PRINCIPLES OF PHOTOGRAMMETRY

     CONTENTS
   Chapter l BASlC MATHEMATlCS OP PHOTOGRAMMETRY
    l. l Space Coordinate System
    l. 2 Elements ofExterior.Orientation
    l. 3 Imase Forming Equations of the Central Prqjection
    l. 4 Orientation Matrices
    l. 5 Small Rotation Angles
    1. 6 Theory of Projective; Transformation in Photogrammetry
   Chapter 2 SPACE RESECTlON OF A SlNGLE PHOTOGRAPH
    2. l Introduction
    2. 2 Rigorous Formulas,
    2. 3 Formulas in Vertical Photography
    2. 4 Accuracy of, Space .Resection
    2. 5 Uncertainty.of space, Resection
   Chapter 3 DOUBLE IMAGE ANALYTlCAL PHOTOQRAMMETRY
    3. l Analytical Relative Orientation of an Independent Image Pair
    3. 2 Analytical Relative Orientation of Consecutive Photo Connection
    3. 3 Accuracy Analysis of, Relative Orientation
    6. 4 computatlon ot Modei cooramates
    3. 5 Effect of Relative Orientation Errors on Model Coordinates,
    3. 6 Analytical Absolute Qrientation of the Model
    3. 7 Accuracy of Absolute Orientation
    3. 8 Global Solution for Orientatipn Elements
   Chapter 4 SlNGLE STRlP ANALYTlCAL AEROTRlANGULATlON
    4. l Introduction
    4. 2 Relative Orientation and the Connection of Models
    4. 3 Relative Orientation with Conditions for Model Connection
    4. 4 Connection of Angular Orientation in the Independent image Pair Methods
    4. 5 Absolute Orientation of the Strip Net
   Chapter 5 ERROR PROPERTlES OF STRlP COORDlNATES
    5. l Introduction
    5. 2 General Laws of Error Propagation
    5. 3 Systematic Phenomenon in the Accumulation of Random Errors
    5. 4 Non-linear Correction Equations of a Strip Net
   Chapter 6 BLOCK AEROTRlANGULATION BY STRlP METHOD
    6. l Introduction
    6. 2 Error Equations
    6. 3 Structure of Normal Equations
    6. 4 Solution of Normal Equations
    6. 5 Consideration of Errors in Control Points
    6. 6 Solution by Successive Approximation
   ChaDter 7 BLOCK AEROTRlANGULATlON WlTH INDEPENDENT MODELS
    7. l Introduction
    7. 2 Three-dimensional Transformation of Unit,Models ,
    7. 3 Separation of Planimetrie and Heifiht C.omoutations
    7. 4 Computation.Process of. Planimetric Block Aerotriangulation
    7. 5 General Analysis of the Structure ot'. Normal -Equations
    7. 6 Method of Successive Approximatoon by Individual Independent .Models
    7. 7 Determination of Space Coordinates of the Projection Centre
   Chapter 8 BLOCK AEROTRlANGUlLATlON BY BUNDLE METHOD
    8. l Computational Principle and the Structure of Normal Equations
    8. 2 Successive Approximation Method by Alternating Two Kinds of Unknowns
    8. 3 Solution by Partitioning Adjustment in Groups
   Chapter 9 OTHER COMPUTATlONAL METHODS
    IN BLOCK AEROTRlANGULATlON
    9. l Net Formation by the Condition of Coplanarity
    9. 2 Formation of the Block by Use of Equivalent Photos
    9. 3 Formation of Block by the Pyramid of Bundle of Rays
   Chapter lO SOLUTlON OF LARGE SlMULTANEOUS EQUATlONS
    10. l Characteristics in the Solution of Normal Equations
    lO. 2 Direct Solution of Normal Equations
    lO. 3 Iterative Solution of Normal Equatibns
    lO. 4 Norms of Matrices and their Applications
    lO. 5 Equivalent Error Equations
    lO. 6 Method of Solution by Orthogonalization
    lO. 7 Gram-Schmidt Method of Orthogonalization
    lO. 8 Householder Method of Solution
    l0. 9 Givens Method of Solution.
