective. To link several consecutive strip-shaped individual images, an electronic control enables an overlap of, for example, 50 pixels, with which these can be assembled geometrically stable and fully automatically into an image book. This photo book assembly is fully automatic for every perspective, for example forward, backward and center (Nadir). An essential distinguishing feature of the invention from three-line cameras is that a conventional three-strip camera already has two-dimensional partial images and only these have to be subjected to the orientation process. With, for example, 1000 pixel wide partial image strips, the orientation effort compared to the three-line camera is reduced by a factor of 1000, since theoretically every single one-dimensional line would have to be subjected to the orientation process there. However, this is not done for cost reasons, so-called orientation lines are used in three-line cameras, for which the orientation parameters are exactly determined. For all the lines in between, often several hundred, the orientation parameters are interpolated to a greater or lesser extent, ie only approximate orientation parameters are available, whereas the three-strip camera has exact values. Furthermore, the high-precision and expensive INS (InertialNavigationSysteme) units used to support three-line cameras can be completely eliminated. The two camera groups tilted forwards and backwards serve to generate the stereo image pairs, while the nadir cameras located in the middle mediate the connection between the photogrammetric models at different locations and generally have a higher resolution. The latter is a crucial, advantageous differentiator from classic (with analogue) series measuring cameras. Compared to known evaluation systems, there is also a fundamental difference in that, according to the invention, the digital images are evaluated automatically or with strong algorithmic support. The result of this is that a coherent, digital individual aerial view does not necessarily have to exist for a computer on which the evaluation is carried out, as was previously the case with a classic series measuring chamber. Because computers "see" pictures mathematically and functionally, but not analog. The computer system can consist of an installation frame installed in the aircraft, which contains several industrial PCs. These PCs take over the digital data from the electro-optical detector groups, add the necessary identifiers for the current image block, format them and save them, for example, on hard disk stacks or tape drives.
Zur Lösung der oben genannten Aufgabe wird eine photogrammetrische Kamera vorgeschlagen, bei der erfindungsgemäß eine Detektorgruppe mehrere voneinander jeweils beabstandete Detektoren aufweist, wobei, gesehen in einer bestimmten Längsrichtung (Flugrichtung) der Detektorgruppe, mindestens ein Detektor die Lücke zwischen zwei in Querrichtung beabstande- ten, benachbarten Detektoren zumindest teilweise abdeckt.To achieve the above-mentioned object, a photogrammetric camera is proposed in which, according to the invention, a detector group has a plurality of detectors which are spaced apart from one another, wherein, viewed in a certain longitudinal direction (flight direction) of the detector group, at least one detector bridges the gap between two in the transverse direction. neighboring detectors at least partially covers.
Während z.B. bei der aus der DE 197 14 396 AI bekannten Detektorgruppe deren gesamte Fläche mit Sensorzeilen, d.h. mit Detektoren, ausgefüllt ist, reicht für die erfindungsgemäße elektrooptische Detektorgruppe wegen den zwischen benachbarten Detektoren vorgesehenen Lücken eine geringere Detektorfläche aus. Dies ermöglicht eine einfachere Herstellung zu geringeren Kosten. Bei bevorzugten Ausführungsformen der erfindungsgemäßen pho- togrammetrischen Kamera sind benachbarte Detektoren in Randbereichen der Detektorgruppe voneinander weniger weit als in seiner Mitte beabstandet, wobei Detektoren in Randbereichen der Detektorgruppe eine höhere Auflösung als Detektoren in der Mitte der Detektorgruppe aufweisen können.While, for example, the entire area of the detector group known from DE 197 14 396 AI is filled with sensor rows, ie with detectors, a smaller detector area is sufficient for the electro-optical detector group according to the invention because of the gaps provided between adjacent detectors. This enables easier manufacture at a lower cost. In preferred embodiments of the photogrammetric camera according to the invention, adjacent detectors in edge regions of the detector group are spaced from one another less than in the center thereof, wherein detectors in edge regions of the detector group can have a higher resolution than detectors in the center of the detector group.
