Application of Dual Quaternion for Determing Photogrammetric Orientation Parameters

• Main Authors: Pei-Syuan Li, 李佩璇
• Other Authors: 徐百輝
• Format: Others
• Language: zh-TW
• Published: 2017
• Online Access: http://ndltd.ncl.edu.tw/handle/uscx49

碩士 === 國立臺灣大學 === 土木工程學研究所 === 105 === In photogrammetry, the Euler angular are commonly used to describe the attitude parameters for exterior orientation. The basic formula is the collinearity condition equation, which connect the perspective center of camera, the photo point, and the ground point along a straight line. With the given coordinates of ground control points and the measured coordinates of the photo point, the exterior orientation parameters can be determined based on the linearization of the collinearity equation using least squared adjustment. Because of the linearization, the prior estimation of the initial values of the unknown parameters are highly required. In this study, the quaternion and the dual quaternions are used to replace the rotation matrix by Euler anglers and translations to avoid the problem caused by the linearization. Dual quaternion has the ability to represent the rotation and translation simultaneously in three dimensional vector space. In this study, the 2D image coordinates are transformed to 3D camera coordinate system by computer vision techniques, then the 3D object coordinates can by determined by dual quaternion algorithm. Only three control points are needed to calculate the rotation and translation between the camera and object coordinates and then the camera orientation can be determined.