DOI QR코드

DOI QR Code

단사진의 외부표정요소 결정을 위한 후방교회법 알고리즘의 비교

Comparisons of Single Photo Resection Algorithms for the Determination of Exterior Orientation Parameters

  • Kim, Eui Myoung (Department of Spatial Information Engineering, Namseoul University) ;
  • Seo, Hong Deok (Department of Spatial Information Engineering, Namseoul University)
  • 투고 : 2020.07.16
  • 심사 : 2020.08.20
  • 발행 : 2020.08.31

초록

본 연구는 사진측량, 컴퓨터 비전, 로보틱스 등의 분야에서 사용되는 외부표정요소를 결정하는 단사진의 후방교회법의 알고리즘을 비교하는 것이 목적이다. 이를 위해 항공사진 및 근거리 사진측량에서 사용되고 있는 카메라를 기준으로 지형을 시뮬레이션하여 실험 데이터를 생성하여 알고리즘을 비교하였다. 거의 수직으로 촬영되는 항공사진측량용 카메라에 대한 실험을 통해서 3개의 지상기준점으로도 외부표정요소를 결정할 수 있었으나 프로쿠르스테스 알고리즘은 지상기준점 배치에 민감하였다. 카메라의 자세각이 크게 변하는 근거리 사진측량용 카메라를 대상으로한 실험에서도 프로쿠르스테스 알고리즘의 지상기준점 배치에 민감하였으며 모든 알고리즘이 적어도 6개의 지상기준점이 필요하였다. 두 종류의 카메라를 대상으로 한 실험을 통해서 코사인법칙 기반의 후방교회법은 반복회수가 짧고 명시적인 초기값이 필요하지 않기 때문에 전통적인 사진측량 알고리즘과 유사한 성능을 나타내는 것을 알 수 있었다.

The purpose of this study is to compare algorithms of single photo resection, which determines the exterior orientation parameters used in fields such as photogrammetry, computer vision, robotics, etc. To this end, the algorithms were compared by generating experimental data by simulating terrain based on a camera used in aerial and close-range photogrammetry. Through experiments on aerial photographic camera that was taken almost vertically, it was possible to determine the exterior orientation parameters using three ground control points, but the Procrustes algorithm was sensitive to the configuration of the ground control points. Even in experiments with a close-range amateur camera where the attitude angles of the camera change significantly, the algorithm was sensitive to the configuration of the ground control points, and the other algorithms required at least six ground control points. Through experiments with two types of cameras, it was found that cosine lawbased spatial resection shows performance similar to that of a traditional photogrammetry algorithm because the number of iterations is short and no explicit initial values are required.

키워드

참고문헌

  1. Chiang, K.W., Liao, J.K., Huang, S.H., Chang, H.W., and Chu, C.H. (2017), The performance analysis of space resectionaided pedestrian dead reckoning for smartphone navigation in a mapped indoor environment. ISPRS International Journal of Geo-Information, Vol. 6, No. 2, pp. 43-67. https://doi.org/10.3390/ijgi6020043
  2. Fischler, M.A. and Bolles, R.C. (1981), Random sample consensus: a paradigm for model fitting with applications to image analysis and automated cartography, Communications of the ACM, Vol. 24, No. 6, pp. 381-395. https://doi.org/10.1145/358669.358692
  3. Fusiello, A., Crosilla, F., and Malapelle, F. (2015), Procrustean point-line registration and the NPnP problem. In 2015 International Conference on 3D Vision, 19-22 October, Lyon, France, pp. 250-255.
  4. Garro, V., Crosilla, F., and Fusiello, A. (2012), Solving the pnp problem with anisotropic orthogonal procrustes analysis. In 2012 Second International Conference on 3D Imaging, Modeling, Processing, Visualization & Transmission, 13-15 October, Zurich, Switzerland, pp. 262-269.
  5. Grafarend, E.W. and Shan, J. (1997), Closed-form solution of P4P or the three-dimensional resection problem in terms of Mobius barycentric coordinates, Journal of Geodesy, Vol. 71, No. 4, pp. 217-231 https://doi.org/10.1007/s001900050089
  6. Guan, Y., Cheng, X., Zhan, X., and Zhou, S. (2008), Closedform solution of space resection using unit quaternion. In Artigo apresentado no XXI ISPRS Congress, 3-11 July 2008, Beijing, China, Vol. XXXVII, Part B3b, pp. 3-11.
  7. Habib, A. and Mazaheri, M. (2015). Quaternion-based solutions for the single photo resection problem. Photogrammetric Engineering & Remote Sensing, Vol. 81, No. 3, pp. 209-217. https://doi.org/10.14358/PERS.81.3.209-217
  8. Hong, S.P. and Kim, E.M. (2019), Comparison of point-based 3d transformation methods, Proceedings of Journal of Korean Society for Geospatial Information System, Korean Society for Geospatial Information Science, 31-1 May, Busan, Korea, pp. 19-22. (in Korean)
  9. Hong, S.P., Choi, H.S., and Kim, E.M. (2019), Single photo resection using cosine law and three-dimensional coordinate transformation, Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography, Vol. 37, No. 3, pp. 189-198. (in Korean with English abstract) https://doi.org/10.7848/KSGPC.2019.37.3.189
  10. Kabsch, W. (1976), A solution for the best rotation to relate two sets of vectors, Acta Crystallographica Section A: Crystal Physics, Diffraction, Theoretical and General Crystallography, Vol. 32, No. 5, pp. 922-923. https://doi.org/10.1107/S0567739476001873
  11. Kim, E.M. (2018), Semi-automatic camera calibration using quaternions, Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography, Vol. 36, No. 2, pp. 43-50. (in Korean with English abstract) https://doi.org/10.7848/KSGPC.2018.36.2.43
  12. Kim, E.M. and Choi, H.S. (2018), Analysis of the accuracy of quaternion-based spatial resection based on the layout of control points, Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography, Vol. 36, No. 4, pp. 255-262. (in Korean with English abstract) https://doi.org/10.7848/KSGPC.2018.36.4.255
  13. Kim, E.M. and Hong, S.P. (2019), Comparison of point-based algorithms for absolute orientation, Journal of Institute of Control, Robotics and Systems, Vol. 25, No. 10, pp. 929-935. (in Korean with English abstract) https://doi.org/10.5302/J.ICROS.2019.19.0114
  14. Lim, J.H. (2018), Optimization Theory, Jang-Hwan Publishing, Goyang.
  15. Luhmann, T., Robson, S., Kyle, S., and Harley, I. (2011), Close Range Photogrammetry Principles, techniques and applications, Whittles Publishing, Caithness.
  16. Mikhail, E.M., Bethel, J.S., and McGlone, J.C. (2001), Introduction to Modern Photogrammetry, John Wiley & Sons Inc., New York, N.Y.