Vorzugsweise sind mindestens drei elektrooptische Detektorgruppen in Flugrichtung vorgesehen, von denen der mittlere für Farbaufnahmen und die beiden anderen für Schwarz/Weiß- Aufnahmen ausgebildet sind.At least three electro-optical detector groups are preferably provided in the flight direction, of which the middle one is designed for color recordings and the other two for black / white recordings.
Bevorzugt ist die mindestens eine Detektorgruppe anstelle einer Filmkassette an eine an sich bekannte Kamera angesetzt. Dieser Kameraansatz ruht vorteilhafterweise auf einer Basisplatte, die anstelle der Filmkassette z.B. auf eine Reihenmeßkammer aufgesetzt werden kann. Damit ist es möglich, herkömmliche Reihenmeßkammern bei voller Leistung digital zu betreiben und dabei schwarzweiße und farbige, digitale Bilder zu erhalten. Der Kameraansatz kann die Detektoren tragen, die, wie oben beschrieben, gegeneinander versetzt sind, und umfaßt nur die eigentliche Sensoreinheit mit der Detektorgruppe . Mit der Sensorelektronik der Kameraköpfe ist bei CCD-Detektoren bestimmter Bauart eine Kompensation der Flugbewegung (forward motion compensation, FMC) während der Bildaufnahme möglich. Diese sensornahe Elektronik ist in einer Elektronikeinheit zusammengefaßt, die auf oder neben dem Kameraansatz montiert werden kann. Eine optionale Iner- tialplattform hingegen muß zur präzisen Vermessung der Kamerasichtlinie mit dem Kameraansatz starr verbunden sein. Der wesentliche Vorteil des digitalen Kameraansatzes mit Detektorgruppen ist die Freiheit bei der Wahl des Bildwinkels, d.h. des Winkels der Stereobasis, der durch die äußeren Detektorgruppen nach vorne und hinten bestimmt wird.The at least one detector group is preferably attached to a camera known per se instead of a film cassette. This camera approach advantageously rests on a base plate which, for example, can be placed on a row measuring chamber instead of the film cassette. This makes it possible to operate conventional row measuring chambers digitally at full power and to obtain black and white and color digital images. The camera attachment can carry the detectors which, as described above, are offset from one another, and only comprises the actual sensor unit with the detector group. With the sensor electronics of the camera heads, compensation of the flight motion (forward motion compensation, FMC) is possible with CCD detectors of a certain type during the image acquisition. This electronics close to the sensor is combined in an electronics unit that can be mounted on or next to the camera attachment. An optional inertial platform, on the other hand, must be rigidly connected to the camera attachment for precise measurement of the camera line of sight. The main advantage of the digital camera approach with detector groups is the freedom in choosing the angle of view, ie the angle of the stereo base, which is determined by the outer detector groups forwards and backwards.
Die Fokalebene des Kameraansatzes kann z.B. insgesamt 3 Doppelreihen mit je sieben CCD-Detektorgruppen enthalten. Durch die in Flugrichtung auf Lücke gesetzte Anordnung der Detektoren ist es leicht möglich, die CCDs mit der dazugehörigen Sensorelektronik in einem Gehäuse unterzubringen und erst später im Rechner die Bilder aller Detektoren zu einem Gesamtbild vollautomatisch zu montieren.The focal plane of the camera approach can e.g. contain a total of 3 double rows with seven CCD detector groups each. Due to the arrangement of the detectors in the flight direction, it is easily possible to accommodate the CCDs with the associated sensor electronics in a housing and only later to assemble the images of all detectors fully automatically in the computer to form an overall image.
