Volume XLI-B1
Int. Arch. Photogramm. Remote Sens. Spatial Inf. Sci., XLI-B1, 1057-1064, 2016
https://doi.org/10.5194/isprs-archives-XLI-B1-1057-2016
© Author(s) 2016. This work is distributed under
the Creative Commons Attribution 3.0 License.
Int. Arch. Photogramm. Remote Sens. Spatial Inf. Sci., XLI-B1, 1057-1064, 2016
https://doi.org/10.5194/isprs-archives-XLI-B1-1057-2016
© Author(s) 2016. This work is distributed under
the Creative Commons Attribution 3.0 License.

  06 Jun 2016

06 Jun 2016

INTEGRATION OF A GENERALISED BUILDING MODEL INTO THE POSE ESTIMATION OF UAS IMAGES

J. Unger, F. Rottensteiner, and C. Heipke J. Unger et al.
  • Institute of Photogrammetry and GeoInformation, Leibniz Universität Hannover, Germany

Keywords: pose estimation, hybrid bundle adjustment, building model, unmanned aerial system, UAS

Abstract. A hybrid bundle adjustment is presented that allows for the integration of a generalised building model into the pose estimation of image sequences. These images are captured by an Unmanned Aerial System (UAS) equipped with a camera flying in between the buildings. The relation between the building model and the images is described by distances between the object coordinates of the tie points and building model planes. Relations are found by a simple 3D distance criterion and are modelled as fictitious observations in a Gauss-Markov adjustment. The coordinates of model vertices are part of the adjustment as directly observed unknowns which allows for changes in the model. Results of first experiments using a synthetic and a real image sequence demonstrate improvements of the image orientation in comparison to an adjustment without the building model, but also reveal limitations of the current state of the method.