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International Calibration and Orientation Workshop, EuroCOW 2008, 30 janvier - 1er février 2008, Castelldefels, Espagne / Ismael Colomina (2008)
Titre : International Calibration and Orientation Workshop, EuroCOW 2008, 30 janvier - 1er février 2008, Castelldefels, Espagne Type de document : Actes de congrès Auteurs : Ismael Colomina, Éditeur scientifique ; Eduardo Hernandez, Éditeur scientifique Editeur : Dublin : European Spatial Data Research EuroSDR Année de publication : 2008 Collection : EuroSDR official publication, ISSN 0257-0505 num. 54 Conférence : EuroCOW 2008, International Calibration and Orientation Workshop 30/01/2008 01/02/2008 Castelldefels Espagne OA proceedings Format : 21 x 30 cm Note générale : Les pdf des interventions sont accessibles dans la page Programme and Presentations Langues : Anglais (eng) Descripteur : [Vedettes matières IGN] Photogrammétrie numérique
[Termes IGN] étalonnage de capteur (imagerie)
[Termes IGN] GPS-INS
[Termes IGN] orientation du capteurRésumé : (auteur) The workshop is concerned with recent advances in the areas of Sensor Calibration and Orientation. The Scientific Committee requests original and critical review papers with respect to the following interest areas:
* Calibration of digital cameras
* Calibration of LIDAR sensors
* Calibration of radar sensors
* Calibration and orientation of satellite sensors
* National and international controlled tests
* Algorithms for sensor calibration and orientation
* Systems for sensor calibration and orientation
* Procedures and methodologies for sensor calibration and orientation
* INS technology for sensor calibration and orientation
* Galileo and GPS technology for sensor calibration and orientation
* Orientation and Calibration of small satellite sensorsNote de contenu : Workshop Information
Programme and Presentations
Authors
SponsorsNuméro de notice : 25397 Affiliation des auteurs : non IGN Thématique : IMAGERIE/POSITIONNEMENT Nature : Actes DOI : sans En ligne : https://www.isprs.org/proceedings/2008/euroCOW08/euroCOW08.htm Format de la ressource électronique : URL Permalink : https://documentation.ensg.eu/index.php?lvl=notice_display&id=93673 Investigations of high precision terrestrial laser scanning with emphasis on the development of a robust close-range 3D-laser scanning system / Hans Martin Zogg (2008)
Titre : Investigations of high precision terrestrial laser scanning with emphasis on the development of a robust close-range 3D-laser scanning system Type de document : Thèse/HDR Auteurs : Hans Martin Zogg, Auteur Editeur : Zurich : Institut für Geodäsie und Photogrammetrie IGP - ETH Année de publication : 2008 Collection : IGP Mitteilungen, ISSN 0252-9335 num. 098 Importance : 171 p. Format : 21 x 30 cm ISBN/ISSN/EAN : 978-3-906467-78-8 Note générale : Bibliographie Langues : Anglais (eng) Descripteur : [Vedettes matières IGN] Acquisition d'image(s) et de donnée(s)
[Termes IGN] acquisition d'images
[Termes IGN] données localisées 3D
[Termes IGN] étalonnage d'instrument
[Termes IGN] lever souterrain
[Termes IGN] modélisation géométrique de prise de vue
[Termes IGN] précision géométrique (imagerie)
[Termes IGN] semis de points
[Termes IGN] télémètre laser terrestre
[Termes IGN] télémétrie laser terrestreIndex. décimale : 35.11 Géométrie et qualité des prises de vues Résumé : (Auteur) In recent years, numerous measurement systems and techniques have become available on the market for three-dimensional (3D) surveying of objects. Largely due to the increasing need of 3D-data, fast area-wide 3D-measurement methods are in high demand. In the world of surveying and the field of engineering geodesy, terrestrial laser scanning has been established as a newer measurement method for fast, area-wide SD-surveying. Terrestrial laser scanners measure distances and angles to objects without any contact. The actual geometry information of the scanned object has to be derived from a resulting 3D-point cloud in post-processing.
After the initial hype of terrestrial laser scanning, a slight disillusionment set in. Projects were not profitable or failed due to insufficient knowledge about laser scanning technology and its specifics. In addition, the hardware and software products available on the market often do not meet the requirements of specific applications. Thus, the selection of convenient applications for a particular terrestrial laser scanning system, the sensitivity in terms of environmental conditions, or the extensive post-processing of laser scanning data are just a few of the difficulties in using laser scanning technology. As a result, terrestrial laser scanning is rarely used for projects in engineering geodesy. Even though terrestrial laser scanning offers great potential, new fields of application have yet to be investigated.
