Robust and accurate image-based georeferencing exploiting relative orientation constraints
Author (Corporation)
Publication date
2018
Typ of student thesis
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Collections
Type
01A - Journal article
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Parent work
ISPRS Annals of the Photogrammetry, Remote Sensing and Spatial Information Sciences
Special issue
DOI of the original publication
Link
Series
Series number
Volume
IV-2
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Pages / Duration
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Publisher / Publishing institution
Copernicus
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Abstract
Urban environments with extended areas of poor GNSS coverage as well as indoor spaces that often rely on real-time SLAM algorithms for camera pose estimation require sophisticated georeferencing in order to fulfill our high requirements of a few centimeters for absolute 3D point measurement accuracies. Since we focus on image-based mobile mapping, we extended the structure-from-motion pipeline COLMAP with georeferencing capabilities by integrating exterior orientation parameters from direct sensor orientation or SLAM as well as ground control points into bundle adjustment. Furthermore, we exploit constraints for relative orientation parameters among all cameras in bundle adjustment, which leads to a significant robustness and accuracy increase especially by incorporating highly redundant multi-view image sequences. We evaluated our integrated georeferencing approach on two data sets, one captured outdoors by a vehicle-based multi-stereo mobile mapping system and the other captured indoors by a portable panoramic mobile mapping system. We obtained mean RMSE values for check point residuals between image-based georeferencing and tachymetry of 2 cm in an indoor area, and 3 cm in an urban environment where the measurement distances are a multiple compared to indoors. Moreover, in comparison to a solely image-based procedure, our integrated georeferencing approach showed a consistent accuracy increase by a factor of 2–3 at our outdoor test site. Due to pre-calibrated relative orientation parameters, images of all camera heads were oriented correctly in our challenging indoor environment. By performing self-calibration of relative orientation parameters among respective cameras of our vehicle-based mobile mapping system, remaining inaccuracies from suboptimal test field calibration were successfully compensated.
Keywords
Sensor orientation, Georeferncing, Bundle adjustment, Relative orientation, Constraints, Mobile mapping, Indoor
Subject (DDC)
600 - Technik, Medizin, angewandte Wissenschaften
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ISBN
ISSN
2194-9050
2194-9042
2194-9042
Language
English
Created during FHNW affiliation
Yes
Strategic action fields FHNW
Publication status
Published
Review
Peer review of the complete publication
Open access category
Gold
Citation
CAVEGN, Stefan, S. BLASER, Stephan NEBIKER und N. HAALA, 2018. Robust and accurate image-based georeferencing exploiting relative orientation constraints. ISPRS Annals of the Photogrammetry, Remote Sensing and Spatial Information Sciences. 2018. Bd. IV-2. DOI 10.5194/isprs-annals-iv-2-57-2018. Verfügbar unter: https://doi.org/10.26041/fhnw-9549