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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 From imagery to map: digital photogrammetric technologies, Nessebar, Bulgaria, 17-20 September 2007 / Gordon Petrie in Geoinformatics, vol 10 n° 7 (01/11/2007)
[article]
Titre : From imagery to map: digital photogrammetric technologies, Nessebar, Bulgaria, 17-20 September 2007 Type de document : Article/Communication Auteurs : Gordon Petrie, Auteur Année de publication : 2007 Article en page(s) : pp 28 - 34 Langues : Anglais (eng) Descripteur : [Vedettes matières IGN] Photogrammétrie numérique
[Termes IGN] caméra numérique
[Termes IGN] image aérienne
[Termes IGN] image spatiale
[Termes IGN] logiciel de photogrammétrie
[Termes IGN] traitement d'imageRésumé : (Auteur) the 7th International Scientific & Technical Conference with the title "from imagery to map : digital photogrammetric technologies" was held in Nassebar, Bulgaria between 17th and 20th september 2007. The conference was organised jointly by the Racurs and GIS-Sofia companies from Russia and Bulgaria respectively. The previous six conferences in the series had been held as international PHOTOMOD Users Conferences - PHOTOMOD being the principal sofware product from the Racurs company. The change in the conference title reflected the desire of the organisers to widen the scope of the meeting with speakers and participants from Western Europe and from Racurs' partner in Russia and elsewhere. Copyright GEOinformatics Numéro de notice : A2007-500 Affiliation des auteurs : non IGN Thématique : IMAGERIE Nature : Article DOI : sans Permalink : https://documentation.ensg.eu/index.php?lvl=notice_display&id=28863
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Code-barres Cote Support Localisation Section Disponibilité 262-07071 SL Revue Centre de documentation Revues en salle Disponible vol 110 n° 4 - 30/10/2007 - Forestsat 2007 (Bulletin de Remote sensing of environment) / Ronald E. McRoberts
[n° ou bulletin]
Titre : vol 110 n° 4 - 30/10/2007 - Forestsat 2007 Type de document : Périodique Auteurs : Ronald E. McRoberts, Éditeur scientifique ; D.N.M. Donhogue, Éditeur scientifique Année de publication : 2007 Conférence : ForestSat 2007, forests and remote sensing : methods and operational tools 05/11/2007 07/11/2007 Montpellier France Langues : Anglais (eng) Descripteur : [Vedettes matières IGN] Applications de télédétection
[Termes IGN] caméra numérique
[Termes IGN] cartographie automatique
[Termes IGN] chambre métrique
[Termes IGN] classification barycentrique
[Termes IGN] forêt
[Termes IGN] image Landsat-ETM+
[Termes IGN] image SPOT 5
[Termes IGN] inventaire forestier (techniques et méthodes)Numéro de notice : 110-0719 Affiliation des auteurs : non IGN Thématique : FORET/IMAGERIE Nature : Numéro de périodique Permalink : https://documentation.ensg.eu/index.php?lvl=bulletin_display&id=10440 [n° ou bulletin]Contient
- Accuracy of forest mapping based on Landsat TM data and a kNN-based method / K. Gjertsen in Remote sensing of environment, vol 110 n° 4 (30/10/2007)
- The impact of relative radiometric calibration on the accuracy of kNN-predictions of forest attributes / T. Koukal in Remote sensing of environment, vol 110 n° 4 (30/10/2007)
- Feature selection by genetic algorithms in object-based classification of Ikonos imagery for forest mapping in Flanders, Belgium / F.M.B. Van Coillie in Remote sensing of environment, vol 110 n° 4 (30/10/2007)
Implementation of a low-cost photogrammetric methodology for 3D modelling of ceramic fragments / Mahzad Kalantari (01/10/2007)
Titre : Implementation of a low-cost photogrammetric methodology for 3D modelling of ceramic fragments Type de document : Article/Communication Auteurs : Mahzad Kalantari , Auteur ; Michel Kasser , Auteur Editeur : Saint-Mandé : Institut Géographique National - IGN (2008-2011) Année de publication : 01/10/2007 Conférence : CIPA 2007, 21th international symposium, Anticipating the future of the cultural past 01/10/2007 06/10/2007 Athènes Grèce OA ISPRS Archives Importance : 4 p. Format : 21 x 30 cm Note générale : Bibliographie Langues : Anglais (eng) Descripteur : [Vedettes matières IGN] Photogrammétrie terrestre