This thesis originated from a project addressing the development of a qualified measurement system based on terrestrial laser scanning for the surveying of underground utility caverns in the field of water and sewage engineering. There was no convenient measurement system available on the market when the project started in 2005. There are three main objectives of this thesis: the development of a cost-efficient robust close-range 3D-laser scanning system largely for surveying underground utility caverns, the calibrations and investigations of terrestrial laser scanners with focus on the newly developed measurement system, and the development of new fields of application for terrestrial laser scanning. Moreover, this thesis contributes to the area of terrestrial laser scanning by offering better knowledge on its integration into engineering geodesy.
For the hardware development, the 2D-laser scanner SICK LMS200-30106 by Sick AG was selected and implemented as a distance measurement unit measuring distances and angles. This unit is well known and established in industrial applications and in the field of robotics. In addition, all components that were used for the close-range 3D-laser scanning system were selected according to predefined requirements. These requirements were strongly related to the application of the measurement of underground utility caverns. Furthermore, this thesis shows that an appropriate calibration of the close-range 3D-laser scanning system - the distance measurement unit specifically - allows its application in the field of engineering geodesy. Thus, appropriate calibration routines were developed, and intensive additional investigations of the measurement systems enabled the verification of the measurement accuracy and performance.
The close-range terrestrial 3D-laser scanner ZLS07 resulted from the development of a 3D-measurement system based on the terrestrial laser scanning technology. The ZLS07 is a robust and reliable measurement system that fulfils the requirements focused on surveying of underground utility caverns. Its specific limitations lie in the measurement range, accuracy, and angular resolution. However, the ZLS07 has been successfully established as a new measurement instrument at the surveying department of the city of Zurich. In addition to the hardware developments, an approach for automatic geometry modelling from 3D-point clouds was developed, tested, and discussed for post-processing 3D-point clouds of underground utility caverns. Furthermore, the ZLS07 was successfully used in other applications, such as the damage detection of an incinerator or the reverse engineering of technical constructions.Note de contenu : 1 Introduction
