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Research Review for Visualization, UAV Platform Experiments, UPSM Study

Research Review for Visualization, UAV Platform Experiments, UPSM Study. For NGA visit, 5 February, 2007 West Lafayette, IN Jim Bethel. Visualization by projecting triangulated image textures onto extracted wireframe/facet object model.

cassandra-romanos
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Research Review for Visualization, UAV Platform Experiments, UPSM Study

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  1. Research Review for Visualization, UAV Platform Experiments, UPSM Study For NGA visit, 5 February, 2007 West Lafayette, IN Jim Bethel

  2. Visualization by projecting triangulated image textures onto extracted wireframe/facet object model

  3. Multi-image triangulation with hand-held small format digital images and aerial frame image(s)

  4. Triangulation Results point coordinates 1 100.002 99.999 209.060 4 99.973 99.946 206.257 8 101.052 100.843 200.953 7 107.041 105.761 206.264 2 112.210 110.169 209.060 5 112.249 110.177 206.251 9 111.088 109.231 200.936 14 94.709 106.352 209.060 15 94.629 106.350 206.271 16 97.798 102.547 203.023 19 92.377 100.666 199.473 3 106.909 116.530 209.060 21 105.763 115.628 200.956 18 99.428 110.372 203.019 17 89.482 100.925 199.520 6 106.894 116.574 206.222 20 108.547 117.870 202.087 13 109.696 118.792 202.428 12 111.634 116.510 202.429 10 111.121 111.862 202.926 11 109.643 113.854 202.827 refined camera parameters x0 -0.000 y0 0.000 foc 2264.000 k1 0.00044209536 k2 0.00039484395 k3 0.00028044279 cond(N) before Wts 3.9089046e+015 cond(N) after Wts 1249240.2 photo p1975 w,p,k -1.662807 -0.282437 3.128216 1.000000 x,y,z 104.715 127.738 201.246 photo p1995 w,p,k 1.723612 -0.843207 0.107706 1.000000 x,y,z 84.823 91.390 201.408 photo p1966 w,p,k -1.233821 1.718484 -0.030831 2.000000 x,y,z 80.877 98.316 201.209 photo p1968 w,p,k 1.358728 1.698359 -0.005925 2.000000 x,y,z 128.208 104.997 200.931 photo p1990 w,p,k -1.348948 1.682413 -0.020418 2.000000 x,y,z 78.162 102.316 201.280 photo p1998 w,p,k 1.315147 1.708342 -0.010229 2.000000 x,y,z 127.183 107.641 200.951

  5. Extracted CAD model

  6. Simulated frame image – with image texture projected onto the CAD model

  7. Another view angle

  8. Collaboration on Blimp imagery with LiteMachines Sequence of photographs of operational test from November, 2006

  9. Developments on the UPSM – Universal Passive Sensor Model • Development of models for airborne pushbroom and TLS – three line scanner imagery • Inventory of metadata and models for spaceborne imagery

  10. Ground Track of TLS Test Flight in Switzerland

  11. Raw Imagery (Level 0) from 4 Strips

  12. Aircraft velocity vs. time to show challenge

  13. Velocity and altitude changes are revealed as variations in aspect ratio

  14. Occasional, severe roll events cause characteristic image displacements Gross effects corrected by Nav Data

  15. Rectification from Nav Data only (Level 1)

  16. Inventory of metadata and models for spaceborne imagery

  17. Few (~5) ephemeris points and time, ephemeris points consist of a state vector (position and velocity) during image acquisition – may be ECI or ECF • Dense sampling (hundreds) of ephemeris points during image acquisition, velocities may or may not be independent observations – may be ECI or ECF • Dense sampling of attitude and angular velocities, may be expressed as euler angles or quaternions • The specifics of the supplied metadata will impact the choice of models and parameters for the triangulation • In general, triangulation will consist of estimating corrections or refinements to a nominal 6-axis trajectory and refining selected camera/platform parameters • Nominal trajectory may be defined by the dense samples themselves or by fitting to an extended kepler model

  18. OGISC – Open GIS Consortium has been advocating for some time an open XML or SensorML approach to standardizing the documentation and communication of image/camera metadata. It is a good idea, but until recently there was little evidence that vendors were buying it. • Recent acquisition of a campus QuickBird scene reveals that Digital Globe now, in addition to their usual, proprietary metadata files (which by the way are the best I have seen) now provide the same data in XML format. • A few samples from the XML file follow

