VIIth International Scientific and Technical Conference From Imagery to Map: Digital Photogrammetric Technologies Bundle Adjustment Method in PHOTOMOD ® 4.3 Andrej Yu. Sechin, Scientific director, Racurs September 17-20, 2007, Nessebar, Bulgaria

Selecting a method of adjustment

Tests on “synthetic” projects Over 100 parameters Tested on blocks up to 3000 images

Tests in Racurs Production Department More than 50 real blocks adjusted. Scales 1: : From 20 to 1000 images per project

New parameter: Accuracy Block of 2000 images XYZ deviations ~ 0.40m

Comparing different programs Two synthetic test blocks 1000 images, points, 40 GCPs, H=2000m, f=150mm,Scale – 1:13000 Deviations – 10 mkm (image), 20 cm(XYZ) 2000 images, points, 75 GCPs, H=2000m, f=150mm,Scale – 1:13000 Deviations – 10 mkm (image), 40 cm(XYZ) Computers used PHOTOMOD/Aerosys Celeron 2.8 Ghz Photocom(Antipov)Pentium 4 3 Ghz OrimaCore2Duo E6400

Comparing different programs I Images synthetic block (40 GCPs) MethodCPU TimeErrXErrYErrZ PHOTOMOD(Models)0’18’’ PHOTOMOD(Bundles)2’43’’ Photocom(Antipov)4’4’’ Aerosys>4h Orima(*)1’14’’ II Images synthetic block (75 GCPs) MethodCPU TimeErrXErrYErrZ PHOTOMOD(Models)0’48’’ PHOTOMOD(Bundles)10’23’’ Photocom(Antipov)20’12’’ Orima(*)4’54’’

When bundles is to be used IMU/GPS Data

When bundles is to be used “Big” water areas on the images Example project: 1:12000 image scale Bundles: GCPs RMS residual 17 cm – XY 16 cm – Z Models: RMS residual 2.6 times as big

General Considerations/Experience For regular projects with no blunders the accuracy is similar For regular projects with no blunders the accuracy is similar Each method allows to detect specific blunders Each method allows to detect specific blunders Independent models is better for controlling GCPs Independent models is better for controlling GCPs For final adjustment it is better to use “bundles” For final adjustment it is better to use “bundles” Independent models vs. Bundle Adjustment

Usage scheme Models/detecting tie blunders Bundles/detecting Models/detecting GCP blunders Bundles (increased accuracy) final adjustment PHOTOMOD Solver

Future Developments Self calibrationSelf calibration Robust blunder detectionRobust blunder detection Speedup, using sub-blocks for adjustmentSpeedup, using sub-blocks for adjustment Various accuracy estimationsVarious accuracy estimations

Thank You for Attention More Information at the Master Class Everybody is Invited