Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography (한국측량학회지)

Korean Society of Surveying, Geodesy, Photogrammetry and Cartography (한국측량학회)
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Comparative Analysis of Exterior Orientation Parameters of Smartphone Images Using Quaternion-Based SPR and PnP Algorithms

스마트폰 영상정보를 활용한 쿼터니언 기반 후방교회법과 PnP 알고리즘의 외부표정요소 비교 분석

  • Kim, Namhoon (School of Civil and Environmental Engineering, Yonsei University) ;
  • Lee, Ji-Sang (School of Civil and Environmental Engineering, Yonsei University) ;
  • Bae, Jun-Su (School of Civil and Environmental Engineering, Yonsei University) ;
  • Sohn, Hong-Gyoo (School of Civil and Environmental Engineering, Yonsei University)
  • Received : 2019.11.11
  • Accepted : 2019.11.27
  • Published : 2019.12.31
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Abstract

The SPR (Single Photo Resection) is widely used as a method of estimating the EOPs (Exterior Orientation parameters) at the time of taking a photograph, but it requires an initial value and has a disadvantage of being sensitive to the initial value. In this study, we introduce quaternion-based single photo resection and PnP (Perspective-n-Point) algorithm that do not require initial values and compare the results. Photos were taken using a general smartphone, and the ground control point acquisition was based on the hybrid MMS (Mobile Mapping System) point cloud data possessed by the researchers. As a result, when the collinear condition based SPR is true value, quaternion-based SPR has higher attitude angle estimation accuracy than PnP algorithm. In case of camera position estimation, both algorithms showed accuracy within 0.8m when compared with ground control points.

사진 촬영 당시의 외부표정요소 추정 방법에는 공선조건식 기반 후방교회법이 널리 사용되지만 초기값을 필요로 하고, 그 값에 민감하다는 단점이 있다. 본 연구에서는 초기값을 필요로 하지 않는 외부표정요소 알고리즘인 쿼터니언 기반 공간후방교회법과 PnP (Perspective-n-Point algorithm)을 소개하고 그 결과를 비교하였다. 두 결과를 비교하기 위하여 일반 스마트폰으로 취득한 영상을 사용하였고, 지상기준점 취득은 본 연구진이 보유하고 있는 하이브리드 MMS (Mobile Mapping System) 점군 자료를 이용하였다. 그 결과, 공선조건식 기반 SPR (Single Photo Resection)을 참값으로 할 때, 쿼터니언 기반 SPR이 PnP 알고리즘에 비해 자세각 추정 정확도가 높았다. 카메라 위치추정의 경우에는 두 알고리즘 모두 지상기준점과 비교했을 때 0.8m 내의 정확도를 보임을 확인하였다.

Keywords

References

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