May 29, 2001



Rochester Institute of Technology

Rochester, New York

College of Science

Chester F. Carlson Center for Imaging Science

COURSE: 1051-7XX

1.0 Title: Elements of Photogrammetry I Date: Dec 4-Mar 3, 07

Credit Hours: __4__

Prerequisite(s): Graduate Status in CIS or permission of instructor

Co requisite(s): Calculus 1-3, Working knowledge of Matrices and Statistics

Course proposed by: Don Light

2.0 Course information:

| |Contact hours |Maximum students/section |

|Classroom |4 |20 |

|Lab | | |

|Studio | | |

|Other (Special Project Homework problem) | | |

Quarter(s) offered (check)

_____ Fall ___(_____ Winter _____ Spring _____ Summer

Students required to take this course: Senior and Graduate students in Imaging Science, Ph.D. track.

Students who might elect to take the course:

Graduate students in Imaging Science, M.S. track.

Graduate students in other Engineering and Science Programs

3. Goals of the course

To give students an understanding of the fundamentals and applied mathematics used in modern digital photogrammetry. Students will learn how to utilize airborne and spaceborne imagery to determine 3D-Coordinates on the ground for point positions, Digital Elevation Models, Mosaics, Maps and other Topographic information. Students will learn to apply this knowledge to the design and evaluation of imaging systems and their suitability for achieving required accuracies. They will learn various Earth Coordinate Systems and the geometric structure, characteristics and limitations of sensors and how those characteristics affect the design of imaging systems.

4. Course description ( See separate Document for Elements of Photogrammetry)

Course Description:

Elements of Photogrammetry: 4 Credit Hours. The course will introduce the basic fundamentals essential to understanding Photogrammetry and its uses for deriving point positions (X,Y,Z-coordinates), Digital Elevation Models, Image maps and Topographic Information from airborne or spaceborne imaging systems. It will cover the geometry of film and digital cameras, calibration of cameras, Image measurements and refinements such as atmospheric refraction, distortion corrections, image measurements and transformation of coordinates. The geometry of the single photo will be utilized to develop the general solution to the problem of photogrammetry. Derivation and use of the collinearity equations will be emphasized to demonstrate the applicability of the collinearity equations for handling Ground surveyed coordinates, GPS and IMUs, for positioning and orientation of the images for aerial triangulation and least squares adjustments. Flight planning for mapping projects, Object space coordinate systems, Map accuracy standards and estimating errors in the system outputs will be covered.

Elements of Photogrammetry: 4 Credit Hours. The course will introduce the basic fundamentals essential to understanding Photogrammetry and its uses for deriving point positions (X,Y,Z-coordinates), Digital Elevation Models, Image maps and Topographic Information from airborne or spaceborne imaging systems. It will cover the geometry of film and digital cameras, calibration of cameras, Image measurements and refinements such as atmospheric refraction, distortion corrections, image measurements and transformation of coordinates. The geometry of the single photo will be utilized to develop the general solution to the problem of photogrammetry. Derivation and use of the collinearity equations will be emphasized to demonstrate the applicability of the collinearity equations for handling Ground surveyed coordinates, GPS and IMUs, for positioning and orientation of the images for aerial triangulation and least squares adjustments. Flight planning for mapping projects, Object space coordinate systems, Map accuracy standards and estimating errors in the system outputs will be covered.