[Termes IGN] caméra numérique
[Termes IGN] géométrie épipolaire
[Termes IGN] matrice
[Termes IGN] modélisation 3D
[Termes IGN] photogrammétrie architecturale
[Termes IGN] semis de points
[Termes IGN] vision par ordinateurRésumé : (Auteur) A simple and cheap tool has been developed for measuring shards of old ceramics, found in archaeological yards. It is based on a digital camera, and various photogrammetric and computer vision freeware completed by home-made software developments. The paper presents the equipment used for the acquisition of the images, and the processing software for the various steps. This software is mainly based on algorithms originating from computer vision community, and from more classical photogrammetry. Some intermediate results are presented, the final output of the present work being a very dense cloud of points describing the geometry of the surface of the shard, that may be post processed by many off-the-shelf drawing commercial software, depending on the needs of the archaeologists. Numéro de notice : C2007-027 Affiliation des auteurs : ENSG (1941-2011) Thématique : IMAGERIE Nature : Communication nature-HAL : ComAvecCL&ActesPubliésIntl DOI : sans En ligne : https://www.isprs.org/proceedings/XXXVI/5-C53/papers/FP079.pdf Format de la ressource électronique : URL article Permalink : https://documentation.ensg.eu/index.php?lvl=notice_display&id=64307 Documents numériques
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Implementation of a low-cost photogrammetric ... - pdf auteurAdobe Acrobat PDF Geometric consistency and stability of consumer-grade digital cameras for accurate spatial measurement / R. Wackrow in Photogrammetric record, vol 22 n° 118 (June - August 2007)
[article]
Titre : Geometric consistency and stability of consumer-grade digital cameras for accurate spatial measurement Type de document : Article/Communication Auteurs : R. Wackrow, Auteur ; Jim H. Chandler, Auteur ; P. Bryan, Auteur Année de publication : 2007 Article en page(s) : pp 121 - 134 Langues : Anglais (eng) Descripteur : [Vedettes matières IGN] Acquisition d'image(s) et de donnée(s)
[Termes IGN] analyse comparative
[Termes IGN] caméra numérique
[Termes IGN] cohérence géométrique
[Termes IGN] distorsion d'image
[Termes IGN] élément d'orientation interne
[Termes IGN] erreur systématique
[Termes IGN] étalonnage de capteur (imagerie)
[Termes IGN] Leica Photogrammetry Suite
[Termes IGN] précision géométrique (imagerie)
[Termes IGN] prise de vue terrestreRésumé : (Auteur) It is known that uncertain internal geometry of consumer-grade digital cameras limits the accuracy of data that can be extracted. These cameras can be calibrated, but the validity of calibration data over a period of time should be carefully assessed before subsequent photogrammetric measurement. This paper examines the geometric stability and manufacturing consistency of a typical low-cost digital camera (Nikon Coolpix 5400) by estimating the degree of similarity between interior orientation parameters (IOP), established over a 1-year period. Digital elevation models (DEMs) were extracted with differing IOP, and accuracies were compared using data obtained from seven identical cameras. An independent self-calibrating bundle adjustment (GAP) and the Leica Photogrammetry Suite (LPS) software were used to provide these data-sets. Results are presented that indicate the potential of these cameras to maintain their internal geometry in terms of temporal stability and manufacturing consistency. This study also identifies residual systematic error surfaces or ‘‘domes’’, discernible in ‘‘DEMs of difference’’. These are caused by slightly inaccurately estimated lens distortion parameters, which effectively constrain the accuracies achievable with this class of sensor. Copyright RS&PS + Blackwell Publishing Numéro de notice : A2007-363 Affiliation des auteurs : non IGN Thématique : IMAGERIE Nature : Article DOI : 10.1111/j.1477-9730.2007.00436.x En ligne : https://doi.org/10.1111/j.1477-9730.2007.00436.x Format de la ressource électronique : URL article Permalink : https://documentation.ensg.eu/index.php?lvl=notice_display&id=28726