1.1 Motivation
1.2 Aims of the Thesis.
1.3 Outline
2 High Precision Terrestrial Laser Scanning
2.1 Terrestrial Laser Scanning in Engineering Geodesy
2.2 Specifications of Terrestrial Laser Scanners
2.3 The Measurement System "Terrestrial Laser Scanner"
2.4 Applications of Terrestrial Laser Scanning.
2.5 Remarks.
3 Development of Terrestrial Laser Scanner ZLS07
3.1 Requirements
3.2 Components of the ZLS07
3.3 Configuration of Terrestrial Laser Scanner ZLS07
3.4 Measurement Coordinate Systems
3.5 Software
3.6 Result of a Scan
3.7 Discussion
4 Calibration of Terrestrial Laser Scanner ZLSO 7
4.1 Calibration of Geodetic Sensors
4.2 Distance Measurement Unit
4.3 Errors of Axes
4.4 Synchronisation of Rotation Table and Distance Measurement Unit
4.5 Review
5 Validation of Terrestrial Laser Scanner ZLS07
5.1 Angle Measurement System
5.2 Wobbling of Vertical Axis
5.3 3D-Measurement Quality
5.4 Review
6 Acquisition of Underground Utility Caverns
6.1 Overview
6.2 ZLS07 for Acquisition of Underground Utility Caverns
6.3 Data Post-Processing Workflow
6.4 Review
7 Automatic Geometry Modelling
7.1 Data Modelling Requirements
7.2 Previous Work
7.3 Development of an Approach for Automatic Cavern Detection
7.4 Results
7.5 Review
8 Various Applications for Terrestrial Laser Scanner ZLS07
8.1 Damage Detection of an Incinerator
8.2 Reverse Engineering at the Overflow Construction of Nalps Dam (CH).
8.3 Review
9 Summary
9.1 Conclusions
9.2 Outlook
References
A Appendix
A. 1 Rotation Table ETH Zurich.
A.2 Software
A.3 Fourier-SeriesNuméro de notice : 15459 Affiliation des auteurs : non IGN Thématique : IMAGERIE Nature : Thèse étrangère DOI : 10.3929/ethz-a-005679006 En ligne : http://dx.doi.org/10.3929/ethz-a-005679006 Format de la ressource électronique : URL Permalink : https://documentation.ensg.eu/index.php?lvl=notice_display&id=62725 Réservation
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Code-barres Cote Support Localisation Section Disponibilité 15459-01 35.11 Livre Centre de documentation En réserve M-103 Disponible
Titre : Range imaging : investigation, calibration and development Type de document : Thèse/HDR Auteurs : Timo Kahlmann, Auteur Editeur : Zurich : Institut für Geodäsie und Photogrammetrie IGP - ETH Année de publication : 2008 Collection : IGP Mitteilungen, ISSN 0252-9335 num. 097 Importance : 142 p. Format : 21 x 30 cm ISBN/ISSN/EAN : 978-3-906467-72-6 Note générale : Bibliographie Langues : Anglais (eng) Descripteur : [Vedettes matières IGN] Acquisition d'image(s) et de donnée(s)
[Termes IGN] acquisition d'images
[Termes IGN] angle d'incidence
[Termes IGN] caméra numérique
[Termes IGN] capteur imageur
[Termes IGN] données localisées 3D
[Termes IGN] étalonnage de chambre métrique
[Termes IGN] mesurage de distances
[Termes IGN] métrologieIndex. décimale : 35.11 Géométrie et qualité des prises de vues Résumé : (Auteur) In recent years, numerous sensor systems for the capturing of three-dimensional environments and objects have become available. Besides laser scanners and geodetic total stations, stereo vision and triangulation-based systems have to be exemplarily named here. Especially laser scanners have beco-me state-of-the-art regarding speed and accuracy with respect to their ability to acquire objects up to a size of several tens of meters. A main drawback of laser scanners is their sequential mode of operation. They measure point by point. A few years ago, a new technology was developed to full functionality which is able to capture the environment simultaneously with a high resolution. So-called range imaging (RIM) or flash ladar cameras, which are based on digital imaging technology, merged with the ability to measure the distance to the corresponding object point in each pixel. Distance measurement is either based on the direct or indirect Time-of-Flight principle. Due to its parallel acquisition with up to video frame rate, RIM cameras are even able to capture moving objects. With respect to the optical dependencies, 3-D coordinates of the captured scene are derived. The nominal precision of the distance measurement is a few millimeters. RIM could become the technology of choice for many applications if the properties and characteristics become stable and predictable. Automotive, robotics, and safety systems can be named, for example. Significant deviations between nominal and measured coordinates occur in a range of several centimeters. Only intensive investigations can help to reach the theoretical limitations here.
This thesis deals with several aspects which affect the measurements of RIM cameras. First, a short introduction into the basic technologies that are associated with RIM is presented. Besides imaging and distance measurement methods, two basic principles of RIM are distinguished. Furthermore, the focus is laid on the specific limitations. During this work three different cameras have become available: the SwissRanger SR-2 and the SR-3000 from CSEM / MESA Imaging (Switzerland) and later on the 3k-S from PMDtec (Germany). These three cameras are based on the indirect Time-of-Flight principle and are equipped with different sophisticated features. Besides integrated calibration and correction functionality, the suppression of background illumination is one of the main features. However, these cameras are only intended to be highly developed demonstrators. An adaption to the specific application areas, like automotive or robotics, leads to specialized properties according to the desired claims.
The analysis of the existing camera types helps to understand the technology more closely. The raw data of the analyzed cameras is not more accurate than a few centimeters. In order to investigate the properties of the available cameras, special experimental setups had to be developed. The main part of this work deals with the investigation and calibration of the components of RIM cameras. The geometrical deviations of the optical system are addressed by means of a photogrammetric camera calibration. The distance measurement system is analyzed with respect to the deviations and statistics. Thus, limitations of both precision and accuracy are indicated. Besides the influences of the scattering effect, integration time, emitting system, and angle of incidence, target reflectivity, external and internal temperature, and finally linearity and fixed-pattern noise are discussed. Further on, an approach for a system calibration process is presented. Due to the complexity of the influencing parameters, a complete correction of the measurement data with respect to the diverse influencing parameters has not been reached. But the highly systematic dependencies promise sophisticated calibration routines in the future. This work contributes to the understanding of the sensors.
Nevertheless, the investigated influences of temperature on the distance measurement accuracy, which is indicated as a measure for the deviation between true and nominal value, have been significantly reduced by an uncoupling of the distance measurement and the external and internal temperature by means of a relative measurement setup. The introduction of an internal reference light path helps to reduce the temperature's influence on the distance data to a large degree. The experimental setup and the proof of the functionality complete this work.