Elements of Photogrammetry: 4 Credit Hours. The course will introduce the basic fundamentals essential to understanding Photogrammetry and its uses for deriving point positions (X,Y,Z-coordinates), Digital Elevation Models, Image maps and Topographic Information from airborne or spaceborne imaging systems. It will cover the geometry of film and digital cameras, calibration of cameras, Image measurements and refinements such as atmospheric refraction, distortion corrections, image measurements and transformation of coordinates. The geometry of the single photo will be utilized to develop the general solution to the problem of photogrammetry. Derivation and use of the collinearity equations will be emphasized to demonstrate the applicability of the collinearity equations for handling Ground surveyed coordinates, GPS and IMUs, for positioning and orientation of the images for aerial triangulation and least squares adjustments. Flight planning for mapping projects, Object space coordinate systems, Map accuracy standards and estimating errors in the system outputs will be covered. Elements of Photogrammetry: 4 Credit Hours. The course will introduce the basic fundamentals essential to understanding Photogrammetry and its uses for deriving point positions (X,Y,Z-coordinates), Digital Elevation Models, Image maps and Topographic Information from airborne or spaceborne imaging systems. It will cover the geometry of film and digital cameras, calibration of cameras, Image measurements and refinements such as atmospheric refraction, distortion corrections, image measurements and transformation of coordinates. The geometry of the single photo will be utilized to develop the general solution to the problem of photogrammetry. Derivation and use of the collinearity equations will be emphasized to demonstrate the applicability of the collinearity equations for handling Ground surveyed coordinates, GPS and IMUs, for positioning and orientation of the images for aerial triangulation and least squares adjustments. Flight planning for mapping projects, Object space coordinate systems, Map accuracy standards and estimating errors in the system outputs will be covered. Elements of Photogrammetry: 4 Credit Hours. The course will introduce the basic fundamentals essential to understanding Photogrammetry and its uses for deriving point positions (X,Y,Z-coordinates), Digital Elevation Models, Image maps and Topographic Information from airborne or spaceborne imaging systems. It will cover the geometry of film and digital cameras, calibration of cameras, Image measurements and refinements such as atmospheric refraction, distortion corrections, image measurements and transformation of coordinates. The geometry of the single photo will be utilized to develop the general solution to the problem of photogrammetry. Derivation and use of the collinearity equations will be emphasized to demonstrate the applicability of the collinearity equations for handling Ground surveyed coordinates, GPS and IMUs, for positioning and orientation of the images for aerial triangulation and least squares adjustments. Flight planning for mapping projects, Object space coordinate systems, Map accuracy standards and estimating errors in the system outputs will be covered.

Elements of Photogrammetry: 4 Credit Hours. The course will introduce the basic fundamentals essential to understanding Photogrammetry and its uses for deriving point positions, Digital Elevation Models, Image and Topographic Information from airborne or spaceborne imaging systems. It will cover the geometry of film and digital cameras, calibration of cameras, Image measurements and refinements such as atmospheric refraction, distortion corrections, image measurements and transformation of coordinates. The geometry of the single photo will be utilized to develop the general solution to the problem of photogrammetry. Derivation and use of the collinearity equations will be emphasized to demonstrate the applicability of the collinearity equations for handling Ground surveyed coordinates, GPS and IMUs, for positioning and orientation of the images for aerial triangulation and least squares adjustments. Flight planning for mapping projects, Object space coordinate systems, Map accuracy standards and estimating errors in Elements of Photogrammetry: 4 Credit Hours. The course will introduce the basic fundamentals essential to understanding Photogrammetry and its uses for deriving point positions, Digital Elevation Models, Image and Topographic Information from airborne or spaceborne imaging systems. It will cover the geometry of film and digital cameras, calibration of cameras, Image measurements and refinements such as atmospheric refraction, distortion corrections, image measurements and transformation of coordinates. The geometry of the single photo will be utilized to develop the general solution to the problem of photogrammetry. Derivation and use of the collinearity equations will be emphasized to demonstrate the applicability of the collinearity equations for handling Ground surveyed coordinates, GPS and IMUs, for positioning and orientation of the images for aerial triangulation and least squares adjustments. Flight planning for mapping projects, Object space coordinate systems, Map accuracy standards and estimating errors in the system outputs will be covered.