Die photogrammetrische Kamera kann als Multikopfka era ausgebildet sein, bei der für jede Detektorgruppe ein eigener Kamerakopf vorgesehen ist. Die außen liegenden Kameraköpfe enthalten schwarzweiße Detektoren für optimale Leistung bei der Aerotriangulation, während die in der Mitte liegende Nadirkamera mit Farbdetektoren ausgerüstet ist, die ein Farbmuster z.B. in Rot, Grün und Blau z.B. im Bayer-Muster RGGB tragen. Auf diese Weise können z.B. farbige Orthophotos in optimaler Qualität erstellt werden.The photogrammetric camera can be designed as a multi-head camera, in which a separate camera head is provided for each detector group. The external camera heads contain black and white detectors for optimal performance in aerotriangulation, while the nadir camera in the middle is equipped with color detectors, e.g. in red, green and blue e.g. wear the Bayer pattern RGGB. In this way e.g. colored orthophotos are created in optimal quality.
Weitere Vorteile der Erfindung ergeben sich aus der Beschreibung und der Zeichnung. Ebenso können die vorstehend genannten und die noch weiter aufgeführten Merkmale erfindungsgemäß jeweils einzeln für sich oder zu mehreren in beliebigen Kombinationen Verwendung finden. Die gezeigte und beschriebene Ausführungsform ist nicht als abschließende Aufzählung zu verstehen, sondern hat vielmehr beispielhaften Charakter für die Schilderung der Erfindung.Further advantages of the invention result from the description and the drawing. Likewise, the features mentioned above and those listed further can be used according to the invention individually or in combination in any combination. The embodiment shown and described is not to be understood as an exhaustive list, but rather has an exemplary character for the description of the invention.
Es zeigt : Fig. 1 schematisch ein Ausführungsbeispiel einer erfindungsgemäßen photogrammetrischen Kamera mit drei Detektorgruppen;It shows : 1 schematically shows an exemplary embodiment of a photogrammetric camera according to the invention with three detector groups;
Fig. 2 verschiedene Ausführungsformen von Detektorgruppen;2 shows different embodiments of detector groups;
Fig. 3 die Aufnahmesituation eines Geländestreifens am Boden bzw. eines beliebigen Oberflächensegmentes zu zwei verschiedenen, zeitlich unmittelbar aufeinanderfolgenden Aufnahmezeitpunkten; und3 shows the recording situation of a strip of land on the ground or of any surface segment at two different recording times in immediate succession; and
Fig. 4 eine photogrammetrische Kamera mit sechs Kameraköpfen, gesehen von unten durch das optische Fenster (Fig. 4a), und deren Orientierung quer zur Flugrichtung (Fig. 4b) .Fig. 4 is a photogrammetric camera with six camera heads, seen from below through the optical window (Fig. 4a), and their orientation transverse to the direction of flight (Fig. 4b).
In Fig. 1 ist in schematischer Weise eine erfindungsgemäße photogrammetrische Kamera 1 dargestellt, welche in einem nicht dargestellten Fluggerät angeordnet ist und ein durch den Horizont symbolisch dargestelltes Gelände 2 in Flugrichtung 3 überfliegt. Die Kamera 1 weist drei elektrooptische Detektorgruppen 4a, 4b, 4c auf, die in Flugrichtung 3 in Abstand voneinander angeordnet sind. Die äußeren Detektorgruppen 4a, 4c sind nach vorne bzw. nach hinten und die mittlere Detektorgruppe 4b auf den Nadir ausgerichtet. Über eine Ab- bildungsoptik 5, die entsprechend Fig. 4 auch aus einem Ar- ray von Einzelobjektiven bestehen kann, wird jeweils ein Geländebereich 6a, 6b, 6c auf die einzelnen Detektorgruppen 4a, 4b, 4c abgebildet. Wie unten noch näher erläutert, weist jede Detektorgruppe 4 mehrere voneinander jeweils beabstandete Detektoren 7 (z.B. CCD-Detektoren) auf, die derart angeordnet sind, daß, gesehen in Flugrichtung 3 , mindestens ein Detektor 7 die Lücke 8 zwischen zwei, quer zur Flugrichtung 2 beabstandeten benachbarten Detektoren zumindest teilweise abdeckt. In dem in Fig. 1 dargestellten Augenblick wird jeder Geländebereich 6a, 6b, 6c von den Detektorgruppe 4a, 4b, 4c jeweils vollflächig, aber durch die Lücken 8 zwischen ihren einzelnen Detektoren 7 nur lückenhaft als Einzelbild elektrooptisch aufgenommen und gespeichert. Entscheidend ist, daß kein Bildanschluß der einzelnen Detektorgruppen 4a, 4b, 4c in Flugrichtung 3 erforderlich ist.1 schematically shows a photogrammetric camera 1 according to the