P L S - Lecture-2

COLLEGE OF DEPARTMENT OF
ENGINEERING SURVEYING ENG.
Close-Range Photogrammetry- Introduction

BSc - 4th Stage
2020-2021
Lecture 2
Dr. Fanar Mansour Abed
[email protected]
Close Range Photogrammetry(CRP)
 Terrestrial Photogrammetry (TP) is a measurement technique where the
coordinates of the points in 3D space of a terrestrial object are calculated by
the measurements made in two terrestrial photographic images (or more)
taken from different positions.
 CRP is a special term of terrestrial photogrammetry (TP) and its generally used
in conjunction with object to camera distances of not more than 300-400
meters.
Close Range Photogrammetry(CRP)
• With Terrestrial photogrammetry (TP) the cameras are usually

accessible, so that direct measurements can be made to obtain
exposure stations (similar to airborne with GPS).
• Known exterior orientation parameters (E.O.P.) are a source of
control, replacing the necessity for locating control in object space.
• TP may be static (photos of stationary objects), or dynamic (photos of
moving objects).
Objectives
• Making accurate 3-D models

• Can be used for Accurate Measurements
• Making Textured models
• Can be used as a final product (Photo-Realistic)
• Making Dense Surface Models
• Can be used for Meshing, Contour Maps
Past vs. present!
• Past ... Photo-theodolite &
Stereo-metric cameras
• Present … multistation!
(check video)
Equipments!
• Digital Camera
• High resolution camera (preferred > 7 MP)
• Lens/Camera have been calibrated
• Targets
• Retro-reflective targets
• Coded targets preferred
• Circular targets
• Hard-body tooling targets
• Software
• MetaShape/PhotoModeler, etc.
• There are many other software packages which may include
specific applications
Acquisition of Data: Camera
Cameras can be broadly classified into two types:
• Metric
• Single Cameras
• Stereo-metric Cameras
• Non-metric
Metric Cameras
Photogrammetric Camera that enables geometrically accurate reconstruction of the
optical model of the object scene from its stereo photographs
Single Cameras
• Total depth of field
• Nominal focal length
• Format of photographs
• Tilt range of camera axis and number of intermediate stops
Non-metric Cameras
• Cameras that have not been designed especially for

photogrammetric purposes.
• A camera whose interior orientation is completely or partially
unknown and frequently unstable.
Non-metric Cameras
Advantages
• General availability
• Flexibility in focusing range
• Price is considerably less than for metric cameras
• Can be hand-held and thereby oriented in any direction
Disadvantages
• Lenses are designed for high resolution at the expense of high distortion
• Instability of interior orientation (changes after every exposure)
• Lack of fiducial marks
• Absence of level bubbles and orientation provisions precludes the
determination of exterior orientation before exposure
Concept Of CR Photogrammetry
How it is done?
- Mathematically intersecting converging lines in space.
- The precise location of the point can be determined.
WHY Close Range PHOTOGRAMMETRY???
• Very precise
• Time effective
• Cost effective
• Based on well established and tested Algorithms
• Corrects all sorts of distortions
• Wider Scope of Applications
Drawbacks
• The result of measurement is not immediately at hand, because
time is needed for photographic processing and for evaluation.
• Except for the simplest problems, the need for specialised and
expensive equipment makes the method expensive.
• Errors during photography and development of film can ruin the
whole measuring project.
• It must be possible to photograph the object.
• Specialised instrumentation and personnel are not always available.

Methodology Camera
Calibration
Data
Acquizition
All
Stereo
Directional
Data
preparation
Data
Processing
Product
Generation
Data Acquisition
Planning the measurement Project
Involves selecting the number and locations of camera positions for taking the
photographs.
Data Acquisition
Stereo Photography
Camera Axis Unchanged while capturing Photographs
30-60% overlap between two side by side
Photographs
All Directional Photography

Photography from all directions
45% change gives good overlap
Data Preparation
1. Feature Marking :
• Involves marking Target Features on Photographs
• Target Features can be formed using Points, curves, Edges, Cylinders or

Shapes.
• Higher level features such as lines and surfaces are then built on these
marked features.
Orientation
• Done by Referencing the Photographs
• The points occurring in two are more photographs are referenced
• Similarly Edges or Curves are also referenced
The Process is same as that of “geo-Referencing” the satellite image.

Idealisation!
• An ideal camera has
• no lens distortion,
• square pixels, and
• a centered principal point.
• The images in the project are Resampled and
• The photographic marks are shifted to match the new idealized
images.
Data Processing
Data
Processing
Point cloud Surface

Meshing Texturing
generation generation
• Point Cloud Generation
1. For each pair of photographs, overlap is checked,

a) align the image rows along the epi-polar lines
b) to reduce the image to the region of interest
2. The algorithm searches along a row of the destination image

using an N x N patch of imagery from the source image.
3. Where it finds a good match it records it.
4. All the matches are then optimized for the best overall fit,
throwing out bad and weak matches
5. A sub pixel refinement is carried out for the matches.
6. The matched positions are used to create 3D points using

camera station information.
Meshing
• Equivalent to Triangulated Irregular Network
Surface Generation
• An algorithm is applied for the computer generation of realistic photos, from

any direction, of a solid object in 3D space.
Texturing
• Block Adjustment is the process of defining the mathematical relationship between
the images contained within a block, the camera or sensor model, and the ground.
Once the relationship has been defined, accurate imagery can be created.
Exporting the Data
• The Resulting 3D Data can be exported to CAD or any other Graphics
Program for further application specific processing. Various file
formats are available like DXF, 3DS, OBJ, VRML, IGES, 3DM, STL or
RAW files.
Acknowledgment Credits
• University of Texas
• University of Florida
• University of Calgary
• Chris Hart, CEE498 Experimental Methods
• Avinash Kumar Singh, M.Tech Geomatics
• Photogrammetry by Pramesh Hada

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COLLEGE OF DEPARTMENT OF

ENGINEERING SURVEYING ENG.

Close-Range Photogrammetry- Introduction

• With Terrestrial photogrammetry (TP) the cameras are usually

• Making accurate 3-D models

Cameras can be broadly classified into two types:

• Cameras that have not been designed especially for

• It must be possible to photograph the object.

• Specialised instrumentation and personnel are not always available.

All Directional Photography

• Involves marking Target Features on Photographs

• Target Features can be formed using Points, curves, Edges, Cylinders or

The Process is same as that of “geo-Referencing” the satellite image.

Point cloud Surface

1. For each pair of photographs, overlap is checked,

2. The algorithm searches along a row of the destination image

5. A sub pixel refinement is carried out for the matches.

6. The matched positions are used to create 3D points using

• Equivalent to Triangulated Irregular Network

• An algorithm is applied for the computer generation of realistic photos, from

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