Elements of Photogrammetry: 4 Credit Hours. The course will introduce the basic fundamentals essential to understanding Photogrammetry and its uses for deriving point positions, Digital Elevation Models, Image and Topographic Information from airborne or spaceborne imaging systems. It will cover the geometry of film and digital cameras, calibration of cameras, Image measurements and refinements such as atmospheric refraction, distortion corrections, image measurements and transformation of coordinates. The geometry of the single photo will be utilized to develop the general solution to the problem of photogrammetry. Derivation and use of the collinearity equations will be emphasized to demonstrate the applicability of the collinearity equations for handling Ground surveyed coordinates, GPS and IMUs, for positioning and orientation of the images for aerial triangulation and least squares adjustments. Flight planning for mapping projects, Object space coordinate systems, Map accuracy standards and estimating errors in the system outputs will be covered.

Elements of Photogrammetry: 4 Credit Hours. The course will introduce the basic fundamentals essential to understanding Photogrammetry and its uses for deriving point positions, Digital Elevation Models, Image and Topographic Information from airborne or spaceborne imaging systems. It will cover the geometry of film and digital cameras, calibration of cameras, Image measurements and refinements such as atmospheric refraction, distortion corrections, image measurements and transformation of coordinates. The geometry of the single photo will be utilized to develop the general solution to the problem of photogrammetry. Derivation and use of the collinearity equations will be emphasized to demonstrate the applicability of the collinearity equations for handling Ground surveyed coordinates, GPS and IMUs, for positioning and orientation of the images for aerial triangulation and least squares adjustments. Flight planning for mapping projects, Object space coordinate systems, Map accuracy standards and estimating errors in the system outputs will be covered.

Elements of Photogrammetry: 4 Credit Hours. The course will introduce the basic fundamentals essential to understanding Photogrammetry and its uses for deriving point positions, Digital Elevation Models, Image and Topographic Information from airborne or spaceborne imaging systems. It will cover the geometry of film and digital cameras, calibration of cameras, Image measurements and refinements such as atmospheric refraction, distortion corrections, image measurements and transformation of coordinates. The geometry of the single photo will be utilized to develop the general solution to the problem of photogrammetry. Derivation and use of the collinearity equations will be emphasized to demonstrate the applicability of the collinearity equations for handling Ground surveyed coordinates, GPS and IMUs, for positioning and orientation of the images for aerial triangulation and least squares adjustments. Flight planning for mapping projects, Object space coordinate systems, Map accuracy standards and estimating errors in

The course will introduce the basic fundamentals essential to understanding Photogrammetry and its uses for deriving point positions (X,Y,Z-coordinates), Digital Elevation Models, Image maps and Topographic Information from airborne or spaceborne imaging systems. It will cover the geometry of film and digital cameras, calibration of cameras, Image measurements and refinements such as atmospheric refraction, distortion corrections, image measurements and transformation of coordinates. The geometry of the single photo will be utilized to develop the general solution to the problem of photogrammetry. Derivation and use of the collinearity equations will be emphasized to demonstrate the applicability of the collinearity equations for handling Ground surveyed coordinates, GPS and IMUs, for positioning and orientation of the images for aerial triangulation and least squares adjustments. Flight planning for mapping projects, Object space coordinate systems, Map accuracy standards and estimating errors in the system outputs will be covered.

Elements of Photogrammetry: 4 Credit Hours. The course will introduce the basic fundamentals essential to understanding Photogrammetry and its uses for deriving point positions, Digital Elevation Models, Image and Topographic Information from airborne or spaceborne imaging systems. It will cover the geometry of film and digital cameras, calibration of cameras, Image measurements and refinements such as atmospheric refraction, distortion corrections, image measurements and transformation of coordinates. The geometry of the single photo will be utilized to develop the general solution to the problem of photogrammetry. Derivation and use of the collinearity equations will be emphasized to demonstrate the applicability of the collinearity equations for handling Ground surveyed coordinates, GPS and IMUs, for positioning and orientation of the images for aerial triangulation and least squares adjustments. Flight planning for mapping projects, Object space coordinate systems, Map accuracy standards and estimating errors in the system outputs will be covered.