invention, which is arranged in an aircraft (not shown) and flies over a terrain 2 symbolically represented by the horizon in the direction of flight 3. The camera 1 has three electro-optical detector groups 4a, 4b, 4c, which are arranged at a distance from one another in the direction of flight 3. The outer detector groups 4a, 4c are directed forwards or backwards and the middle detector group 4b is aligned with the nadir. A terrain area 6a, 6b, 6c is imaged onto the individual detector groups 4a, 4b, 4c via imaging optics 5, which according to FIG. 4 can also consist of an array of individual objectives. As explained in more detail below, each detector group 4 has a plurality of detectors 7 (for example CCD detectors) which are spaced from one another and which are arranged such that, viewed in the direction of flight 3, at least one detector 7 has the gap 8 between two, transverse to the direction of flight 2 spaced adjacent detectors at least partially covers. At the moment shown in FIG. 1, each terrain area 6a, 6b, 6c is recorded and stored electro-optically as a single image by the detector groups 4a, 4b, 4c over the whole area, but only incompletely as a single image due to the gaps 8 between their individual detectors 7. It is crucial that no image connection of the individual detector groups 4a, 4b, 4c in flight direction 3 is required.
In Fig. 2 sind drei verschiedene Ausführungsformen von Detektorgruppen 41, 42, 43 mit jeweils unterschiedlich angeordneten elektrooptischen Detektoren 7 dargestellt, die jeweils seitlich noch von einem Außenrand 9 umgeben sind. Bei der Detektorgruppe 41 (Fig. 2a) sind, gesehen in Flugrichtung 3, in ihren Randbereichen benachbarte Detektoren 7 voneinander weniger weit als in ihrer Mitte beabstandet . Dies führt zu unterschiedlich großen Lücken 8, die in der Mitte größer als in den Randbereichen sind. Die Detektoren 7 der Detektorgruppe 42 (Fig. 2b) sind - im Vergleich zur Detektorgruppe 41 - gleichmäßiger über ihre gesamte Fläche verteilt und insbesondere auch in ihrer Mitte angeordnet. Allerdings sind auch hier die Lücken 8 unterschiedlich groß. Die Detektorgruppe 43 (Fig. 2c) zeigt eine vollständig gleichmäßige Aneinanderreihung der Detektoren 7 in Flugrichtung 3 mit einem identischen Lückenmuster. Während für die Detektorgruppen 41 und 42 jeweils 20 Detektoren 7 vorgesehen sind, weist die Detektorgruppe 43 insgesamt 25 Detektoren 7 auf. Allen Detektorgruppen 41, 42, 43 ist gemeinsam, daß die Detektoren 7 in loser, aber kalibrierter Reihung angeordnet sind und einen quer zur Flugrichtung 3 verlaufenden Streifen nicht mehr vollständig abdecken. In Flugrichtung 3 benachbarte Detektoren 7a und 7b sind zueinander so auf Lücke 8 gesetzt, daß, gesehen in Flugrichtung 3, mindestens ein vorderer Detektor 7a die Lücke 8 zwischen zwei, quer zur Flugrichtung 2 beabstandeten, benachbarten hinteren Detektoren 7b zumindest teilweise abdeckt oder umgekehrt.2 shows three different embodiments of detector groups 41, 42, 43, each with differently arranged electro-optical detectors 7, each of which is laterally surrounded by an outer edge 9. In the detector group 41 (FIG. 2a), viewed in the direction of flight 3, adjacent detectors 7 in their edge regions are less distant from one another than at their center. This leads to gaps 8 of different sizes, which are larger in the middle than in the edge regions. The detectors 7 of the detector group 42 (FIG. 2b) are - compared to the detector group 41 - more evenly distributed over their entire surface and in particular also arranged in the middle. However, the gaps 8 are also of different sizes here. The detector group 43 (FIG. 2c) shows a completely uniform stringing of the detectors 7 in the flight direction 3 with an identical gap pattern. While 20 detectors 7 are provided for each of the detector groups 41 and 42, the detector group 43 has a total of 25 detectors 7. All detector groups 41, 42, 43 have in common that the detectors 7 are arranged in a loose but calibrated series and no longer completely cover a strip running transversely to the direction of flight 3. Detectors 7a and 7b adjacent in flight direction 3 are set to gap 8 with respect to one another such that, viewed in flight direction 3, at least one front detector 7a at least partially covers the gap 8 between two adjacent rear detectors 7b spaced transversely to flight direction 2 or vice versa.
