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Lecture 12: LiDAR and aerial image
Yuji Kuwano, Lead ALS Support Engineer
Leica Geosystems AG
Presentation outline
Introduction to digital frame camera workflow
Demonstration of camera boresight workflow
Demonstration of orthophoto workflow with case study
Summary
2
RCD105 Digital Frame Camera for ALS50-II
39 MP: flexible and fast
Certified airborne design
High shutter speed (1/4000 sec), high frame rate (2.02 seconds/frame)
3 lenses to choose from (35, 60, 100 mm) with RGB or CIR
Up to 2 camera heads per controller
3
RCD105 Camera System
product configuration
CH39 Camera Head (39 MP)
Lens (35, 60 or 100 mm)
CC105 Camera Controller (shown
mounted to SC50System Controller)
Isolated Interface Plate Assembly (Mi-8
version shown)
4
RCD105 integration with ALS50-II
(green indicates RCD105 components)
CC105 Camera SC50
Controller Real-time nav solution (GPS time,
position, orientation)
LAN AUX1 LAN
Hybrid AUX1 Hybrid
28 VDC
Mid-exposure pulse (TTL)
SDR-26 Lemo
Trigger, pixel 12 VDC, mid-
data, serial exposure
camera control pulse
SDR-26 Lemo
RGB Filter
Shutter
Lens
(35, 60
or
or 100 Optional CIR
mm) Filter and
CH39 Camera Head Compensating
Optic
5
Camera workflow overview
in context of LIDAR workflow
Planning Collection Processing
Ground ALS50 Post Processor
Operations •point cloud generation
•output formatting – LDI, LAS, ASCII
GPS1200 GrafNav IPAS Pro •projection - WGS 84, UTM, state plane, Swiss, TW 97, user-
record DGPS base DGPS trajectory supplied
station data processing processing •datum (state plane only) - NGVD 29, NAVD 88
position Attune TerraScan
and laser boresite
attitude •tiling
file calibration •coverage verification
FPES ALS50, FCMS, CamGUI •outlier removal
MicroStation
“LAS” file •bare earth
Mission Airborne •thinning
Planning Operations •catenary generation
IPAS Pro
mode record position and
attitude data real-time TerraModeller
altitude extract
•GPS nav file •TIN/contour
scan rate position
•IMU •control report
FOV and
•event marks attitude
flight speed
record scanner data data
flight lines *.SCN raw
•range
flight height scanner files
•scan angle
lens FL
•intensity IPAS CO LPS
shutter speed EO file
•timing info calculate camera deliverables
frame rate boresight,
record camera data exterior
orthophoto
•photo ID file CDPP
orientations orthophotos
generation
•raw frames Bayer
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conversion
Mission planning objectives
coordinating sensor and aircraft parameters
Determine camera settings
Determine ground sample distance
Select lens and flying height
Determine coverage
Select forward overlap
Determine shutter speed
Determine flight line layout
Line-to-line spacing
Photo centers
7
Camera and ALS mission plan using FPES
optimized planning for GSD & photo centers
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Camera boresight flight plan
2 flight levels and directions required for boresight
Can perform without ground control
Recommended calibration configuration
(60 mm lens example)
Mission area
Roughly 3km x 2.5km
Overlap / sidelap
60% forward, 40% sidelap
15 cm GSD @ 1350 m AGL
4 Parallel lines / opposed flight direction
12 Images per lines
25 cm GSD @ 2300 m AGL
2 cross lines / opposed flight direction
6 Images per lines
Ground Control Point (Recommended)
Ground Control Point
Locate 4 corners and center,3 alternatives for each area
Accuracy check as check point
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Camera vs. altitude parameters
achieving correct pixel size and area coverage
Estimated
Calibration
Lower Altitude Higher Altitude
Area
Focal Coverage
Length Along track x
(mm) Altitude Altitude Cross track
GSD GSD
AGL AGL for 15cm lines
(m) (m)
(m) (m) (km x km)
35 0.15 770 0.25 1280 3.5 x 3.0
60 0.15 1350 0.25 2300 3.0 x 2.5
100 0.15 2200 0.25 3670 3.5 x 2.8
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Camera boresight
IPAS CO Setup
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Camera boresight
IPAS CO Initial EO ‘Seeded.dat’
File structure : EventID , ImageID , X , Y , Z , O , P , K
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Set up LPS project
define coordinate system, projection and datum
13
Set up LPS project
create a camera file ( Use Balanced parameter )
Use supplied K01,K1,K2 coefficient
14
Set up LPS project