  19. <?xml version="1.0" encoding="UTF-8" standalone="yes"?> <isd> <IMD> <VERSION>AA</VERSION> <GENERATIONTIME>2006-12-28T17:33:00.000000Z</GENERATIONTIME> <PRODUCTORDERID>005591216010_01_P001</PRODUCTORDERID> <PRODUCTCATALOGID>901001000E8F4900</PRODUCTCATALOGID> <CHILDCATALOGID>202001000E8F4A00</CHILDCATALOGID> <IMAGEDESCRIPTOR>Basic1B</IMAGEDESCRIPTOR> <BANDID>P</BANDID> <PANSHARPENALGORITHM>None</PANSHARPENALGORITHM> <NUMROWS>28840</NUMROWS> <NUMCOLUMNS>27552</NUMCOLUMNS> <PRODUCTLEVEL>LV1B</PRODUCTLEVEL> <PRODUCTTYPE>Basic</PRODUCTTYPE> <NUMBEROFLOOKS>1</NUMBEROFLOOKS> <RADIOMETRICLEVEL>Corrected</RADIOMETRICLEVEL> <BITSPERPIXEL>16</BITSPERPIXEL> <COMPRESSIONTYPE>None</COMPRESSIONTYPE> <OUTPUTFORMAT>GeoTIFF</OUTPUTFORMAT> <BAND_P> <ULLON>-8.698356728000000e+01</ULLON> <ULLAT>4.049288152000000e+01</ULLAT> <ULHAE>1.815300000000000e+02</ULHAE> <URLON>-8.677798497000001e+01</URLON> <URLAT>4.049124215000000e+01</URLAT> <URHAE>1.665300000000000e+02</URHAE> <LRLON>-8.677886626000000e+01</LRLON> <LRLAT>4.032900686000000e+01</LRLAT> <LRHAE>1.891100000000000e+02</LRHAE> <LLLON>-8.698330100000000e+01</LLLON> <LLLAT>4.033156940000000e+01</LLLAT> <LLHAE>1.766400000000000e+02</LLHAE> </BAND_P>

  20. <GEO> <EFFECTIVETIME>2002-07-11T01:00:00.000000Z</EFFECTIVETIME> <MODELGENERATIONTIME>2003-05-23T10:53:15.000000Z</MODELGENERATIONTIME> <SATID>QB02</SATID> <GEOMODELLEVEL>LV1B</GEOMODELLEVEL> <PRINCIPAL_DISTANCE> <GENERATIONTIME>2002-12-20T03:00:00.000000Z</GENERATIONTIME> <PD>8.836201999999999e+03</PD> </PRINCIPAL_DISTANCE> <OPTICAL_DISTORTION> <GENERATIONTIME>2000-01-01T00:00:00.000000Z</GENERATIONTIME> <POLYORDER>1</POLYORDER> <ALISTList> <ALIST>0.000000000000000e+00 0.000000000000000e+00</ALIST> </ALISTList> <BLISTList> <BLIST>0.000000000000000e+00 0.000000000000000e+00</BLIST> </BLISTList> </OPTICAL_DISTORTION> <PERSPECTIVE_CENTER> <GENERATIONTIME>2000-01-01T00:00:00.000000Z</GENERATIONTIME> <CX>0.000000000000000e+00</CX> <CY>0.000000000000000e+00</CY> <CZ>0.000000000000000e+00</CZ> </PERSPECTIVE_CENTER> <CAMERA_ATTITUDE> <GENERATIONTIME>2002-02-18T00:00:00.000000Z</GENERATIONTIME> <QCS1>-3.736929927912200e-03</QCS1> <QCS2>-4.660238142108400e-03</QCS2> <QCS3>1.717136642275700e-03</QCS3> <QCS4>9.999806843019142e-01</QCS4> </CAMERA_ATTITUDE>

  21. <DETECTOR_MOUNTING> <GENERATIONTIME>2003-05-23T10:53:15.000000Z</GENERATIONTIME> <BAND_P> <BANDID>P</BANDID> <DETECTOR_ARRAY> <DETARRID>1</DETARRID> <DETORIGINX>9.546840000000000e+00</DETORIGINX> <DETORIGINY>1.640277300000000e+02</DETORIGINY> <DETROTANGLE>0.000000000000000e+00</DETROTANGLE> <DETPITCH>1.191396000000000e-02</DETPITCH> </DETECTOR_ARRAY> </BAND_P> </DETECTOR_MOUNTING>

  22. <RPB> <SATID>QB02</SATID> <BANDID>P</BANDID> <SPECID>RPC00B</SPECID> <IMAGE> <ERRBIAS>1.655000000000000e+01</ERRBIAS> <ERRRAND>1.300000000000000e-01</ERRRAND> <LINEOFFSET>14430</LINEOFFSET> <SAMPOFFSET>13760</SAMPOFFSET> <LATOFFSET>4.041090000000000e+01</LATOFFSET> <LONGOFFSET>-8.688090000000000e+01</LONGOFFSET> <HEIGHTOFFSET>158</HEIGHTOFFSET> <LINESCALE>14475</LINESCALE> <SAMPSCALE>13933</SAMPSCALE> <LATSCALE>8.200000000000000e-02</LATSCALE> <LONGSCALE>1.029000000000000e-01</LONGSCALE> <HEIGHTSCALE>501</HEIGHTSCALE> <LINENUMCOEFList>

  23. Inventory of Space E/O Imagery over Campus

  24. Next Steps for UPSM • Put other sensor metadata into XML format and develop a generic front end to read and analyze the metadata • Expand XML (if needed) to include ground control points, reference coordinate system definition, transformation parameters between ECF and ECI, overall block description, coordinate with OGISC to avoid duplication • Bring some of the existing stand alone triangulation modules into the UPSM umbrella • Implement some recent research to aid in resolving the under-determination (over-parameterization) problem by analyzing condition numbers and misclosures

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