In Fig. 3 ist gezeigt, daß ein bestimmter Geländestreifen 10 zu einem ersten Zeitpunkt (Fig. 3a) auf die in einem quer zur Flugrichtung 3 verlaufenden vorderen Detektorstreifen liegenden vorderen Detektoren 7a der Detektorgruppe (z.B. 4a) abgebildet und als lückenhaftes erstes Einzelbild aufgenommen und digital gespeichert wird. Zu einem etwas späteren Zeitpunkt (Fig. 3b) , zu dem sich die Detektorgruppe 4a in Flugrichtung 3 vorwärtsbewegt hat, wird dieser Geländestreifen 10 erneut von der Detektorgruppe 4a als lückenhaftes zweites Einzelbild, nun aber von den hinteren Detektoren 7b, aufgenommen und als lückenhaftes zweites Einzelbild aufgenommen und digital gespeichert. Da die hinteren Detektoren 7b zu den vorderen Detektoren 7a in Flugrichtung 3 auf Lücke gesetzt sind, weisen die beiden Einzelbilder übereinstimmende Bildausschnitte 11 des Geländestreifens 10 auf, anhand derer sich dann die beiden Einzelbilder zueinander ausrichten und zu einem digitalen Gesamtbild des Geländestreifens 10 überlagern lassen.In Fig. 3 it is shown that a certain terrain strip 10 is mapped at a first point in time (Fig. 3a) to the front detectors 7a of the detector group (for example 4a) lying in a front detector strip running transversely to the direction of flight 3 and is recorded as an incomplete first individual image and is stored digitally. At a somewhat later point in time (FIG. 3b), at which the detector group 4a has moved forward in the direction of flight 3, this terrain strip 10 is again recorded by the detector group 4a as an incomplete second single image, but now by the rear detectors 7b, and as an incomplete second Single picture taken and digitally saved. Since the rear detectors 7b are set to a gap in front of the front detectors 7a in the direction of flight 3, the two individual images have matching image sections 11 of the terrain strip 10, on the basis of which the two individual images can then be aligned with one another and superimposed to form a digital overall image of the terrain strip 10.