Elements of Photogrammetry: 4 Credit Hours. The course will introduce the basic fundamentals essential to understanding Photogrammetry and its uses for deriving point positions, Digital Elevation Models, Image and Topographic Information from airborne or spaceborne imaging systems. It will cover the geometry of film and digital cameras, calibration of cameras, Image measurements and refinements such as atmospheric refraction, distortion corrections, image measurements and transformation of coordinates. The geometry of the single photo will be utilized to develop the general solution to the problem of photogrammetry. Derivation and use of the collinearity equations will be emphasized to demonstrate the applicability of the collinearity equations for handling Ground surveyed coordinates, GPS and IMUs, for positioning and orientation of the images for aerial triangulation and least squares adjustments. Flight planning for mapping projects, Object space coordinate systems, Map accuracy standards and estimating errors in the system outputs will be covered.

Elements of Photogrammetry: 4 Credit Hours. The course will introduce the basic fundamentals essential to understanding Photogrammetry and its uses for deriving point positions, Digital Elevation Models, Image and Topographic Information from airborne or spaceborne imaging systems. It will cover the geometry of film and digital cameras, calibration of cameras, Image measurements and refinements such as atmospheric refraction, distortion corrections, image measurements and transformation of coordinates. The geometry of the single photo will be utilized to develop the general solution to the problem of photogrammetry. Derivation and use of the collinearity equations will be emphasized to demonstrate the applicability of the collinearity equations for handling Ground surveyed coordinates, GPS and IMUs, for positioning and orientation of the images for aerial triangulation and least squares adjustments. Flight planning for mapping projects, Object space coordinate systems, Map accuracy standards and estimating errors in the system outputs will be covered.

5.0 Possible resources :

5.1 Wolf, Paul and Dewitt, Bon., Elements of Photogrammetry, Third Edition 2000,

ISBN 0-07-292454-3, McGraw-Hill. Primary text.

5.2 Selected topics from: Mikhail, Edward; Bethel, James, and McGlone, Chris Introduction to Modern Photogrammetry, John Wiley & Sons, Inc. 2001.

5.3 Additional notes and drawings by instructor

5.4 Assigned ASPRS Photogrammetric Engineering Journal article: Don Light, The Orientation Matrix, PE&RS, May 1966.

6. Topics outline:

Introduction and Objectives of Photogrammetry

( Types of Photos and Images

( Mapping and Reconnaissance sensors

( Aerial Surveying via Photogrammetry

( Typical products from Photogrammetric Systems

← National Map Accuracy Standards

Principles of Photography and Imaging

( Basic Optics for Aerial Cameras

( Aperture and Shutter Speed

( Characteristics of Films (Kodak Speaker TBD)

( Digital Images

( Printing Image Maps

Cameras and Types of Imaging Devices

( Metric Cameras for Aerial Mapping (Main Camera Parts)

( Recon Non-Metric Cameras for High Resolution Imagery

( Film and Digital Camera Types

( Linear Arrays, Area Arrays, Scanning Arrays

( Measures of Resolution (AWAR, MTF)

