1. 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

2. Selecting a method of adjustment

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

4. Tests in Racurs Production Department More than 50 real blocks adjusted. Scales 1:10000-1:40000. From 20 to 1000 images per project

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

6. Comparing different programs Two synthetic test blocks 1000 images, 30000 points, 40 GCPs, H=2000m, f=150mm,Scale – 1:13000 Deviations – 10 mkm (image), 20 cm(XYZ) 2000 images, 60000 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

7. Comparing different programs I. 1000 Images synthetic block (40 GCPs) MethodCPU TimeErrXErrYErrZ PHOTOMOD(Models)0’18’’9.19.824.3 PHOTOMOD(Bundles)2’43’’7.08.616.7 Photocom(Antipov)4’4’’6.68.716.3 Aerosys>4h7.410.053.3 Orima(*)1’14’’6.68.216.1 II. 2000 Images synthetic block (75 GCPs) MethodCPU TimeErrXErrYErrZ PHOTOMOD(Models)0’48’’10.611.728.7 PHOTOMOD(Bundles)10’23’’8.38.619.9 Photocom(Antipov)20’12’’7.47.519.2 Orima(*)4’54’’7.27.018.6

8. When bundles is to be used IMU/GPS Data

9. 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

10. 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

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

12. 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

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