In Fig. 4 ist eine Multikopfkamera 12 mit sechs Kameraköpfen 13a bis 13f gezeigt, von denen jeweils ein Paar 13a, 13b nach vorne, ein Paar 13c, 13d nach Nadir und ein Paar 13e, 13f nach hinten gerichtet ist. Ein Kamerakopf (13a, 13c, 13e) jedes Paares sind, in Flugrichtung 3 gesehen, jeweils nach rechts und einer (13b, 13d, 13d) jeweils nach links ausgerichtet. Die außen liegenden Kameraköpfe 13a, 13b und 13e, 13f enthalten schwarzweiße Detektoren für optimale Leistung bei der Aerotriangulation, während die in der Mitte liegenden Nadirkameras 13c, 13d mit Farbdetektoren ausgerüstet sind, die ein Farbmuster z.B. in Rot, Grün und Blau z.B. im Bayer-Muster RGGB tragen. Auf diese Weise können z.B. farbige Orthophotos in optimaler Qualität erstellt werden.FIG. 4 shows a multi-head camera 12 with six camera heads 13a to 13f, of which a pair 13a, 13b is directed forwards, a pair 13c, 13d for Nadir and a pair 13e, 13f is directed rearwards. A camera head (13a, 13c, 13e) of each pair, as seen in flight direction 3, are each aligned to the right and one (13b, 13d, 13d) is aligned to the left. The outer camera heads 13a, 13b and 13e, 13f contain black and white detectors for optimal performance in aerotriangulation, while the nadir cameras 13c, 13d in the middle are equipped with color detectors that have a color pattern, for example in red, green and blue, for example in the Bayer Wear pattern RGGB. In this way, colored orthophotos can be created in optimal quality.
Der wesentliche Vorteil der Multikopfkamera 12 - wie auch der Kamera 1 - ist die Freiheit bei der Wahl des Bildwinkels, d.h. des Winkels der Stereobasis, die von der Neigung der beiden äußeren Kameragruppen nach vorne und hinten bestimmt wird. Daraus resultiert der Abstand der aufgenommenen Bildgruppen am Boden und damit die Zahl der nacheinander aufzunehmenden Bilder einer Serie, bis die Szene vollständig überdeckt wird. Die Teilbilder der in Reihe, z.B. vordere Kamerareihe, liegenden Kameras besitzen eine aufgrund der Kameraanordnung bestimmbare Überlappung, so daß ein vollständiger zweidimensionaler Bildstreifen jeweils vorne, hinten und in Nadirrichtung automatisch herstellbar ist. Dabei ist es nicht nötig, die volle Bildüberdeckung von ca. 60% zu erbringen, wie es in der klassischen Photogrammetrie der Fall ist. Vielmehr reicht es aus, nur ca. 50 Pixel für den Bildanschluß zu überdecken, da die drei Kameragruppen die Rolle der Mehrfachüberdeckung übernehmen. Die beiden nach vorne und hinten plazierten Detektorgruppen dienen dabei zur Erzeugung der Stereobildpaare, während die in der Mitte liegenden Nadirdetektoren den Anschluß zwischen den photogramm- metrischen Modellen an verschiedenen Orten vermitteln und der Gewinnung von farbigen Orthophotos dienen können. Selbstverständlich kann die Multikopfkamera auch mit noch mehr Kamerakδpfen, z.B. mit neun oder mehr Kameraköpfen dann vorzugsweise im 3 x 3-Muster, ausgestattet sein.The main advantage of the multi-head camera 12 - as well as the camera 1 - is the freedom in the choice of the image angle, ie the angle of the stereo base, which is determined by the inclination of the two outer camera groups towards the front and back. This results in the distance of the recorded image groups on the ground and thus the number of images in a series to be taken in succession until the scene is completely covered. The partial images of the cameras lying in a row, for example a front camera row, have an overlap which can be determined on the basis of the camera arrangement, so that a complete two-dimensional image strip can be produced automatically in the front, rear and in the nadir direction. It is not necessary to achieve full image coverage of approx. 60%, as is the case in classic photogrammetry. Rather, it is sufficient to cover only about 50 pixels for the image connection, since the three camera groups assume the role of multiple coverage. The two detector groups placed forwards and backwards serve to generate the stereo image pairs, while the needle detectors in the middle mediate the connection between the photogrammetric models at different locations and can be used to obtain colored orthophotos. Of course, the multi-head camera can also be equipped with even more camera heads, for example with nine or more camera heads, then preferably in a 3 × 3 pattern.