The results of the numerous investigations will help to increase the accuracy of RIM cameras, especially vital for several applications, in need of improved accuracies. It has been shown that the theoretical limits lie within reach with help of suitably sophisticated calibration procedures.Note de contenu : 1 Introduction
1.1 Motivation
1.1.1 Application: Tracking of People in Indoor Environments
1.1.2 Application: Automotive
1.2 Aims of This Thesis
1.3 Structure
2 3-D Range Imaging Camera Technology
2.1 Distance Measurement
2.1.1 Time-of-Flight Distance Measurement
2.1.2 Phase-Difference Distance Measurement
2.1.2.1 Working Principle
2.1.2.2 Characteristics and Limitations
2.2 Imaging Technology
2.2.1 Charge Collection
2.2.2 Charge Transfer and Quantification
2.3 Range Imaging Sensors and Realizations
2.3.1 Combined CCD/CMOS Technology
2.3.2 Photonic Mixer Device (PMD) in CMOS Technology
2.3.3 Arrays of Single Photon Avalanche Diodes in CMOS Technology
2.3.4 Shuttered Time-of-Flight
2.4 3-D Coordinate Measurement Principle
3 Investigation and Calibration
3.1 Definitions
3.2 Photogrammetric Camera Calibration
3.2.1 SR-2
3.2.2 SR-3000
3.3 Distance Measurement
3.3.1 Scattering
3.3.2 Integration Time
3.3.3 Statistics
3.3.4 Emitting System (LEDs)
3.3.5 Target Reflectivity
3.3.6 Angle of Incidence
3.3.7 Temperature
3.3.8 Distance / Linearity
3.3.9 Fixed-Pattern Noise
3.3.10 Mixed Pixel
3.4 Integral RIM Camera Calibration
3.5 Conclusion
4 Implementation of an Internal Reference
4.1 Theory
4.2 Implementation: ETH Solution
4.3 Validation
4.3.1 Warm Up
4.3.2 External Temperature
4.3.2.1 Experiment 1: Temperature Variation and Long-Term Acclimatization
4.3.2.2 Experiment 2: Extreme Temperatures
4.3.2.3 Experiment 3: Two External Distances
4.4 Conclusion and Outlook
5 Conclusions
5.1 Summary
5.2 Outlook
Appendix
A SwissRanger SR-2 Specifications
B SwissRanger SR-3000 Specifications
C Photogrammetric Calibration Results for the SR-3000 Provided by Australia
D Distance Histograms SR-2 and SR-3000
E Warmup Sequences SR-2 and SR-3000Numéro de notice : 15458 Affiliation des auteurs : non IGN Thématique : IMAGERIE Nature : Thèse étrangère DOI : 10.3929/ethz-a-005465562 En ligne : http://dx.doi.org/10.3929/ethz-a-005465562 Permalink : https://documentation.ensg.eu/index.php?lvl=notice_display&id=62724 Réservation
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Code-barres Cote Support Localisation Section Disponibilité 15458-01 35.11 Livre Centre de documentation En réserve M-103 Disponible Robust and automatic vanishing points detection with their uncertainties from a single uncalibrated image, by planes extraction on the unit sphere / Mahzad Kalantari (2008)
Titre : Robust and automatic vanishing points detection with their uncertainties from a single uncalibrated image, by planes extraction on the unit sphere Type de document : Article/Communication Auteurs : Mahzad Kalantari , Auteur ; Franck Jung , Auteur ; Jean Pierre Guedon, Auteur ; Nicolas Paparoditis , Auteur Editeur : International Society for Photogrammetry and Remote Sensing ISPRS Année de publication : 2008 Collection : International Archives of Photogrammetry and Remote Sensing, ISSN 0252-8231 num. 37-B3a Conférence : ISPRS 2008, 21st ISPRS world congress 03/07/2008 11/07/2008 Pékin Chine OA ISPRS Archives Importance : pp 203 - 208 Format : 21 x 30 cm Note générale : Bibliographie Langues : Anglais (eng) Descripteur : [Vedettes matières IGN] Photogrammétrie numérique
[Termes IGN] détection automatique
[Termes IGN] géométrie de l'image
[Termes IGN] image isolée
[Termes IGN] incertitude géométrique
[Termes IGN] matrice de covariance
[Termes IGN] orientation d'image
[Termes IGN] photothéodolite