import Initial EO information
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Set up LPS project
initial mage location
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LSP project
check initial misalignment quality using ViewPlex
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LPS project
automatic tie point measurement
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LPS project
triangulation properties – “General” tab
19
LPS project
triangulation properties – “Point” tab
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LPS project
triangulation properties – “Exterior” tab
21
LPS project
triangulation properties – “Advanced Options” tab
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LPS project
triangulation summary
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LPS project
manual blunder rejection (as needed)
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LPS project
triangulation report
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LPS project
updated exterior orientation
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Camera boresight
IPAS CO “Compute Camera Misalignment” setup
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Camera boresight
IPAS CO “Camera Misalignment Results” window
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Direct georeferencing
IPAS CO setup
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Direct referencing
IPAS CO final EO
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LSP project
check final misalignment quality using ViewPlex
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Case Study 1…higher productivity with MPiA
Flying height 1300 m AGL
Aircraft
parameters
Aircraft speed 100 knots
150 kHz
Pulse rate
(MPiA)
FOV 45 degrees
LIDAR Scan rate 42.5 Hz
parameters
Along-track
post spacing 1.21 m
(worst case)
Cross-track Palos Verdes
post spacing 0.91 m
(worst case)
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Case Study 1…higher productivity with MPiA
ALS50/MPiA Mode ALS50/SPiA Mode
Flying height 1300 m AGL Flying height 910 m AGL
Aircraft Aircraft
parameters parameters
Aircraft speed 100 knots Aircraft speed 100 knots
150kHz 104kHz
Pulse rate Pulse rate
(MPiA) (SPiA)
FOV 45 degrees FOV 45 degrees
LIDAR Scan rate 42.5 Hz LIDAR Scan rate 42.5 Hz
parameters parameters
Along-track Along-track
post spacing 0.91 m post spacing 0.92 m
(worst case) (worst case)
Cross-track Cross-track
post spacing 1.21 m post spacing 1.21 m
(worst case) (worst case)
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Case Study 1…bare earth surface generation
sample small section
1 flight line
1.0km x 1.6 km covered
Total of 2 523 721 points
Multiple returns
Image features all LIDAR points
colored by elevation
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Case Study 1…filtering of laser surface
ground surface model (DTM) is now created
Step 1. Classify “Ground’ Model for bare earth classification
(1 385 128 points to the ground)
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Case Study 1…filtering of laser surface…cont
ground surface model (DTM) is now created
Step 2. Thin ground surface using “model key points” routine
Ground surface is now defined by 139 756 points
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Case Study 1…form photogrammetric block
Sample 1 strip of 4 images
Each strip has with 60% forward overlap
Nominal GSD size 15cm
Camera fixed to LIDAR scanner platform; therefore no drift
compensation available for the camera
Format size 7162 (cross track) x 5389 (along track)
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Case Study 1…direct georeferencing
IPAS CO using same misalignment from calibration
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Case Study 1…ortho production
setup LPS project / import direct georeference data
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Case Study 1…ortho production
exterior orientation is fixed
40
Case Study 1…ortho production
check stereo pair quality (paralax) using ViewPlex
41
Case Study 1…importing the LIDAR DTM
direct LAS file import facilitates orthorectification
A terrain model is required to generate orthophotos
The model key point surface can be imported directly in LIDAR
native LAS file format
A gridded DTM is generated at 2m interval (i.e., greater than the
LIDAR post spacing)
