WO2000066976A2 - Aufnahmeverfahren und photogrammetrische kamera dafür - Google Patents
Aufnahmeverfahren und photogrammetrische kamera dafür Download PDFInfo
- Publication number
- WO2000066976A2 WO2000066976A2 PCT/DE2000/001163 DE0001163W WO0066976A2 WO 2000066976 A2 WO2000066976 A2 WO 2000066976A2 DE 0001163 W DE0001163 W DE 0001163W WO 0066976 A2 WO0066976 A2 WO 0066976A2
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- detectors
- camera
- terrain
- image
- detector
- Prior art date
Links
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)
- Length Measuring Devices By Optical Means (AREA)
- Stereoscopic And Panoramic Photography (AREA)
- Studio Devices (AREA)
- Cameras Adapted For Combination With Other Photographic Or Optical Apparatuses (AREA)
- Television Signal Processing For Recording (AREA)
Abstract
Description
Claims
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
AU52070/00A AU5207000A (en) | 1999-04-29 | 2000-04-14 | Method of recording images and corresponding photogrammetric camera |
EP00936628A EP1173725A2 (de) | 1999-04-29 | 2000-04-14 | Aufnahmeverfahren und photogrammetrische kamera dafür |
DE20080076U DE20080076U1 (de) | 1999-04-29 | 2000-04-14 | Photogrammetrische Kamera |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE1999119487 DE19919487C2 (de) | 1999-04-29 | 1999-04-29 | Aufnahmeverfahren und photogrammetrische Kamera dafür |
DE19919487.4 | 1999-04-29 |
Publications (2)
Publication Number | Publication Date |
---|---|
WO2000066976A2 true WO2000066976A2 (de) | 2000-11-09 |
WO2000066976A3 WO2000066976A3 (de) | 2001-03-29 |
Family
ID=7906268
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/DE2000/001163 WO2000066976A2 (de) | 1999-04-29 | 2000-04-14 | Aufnahmeverfahren und photogrammetrische kamera dafür |
Country Status (4)
Country | Link |
---|---|
EP (1) | EP1173725A2 (de) |
AU (1) | AU5207000A (de) |
DE (2) | DE19919487C2 (de) |
WO (1) | WO2000066976A2 (de) |
Cited By (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US7009638B2 (en) | 2001-05-04 | 2006-03-07 | Vexcel Imaging Gmbh | Self-calibrating, digital, large format camera with single or multiple detector arrays and single or multiple optical systems |
WO2008075335A1 (en) * | 2006-12-20 | 2008-06-26 | Elbit Systems Electro-Optics Elop Ltd. | Airborne photogrammetric imaging system and method |
EP2187617A1 (de) * | 2008-11-18 | 2010-05-19 | Jena-Optronik GmbH | Anordnung zur flugkörpergestützten Bilddatenaufnahme von der Oberfläche eines Himmelskörpers |
Families Citing this family (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102005005211A1 (de) * | 2005-02-03 | 2006-08-10 | Inpho Gmbh | Photogrammetrische Kamera und deren Aufnahmeverfahren |
Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US4914734A (en) * | 1989-07-21 | 1990-04-03 | The United States Of America As Represented By The Secretary Of The Air Force | Intensity area correlation addition to terrain radiometric area correlation |
EP0429952A2 (de) * | 1989-12-01 | 1991-06-05 | NFS Navigations- und Flugführungs-Systeme GmbH | Autonomes Landesystem |
DE19714396A1 (de) * | 1997-04-08 | 1998-10-15 | Zeiss Carl Fa | Photogrammetrische Kamera |
Family Cites Families (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE4114304C1 (en) * | 1991-05-02 | 1992-04-30 | Messerschmitt-Boelkow-Blohm Gmbh, 8012 Ottobrunn, De | Area surveillance camera - has detector surfaces separated from imaging areas and in form of parallel strips of optoelectronic devices |
-
1999
- 1999-04-29 DE DE1999119487 patent/DE19919487C2/de not_active Expired - Fee Related
-
2000
- 2000-04-14 EP EP00936628A patent/EP1173725A2/de not_active Withdrawn
- 2000-04-14 AU AU52070/00A patent/AU5207000A/en not_active Abandoned
- 2000-04-14 DE DE20080076U patent/DE20080076U1/de not_active Expired - Lifetime
- 2000-04-14 WO PCT/DE2000/001163 patent/WO2000066976A2/de not_active Application Discontinuation
Patent Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US4914734A (en) * | 1989-07-21 | 1990-04-03 | The United States Of America As Represented By The Secretary Of The Air Force | Intensity area correlation addition to terrain radiometric area correlation |
EP0429952A2 (de) * | 1989-12-01 | 1991-06-05 | NFS Navigations- und Flugführungs-Systeme GmbH | Autonomes Landesystem |
DE19714396A1 (de) * | 1997-04-08 | 1998-10-15 | Zeiss Carl Fa | Photogrammetrische Kamera |
Cited By (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US7009638B2 (en) | 2001-05-04 | 2006-03-07 | Vexcel Imaging Gmbh | Self-calibrating, digital, large format camera with single or multiple detector arrays and single or multiple optical systems |
EP3388784A1 (de) | 2001-05-04 | 2018-10-17 | Vexcel Imaging GmbH | Verfahren und grossformatige kamera zur aufnahme eines grossformatigen bildes eines grossflächigen objektes |
WO2008075335A1 (en) * | 2006-12-20 | 2008-06-26 | Elbit Systems Electro-Optics Elop Ltd. | Airborne photogrammetric imaging system and method |
EP2187617A1 (de) * | 2008-11-18 | 2010-05-19 | Jena-Optronik GmbH | Anordnung zur flugkörpergestützten Bilddatenaufnahme von der Oberfläche eines Himmelskörpers |
Also Published As
Publication number | Publication date |
---|---|
AU5207000A (en) | 2000-11-17 |
DE19919487A1 (de) | 2000-11-23 |
DE19919487C2 (de) | 2001-04-05 |
EP1173725A2 (de) | 2002-01-23 |
DE20080076U1 (de) | 2002-01-03 |
WO2000066976A3 (de) | 2001-03-29 |
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