Bei einem Verfahren zur Bildaufnahme eines überflogenen Geländes 2, wobei von einem überflogenen Geländebereich 6a; 6b; 6c zeitlich nacheinander mehrere Einzelbilder elektroop- tisch aufgenommen und digital gespeichert werden, die zu einem Gesamtbild des Geländebereiches 6a; 6b; 6c zusammengesetzt werden, nehmen die Einzelbilder den aufzunehmenden Geländebereich 6a; 6b; 6c jeweils vollflächig, aber. mit unterschiedlichen Lücken 8 behaftet auf und werden für das Gesamtbild des Geländebereiches 6a; 6b; 6c mindestens zwei Einzelbilder anhand übereinstimmender Bildabschnitte 11 digital überlagert . Dazu wird eine photogrammetrische Kamera 1 mit mindestens einer Detektorgruppe 4a, 4b, 4c eingesetzt, die mehrere voneinander jeweils beabstandete Detektoren 7 aufweist, wobei, gesehen in Flugrichtung 3, mindestens ein Detektor 7 die Lücke 8 zwischen zwei in Querrichtung beabstandeten, benachbarten Detektoren 7 zumindest teilweise abdeckt . In the case of a method for recording an image of a terrain 2 overflown, wherein a terrain area 6a; 6b; 6c, several individual images are recorded one after the other electro-optically and stored digitally, which form an overall image of the terrain area 6a; 6b; 6c are composed, the individual images take the terrain area 6a to be recorded; 6b; 6c over the entire area, however . with different gaps 8 and are for the overall picture of the terrain area 6a; 6b; 6c, at least two individual images are digitally superimposed on the basis of matching image sections 11. For this purpose, a photogrammetric camera 1 is used with at least one detector group 4a, 4b, 4c, which has a plurality of detectors 7 spaced apart from one another, with at least one detector 7, as seen in the direction of flight 3, at least the gap 8 between two adjacent detectors 7 spaced apart in the transverse direction partially covers.

Claims

Patentansprüche claims
Verfahren zur Bildaufnahme eines überflogenen Geländes (2) oder Oberfläche, wobei von einem überflogenen Gelände- bzw. Oberflächenbereich (6a; 6b; 6c) zeitlich nacheinander mehrere Einzelbilder elektrooptisch aufgenommen und digital gespeichert werden, die zu einem Gesamtbild des Gelände- bzw. Oberflächenbereiches (6a; 6b; 6c) zusammengesetzt werden, dadurch gekennzeichnet, daß die Einzelbilder den aufzunehmenden Gelände- bzw. Oberflächenbereich (6a; 6b; 6c) jeweils vollflächig, aber mit unterschiedlichen Lücken (8) behaftet aufnehmen und daß für das Gesamtbild des Gelände- bzw. Oberflächenbereiches (6a; 6b; 6c) mindestens zwei Einzelbilder anhand übereinstimmender Bildabschnitte (11) digital überlagert werden.Method for capturing an image of a terrain (2) or surface overflown, whereby several individual images of an overflown terrain or surface area (6a; 6b; 6c) are recorded electro-optically one after the other and digitally stored, which form an overall image of the terrain or surface area ( 6a; 6b; 6c) are composed, characterized in that the individual images record the terrain or surface area (6a; 6b; 6c) to be recorded in each case over the full area, but with different gaps (8), and that for the overall image of the terrain or Surface area (6a; 6b; 6c) at least two individual images are digitally superimposed on the basis of matching image sections (11).
Verfahren nach Anspruch 1, dadurch gekennzeichnet, daß von einem Gelände- bzw. Oberflächenbereich (6a; 6b; 6c) mindestens zwei Gesamtbilder aus jeweils unterschiedlicher Perspektive aufgenommen werden.Method according to Claim 1, characterized in that at least two overall images are taken from a different terrain or surface area (6a; 6b; 6c), each from a different perspective.