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Case Study 1…LPS surface import setup
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Case Study 1…view of output gridded DTM
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Case Study 1…LPS orthophoto resampling setup
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Case Study 1…0.15 m orthophoto generation with ALS50
includes surface, EO information, camera model, images
46
Case Study 1…0.15 m orthophoto generation with ALS50
individual ortho has good match with ALS DTM
47
Case Study 1…LPS ortho mosaic setup
48
Case Study 1…LPS ortho mosaic
(before color dodging)
49
RCD105 Digital Frame Camera for ALS50-II
rugged design for precise imagery
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Case Study 2…urban project
ortho with bare earth DTM vs dense LIDAR DSM
Flying height 710 m AGL
Aircraft parameters
Aircraft speed 100 knots
Pulse rate 124kHz (SPiA)
FOV 30 degrees
Scan rate 52.2 Hz
LIDAR parameters
Along-track post spacing (worst case) 0.99 m
Cross-track post spacing (worst case) 0.42 m
Average Point Density (@ Nadir) 4.31 pts/m^2
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Case Study 2…urban project
710 m
Aircra Flying height
AGL
ft
param
Aircraft 100
eters
speed knots
130 kHz
Pulse rate
(SPiA)
30
FOV
degrees
LIDAR
param Scan rate 52.2 Hz
eters
Along-track
post spacing 0.99m
(worst case) Palos Verdes
Cross-track
post spacing 0.42m
(worst case)
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Case Study 2…LIDAR surface generation (bare earth / DSM)
small sample area
2 flight lines
0.8km x 0.6 km covered
Total of 3 774 070 points
Multiple returns
Image features all LIDAR
points colored by elevation
53
Case Study 2…bare earth extraction
ground surface model (DTM) is now created
Step 1. Classify “Ground’ Model for bare earth classification
(978 030 points to the ground)
Step2.Classify ‘Model Key Point’ to LAS file(47 972 points)
54
Case Study 2…DSM extraction
Step 1. Classify ‘Any First return’ points(3 708 569 points)
Step 2. Export Any of First to LAS file as DSM
55
Case Study 2…form photogrammetric block
Sample 1 strip of 4 images
Each strip has with 60% forward overlap
Nominal GSD size 8 cm
Camera fixed to LIDAR scanner platform; therefore no drift
compensation available for the camera
56
Case Study 2…direct georeferencing
IPAS CO setup…same misalignment from calibration
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Case Study 2…ortho production
exterior orientation is fixed
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Case Study 2…ortho production
check stereo pair quality by ViewPlex
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Case Study 2…importing the LIDAR DTM
direct LAS file import facilitates orthorectification
Create 2 sets of DTM for comparison
A) Bare Earth DTM as conventional Ortho workflow
-Import by 2m Gridded DEM
B) DSM as True Ortho aiding
-Import by original point spacing(=0.45m point spacing) DEM
60
Case Study 2…view of gridded bare earth DTM
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Case Study 2…view of gridded DSM
62
Case Study 2…LPS orthophoto resampling setup
63
Case Study 2…8 cm GSD orthophoto with bare earth
individual ortho images
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Case Study 2…8 cm GSD orthophoto with bare
earth
Bare earth DTM provides very good
ortho matching
Note building lean in images due to
off-nadir angle
65
Case Study 2…8 cm GSD orthophoto with DSM
individual ortho images
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Case Study 2…8 cm GSD orthophoto with DSM
DSM ortho minimizes number of buildings needing
vectorization
67
Case Study 2…bare earth ortho vs DSM ortho
Bare Earth Ortho Dense DSM Ortho
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Conclusions
IPAS CO and LPS Core/ORIMA can be used to determine camera
boresight and compute direct exterior orientation for images
Orthophoto workflow is well integrated with LIDAR workflow
LPS software is well-suited to the task of handling LIDAR data for
orthorectification
High density ALS data aids generation of true ortho product
69
Thank you
questions?
Yuji.Kuwano@leica-geosystems.com
Leica Geosystems AG
Heinrich-Wild-Strasse
CH-9435 Heerbrugg ,Switzerland
Tell+41 71 727 4262
Fax+41 71 727 4674
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