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Code-barres Cote Support Localisation Section Disponibilité 106-07021 RAB Revue Centre de documentation En réserve L003 Disponible A review and analyses of plumb-line calibration / J.L. Lerma in Photogrammetric record, vol 22 n° 118 (June - August 2007)PermalinkA six-camera digital video imaging system sensitive to visible, red edge, near-infrared, and mid-infrared wavelengths / R.S. Fletcher in Geocarto international, vol 22 n° 2 (June - August 2007)PermalinkUbiquitous positioning: Anyone, anything, anytime, anywhere / X. Meng in GPS world, vol 18 n° 6 (June 2007)PermalinkCloud mapping with ground-based photogrammetric cameras / G. Seiz in International Journal of Remote Sensing IJRS, vol 28 n° 9 (May 2007)PermalinkA rigorous laboratory calibration method for interior orientation of an airborne linear push-broom camera / Tianen Chen in Photogrammetric Engineering & Remote Sensing, PERS, vol 73 n° 4 (April 2007)PermalinkOpen-source software-operated CMOS camera for real-time mapping / Hervé Gontran in Revue Française de Photogrammétrie et de Télédétection, n° 185 (Mars 2007)PermalinkAutomated metric calibration of colour digital cameras / S. Cronk in Photogrammetric record, vol 21 n° 116 (December 2006 - February 2007)PermalinkExtracting dynamic spatial data from airborne imaging sensors to support traffic flow estimation / Charles K. Toth in ISPRS Journal of photogrammetry and remote sensing, vol 61 n° 3-4 (December 2006)PermalinkIGI'S airborne systems: an expanded product range! / Gordon Petrie in Geoinformatics, vol 9 n° 7 (01/11/2006)PermalinkCalibration and validation of digital airborne cameras / P. Boccardo in Revue Française de Photogrammétrie et de Télédétection, n° 183 (Septembre 2006)PermalinkEvaluation of resolving power and MTF of DMC / Eija Honkavaara in Revue Française de Photogrammétrie et de Télédétection, n° 183 (Septembre 2006)PermalinkGeometric test field calibration of digital photogrammetric sensors / Eija Honkavaara in ISPRS Journal of photogrammetry and remote sensing, vol 60 n° 6 (September 2006)PermalinkGeometric validation of imagery and products from a high performance airborne digital sensor / Jon P. Mills in Revue Française de Photogrammétrie et de Télédétection, n° 183 (Septembre 2006)PermalinkHigh-end aerial digital cameras and their impact on the automation and quality of the production workflow / Nicolas Paparoditis in ISPRS Journal of photogrammetry and remote sensing, vol 60 n° 6 (September 2006)PermalinkImage restoration for resolution improvement of digital aerial images: a comparison of large format digital cameras / S. Becker in Revue Française de Photogrammétrie et de Télédétection, n° 183 (Septembre 2006)PermalinkIs there an ideal digital aerial camera? / Jean-Philippe Souchon in Revue Française de Photogrammétrie et de Télédétection, n° 183 (Septembre 2006)PermalinkRéalisation d'un système de stéréovision mobile routier / N. Janvier in XYZ, n° 108 (septembre - novembre 2006)PermalinkStudies on DMC geometry / R. Alamus in ISPRS Journal of photogrammetry and remote sensing, vol 60 n° 6 (September 2006)PermalinkTests and performance evaluation of DMC images and new methods for their processing / Li Zhang in Revue Française de Photogrammétrie et de Télédétection, n° 183 (Septembre 2006)PermalinkThe ADS40 Vaihingen/Enz geometric performance test / Michael Cramer in ISPRS Journal of photogrammetry and remote sensing, vol 60 n° 6 (September 2006)Permalink