[Termes IGN] point de fuiteRésumé : (Auteur) This paper deals with the retrieval of vanishing points in uncalibrated images. Many authors did work on that subject in the computer vision field because the vanishing point represents a major information. In our case, starting with this information gives the orientation of the images at the time of the acquisition or the classification of the different directions of parallel lines from an unique view. The goal of this paper is to propose a simple and robust geometry embedded into a larger frame of image work starting with an efficient vanishing point extraction without any prior information about the scene and any knowledge of intrinsic parameters of the optics used. After this fully automatic classification of all segments belonging to the same vanishing point, the error analysis of the vanishing points found gives the covariance matrix on the vanishing point and on the orientation angles of the camera, when using the fact that the 3D directions of lines corresponding to the vanishing points are horizontal or vertical. A validation of estimated parameters with the help of the photo-theodolite has been experimented that demonstrate the interest of the method for real case. The algorithm has been tested on the database of a set of 100 images available on line. Numéro de notice : C2008-024 Affiliation des auteurs : MATIS+Ext (1993-2011) Thématique : IMAGERIE Nature : Communication nature-HAL : ComAvecCL&ActesPubliésIntl DOI : sans En ligne : https://www.isprs.org/proceedings/XXXVII/congress/3_pdf/31.pdf Format de la ressource électronique : URL article Permalink : https://documentation.ensg.eu/index.php?lvl=notice_display&id=64269 Documents numériques
en open access
13687_commu_isprs_2008_kalantari.pdfAdobe Acrobat PDF SIFT (Scale Invariant Feature Transform) : Un outil pour la mise en correspondance d’images / Arnaud Le Bris (2008)
Titre : SIFT (Scale Invariant Feature Transform) : Un outil pour la mise en correspondance d’images Type de document : Article/Communication Auteurs : Arnaud Le Bris , Auteur Editeur : Saint-Mandé : Institut Géographique National - IGN (2008-2011) Année de publication : 2008 Conférence : Journées Recherche de l'IGN 2008, 17es journées 11/03/2008 13/03/2008 Saint-Mandé France OA program Importance : 63 p. Format : 21 x 30 cm Langues : Français (fre) Descripteur : [Vedettes matières IGN] Traitement d'image
[Termes IGN] aérotriangulation
[Termes IGN] appariement d'images
[Termes IGN] extraction de points
[Termes IGN] image aérienne
[Termes IGN] image oblique
[Termes IGN] image satellite
[Termes IGN] points homologues
[Termes IGN] Ransac (algorithme)
[Termes IGN] recalage d'image
[Termes IGN] SIFT (algorithme)
[Termes IGN] Stéréopolis
[Termes IGN] tableau d'assemblageNuméro de notice : C2008-017 Affiliation des auteurs : MATIS (1993-2011) Thématique : IMAGERIE Nature : Communication nature-HAL : ComSansActesPubliés-Unpublished DOI : sans Permalink : https://documentation.ensg.eu/index.php?lvl=notice_display&id=90972 Designing and implementing software components for an automated mapping system / J.H. Yom in Photogrammetric Engineering & Remote Sensing, PERS, vol 73 n° 12 (December 2007)PermalinkGeometric accuracy assessment of QuickBird basic imagery using different operational approaches / M. Aguilar in Photogrammetric Engineering & Remote Sensing, PERS, vol 73 n° 12 (December 2007)PermalinkRational function model for sensor orientation of IRS-P6 LISS-4 imagery / V. Nagasubramanian in Photogrammetric record, vol 22 n° 120 (December 2007 - February 2008)PermalinkComprehensive analysis of sensor modelling alternatives for high-resolution imaging satellites / A. Habib in Photogrammetric Engineering & Remote Sensing, PERS, vol 73 n° 11 (November 2007)PermalinkLine-of-sight vector adjustment model for geopositioning of SPOT-5 stereo images / Hyung-Sup Jung in Photogrammetric Engineering & Remote Sensing, PERS, vol 73 n° 11 (November 2007)PermalinkOrthogonal polynomials supported by regional growing segmentation for the extraction of terrain from lidar data / N.A. Akel in Photogrammetric Engineering & Remote Sensing, PERS, vol 73 n° 11 (November 2007)PermalinkIntegration of Ikonos and Quickbird imagery for geopositioning accuracy analysis / R. Li in Photogrammetric Engineering & Remote Sensing, PERS, vol 73 n° 9 (September 2007)PermalinkInvestigation of physical sensor models for modelling SPOT 3 orbits / T. Kim in Photogrammetric record, vol 22 n° 119 (September - November 2007)PermalinkWavelet based image fusion techniques: an introduction, review and comparison / Krista Amolins in ISPRS Journal of photogrammetry and remote sensing, vol 62 n° 4 (September 2007)PermalinkAutomatic and precise orthorectification, coregistration, and subpixel correlation of satellite images: application to ground deformation measurements / S. Leprince in IEEE Transactions on geoscience and remote sensing, vol 45 n° 6 Tome 1 (June 2007)Permalink