Photogrammetrische Kamera (1; 12) zur Gelände- oder Oberflächenerfassung mit zumindest einer Detektorgruppe (4; 41; 42; 43) angeordneten elektrooptischen Detektoren (7; 7a; 7b), insbesondere zur Durchführung des Aufnahmeverfahrens nach Anspruch 1 oder 2, dadurch gekennzeichnet, daß die Detektorgruppe (4; 41; 42; 43) mehrere voneinander jeweils beabstandete Detektoren (7; 7a, 7b) aufweist und daß, gesehen in einer bestimmten Längsrichtung (Flugrichtung 3) der Detektorgruppe (4; 41; 42; 43), mindestens ein Detektor (7; 7a; 7b) die Lücke (8) zwischen zwei in Querrichtung beabstandeten, benachbarten Detektoren (7b; 7a) zumindest teilweise abdeckt .Photogrammetric camera (1; 12) for terrain or surface detection with at least one detector group (4; 41; 42; 43) arranged electro-optical detectors (7; 7a; 7b), in particular for carrying out the recording method according to claim 1 or 2, characterized in that that the detector group (4; 41; 42; 43) has a plurality of detectors (7; 7a, 7b) spaced from each other and that, viewed in a certain longitudinal direction (flight direction 3) of the detector group (4; 41; 42; 43), at least a detector (7; 7a; 7b) at least partially covers the gap (8) between two adjacent detectors (7b; 7a) spaced apart in the transverse direction.
4. Photogrammetrische Kamera nach Anspruch 3, dadurch gekennzeichnet, daß benachbarte Detektoren (7) in Randbereichen der Detektorgruppe (4; 41; 42; 43) voneinander weniger weit als in ihrer Mitte beabstandet sind.4. Photogrammetric camera according to claim 3, characterized in that adjacent detectors (7) in edge areas of the detector group (4; 41; 42; 43) are spaced from each other less than in the middle.
5. Photogrammetrische Kamera nach Anspruch 3 oder 4, dadurch gekennzeichnet, daß Detektoren (7) in Randbereichen der Detektorgruppe (4; 41; 42; 43) eine höhere Auflösung als Detektoren (7) in ihrer Mitte aufweisen.5. Photogrammetric camera according to claim 3 or 4, characterized in that detectors (7) in edge areas of the detector group (4; 41; 42; 43) have a higher resolution than detectors (7) in the middle.
6. Photogrammetrische Kamera nach einem der Ansprüche 3 bis 5, dadurch gekennzeichnet, daß mindestens drei Detektorgruppen (4a, 4b, 4c) in Flugrichtung (3) angeordnet sind, von denen die mittlere für Farbaufnahmen und die beiden anderen für Schwarz/Weiß-Aufnahmen ausgebildet sind.6. Photogrammetric camera according to one of claims 3 to 5, characterized in that at least three detector groups (4a, 4b, 4c) are arranged in the flight direction (3), of which the middle one for color recordings and the other two for black and white recordings are trained.
7. Photogrammetrische Kamera nach einem der Ansprüche 3 bis 6, dadurch gekennzeichnet, daß die mindestens eine Detektorgruppe (4a, 4b, 4c) anstelle einer Filmkassette an eine an sich bekannte Kamera angesetzt ist. Photogrammetrische Kamera (Multikopfkamera 12) nach einem der Ansprüche 3 bis 7, dadurch gekennzeichnet, daß für jede Detektorgruppe ein eigener Kamerakopf (13a-13d) vorgesehen ist. 7. Photogrammetric camera according to one of claims 3 to 6, characterized in that the at least one detector group (4a, 4b, 4c) is attached to a known camera instead of a film cassette. Photogrammetric camera (multi-head camera 12) according to one of Claims 3 to 7, characterized in that a separate camera head (13a-13d) is provided for each detector group.
EP00936628A 1999-04-29 2000-04-14 Method of recording images and corresponding photogrammetric camera Withdrawn EP1173725A2 (en)

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IL180223A0 (en) * 2006-12-20 2007-05-15 Elbit Sys Electro Optics Elop Airborne photogrammetric imaging system and method
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