Calibrating Cameras

( Purpose of Calibration

( Methods for Geometric Calibration

( Applying the Calibration Parameters

Converting Film to Digital Pixels

( Photogrammetric Scanners

( Image Chain Analysis for system resolution

- Camera (film(image motion(dupe film

( Determining the Optimum Scan Spot Size

6. Image Measurements and Refinements

( Coordinate Systems

( Linear Transformation of Coordinates

( Affine Coordinate Transformations

( Reduction of Coordinates to Origin at the Principle Point

( Distortion Corrections

( Correction for Atmospheric Refraction

( Correction for Earth Curvature

7. Object Space Coordinate Systems

( Concepts of Geodesy

( Geodetic Control Points

( Geocentric Coordinates

← Local Vertical Coordinates

8. Datums for Mapping and Map Projections

( Map Projection Types-Common Uses

( Datums Horizontal and Vertical

9. Geometry of the Vertical Photograph and Images

( Flying Height and Scale Computations

( Ground Coordinates from a Vertical Image

( Ground Sampled Distance (GSD) and GRD

( Ortho Photo Geometry

10. Two Photo Geometry for Stereo and Measuring the Z-Coordinate

( Parallax Equation

( Estimating the Expected Error of the Z-Coordinate

( Heights of Objects from Parallax Measurements

( Base to Height Ratio B/H Importance

( Error Analysis: Effect of measurement error on Z.

11. MID TERM EXAM

12. Geometry of Tilted Photos (Obliques)

( Angular Orientations (Matrices)

- tilt, swing and azimuth

- omega, phi, kappa

( Rectification and scale of Tilted Images (Digital)

13. Project Planning and Planning Flight Lines

( End Lap and Side Lap

( Flying Height, Scale

( Ground Coverage

( Cost Estimating

( National Map Accuracy Standards and the FGDC Standard.

( Products that can be produced for the Marketplace

14. Introduction to Analytical Photogrammetry

( Image x,y Measurement

( Ground Control for Object Space

( Develop the Collinearity Equations

( Linearizing the Collinearity Equations

( Space Resection

( Space Intersection

( Analytical Self-Calibration

15. The General Problem of Photogrammetry

( Application of the Collinearity Equations

( Using Ground Surveyed Control Points (X,Y,Z)

( The Global Positioning System

( GPS/IMU’s for Position and Orientation ( Applanix POS)

16. Aero Triangulation

( Purpose of Aero Triangulation

( Selecting Tie Points

( Strips and Block Triangulation (Bundle adjustment concept)

( Selecting Control Points or Methods for Absolute Orientation

17. Satellite Photogrammetry

( Sensors for Space Applications

( Methods for Position and Orientation of Images

( Computing Orbital Altitude and Orbits Per Day, Near polar orbits

( Swath Width

( GSD

18. Error Analysis of Near Vertical Photos

- Consider Effects of GPS and Omega, Phi, Kappa Errors on X,Y

19. Project Competition Within the Class

- Divide Class into 2 or More Groups

- Assign a Mapping Project (Requirements Given)

• Group 1 - present a proposal to the class to map the area and produce the required products.

• Group 2 - make same proposal presentation to the class. Grade assigned based on student’s participation

20. FINAL EXAM

7.0 Intended learning outcomes and associated assessment methods of those outcomes

|Learning Outcome |In class attendance and evaluation|Homework Assignments |

|7.1 Describe the fundamental properties of Aerial cameras |X |X |

|and sensors | | |

|7.2 Explain performance metrics of the frame camera, Pan |X |X |

|camera and strip cameras (Digital or Film) | | |

|7.3 Evaluate the spatial capabilities that affect the design|X |X |

|of imaging systems | | |

|7.4 Describe the fundamental considerations for flight |X |X |

|planning | | |

|7.5 Evaluate spatial accuracy potential of airborne and |X |X |

|space systems | | |

|7.6 Evaluate and compare frame cameras vs linear arrays for |X |X |

|mapping | | |

|7.7 Given a set of accuracy requirements for a Mapping |X |X |

|project, prescribe the system and mission characteristics | | |

|for the project | | |

8.0 Program or general education goals supported by this course

Satisfies one element of the set of Course Requirements for the M.S. and Ph.D. degree programs in Imaging Science .

9. Other relevant information

1. Access to a calculator, Excel or computer program that will perform matrix calculations including matrix inverses.

9.2 Classroom with computer projection system and overhead projector with screen

10. Supplemental information: Information about the American Society for Photogrammetry and Remote Sensing and the Photogrammetric Engineering and Remote Sensing Journal.

END

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