    10. l0 The Gradient Method
   Chapter 11 ON-LINE AEROT5RfANGULATlON
    11. l Introduction
    ll. 2 Operational Scheme of On-line Aerotriangulation
    ll. 3 Characteristtes of Operationin an Analytical Plotter
    ll. 4 Sequential Least Squares Operation
    11. 5 Sequential Algorithm with New Parameters
   Chapter 12 TRANSFORMATlONS BETWEEN VARlOUS SPACE
    RECTANGULAR COORDINATE SYSTEMS ONTHE EARTH
    12. l Introductior
    l2. 2 Transformation Between Geographic Coordinates and Geocentrie Coordlnates
    12. 3 Transformation Between Geocentrics Coordinates and'fangent Plane Coordinates
    l2. 4 Transformation Between Geographic Coordinates and Tangent Plane Coordinates
    12. 5 Transformation Between Geographic Coodrdinates and the Plane Coordinates(φλ) of the
    Gauss Transverse Cylindrical Conformal Projection System
   Chapter 13 CORRECTlONS FOR iMAGE ERRORS
    AND INSTRUMENTAL ERRORS
    13.l CaUbration of Comparator
    13. 2 Theory of Photo Orientation in a Comparator
    l3. 3 Film Deformation
    l3. 4 Lens Distortion
    13. 5 Atmospheric Refraction
    13. 6 Earth Curvature
   Chapter 14 CAMERA CALBRATlON
    14. l Introduction
    14. 2 Laboratory Methods
    l4. 3 Stellat, Calibration Method
    14. 4 Test Field Calibration Method
   Chapter l 5 ACCURACY OF BLOCK ADJUSTMENT
    15. l Theoretical Accuracy Analysis
    15. 2 Accuracy Investigation by Experimental Method
   Chapter 16 SYSTEMATIC ERRORS IN BLOCK ADJUSTMENT
    16. l Introduction
    16. 2 Choice of Additional Parameters
    l6. 3 Statistical Tests of Additional Parameters
    16. 4 Adjustment Algdrithm Schemes
    16. 5 Estimation of a Posteriori variance
    16. 6 The Concept of Self-calibration with Mahy Groups of Additiohal Parameters
    16. 7 The a Posteriori Compensation Method
    16. 8 Applications of Additional Parameters and their Effects
   Chapter 17 THEORY OF GROSS ERROR DETECTlON
    l7. l Introduction
    l7. 2 Theory Concerning Residuals
    17. 3 The Statistical Test Value for Discriminating Groes Errors in Data-snooping Method
    17. 4 The Smallest Gross Error which can be Detected (Internal Reliability)
    l7. 5 Effect of Undetected Gross Errors on the Functions of Unknowns (External Reliability)
    17. 6 Effect of Undetected Gross Errors on Model Coordinates
    l7. 7 Gross Error Elimination by Iterative Process of Weight Functions
    l7. 8 Process of Gross Error Detection
    17. 9 Extension of Data-Snooping Theory
   Chapter 18 USE OF AUXlLlARY DATA
    AND COMBlNED BLOCK ADJUSTMENT
    18.1 Use of Auxiliary Data
    18. 2 Combined Adjustment of Photogrammetric Blocks
    18. 3 Banded Matrices and their Added Borders of Normal Equations
    18. 4 Reduction Method by Successive Partitloning for Banded-bordefed Matrix
    18. 5 Computation Schemes for Combined Adjustment of Photogramametric and Geodetic Observed
    Values
   Chapter 19 ANALOGUE STEREOPLOTTERS
    l9. l Typical Construction of Analogue Stereoplotters
    19. 2 Stereoplotters With No Photo Tilts
    19. 3 Planar Type Stereoplotters
    19. 4 Principle of Stereoplotters with Affine'Transfonnation
    19. 5 Digital Drawing Table and Digitally Controlled Plotting System
    l9. 6 Automation of Analogue Stereoplotters
   Chapter 20 PRlNClPLES OF PLOTTlNG WlTHATEREOPLOT-TER
    20. l Movement of Projected Points in a Projection Plane
    20. 2 Relative Orientation in a Stereoplotter
    20. 3 Absolute Orientation in a Stereoplotter
    20. 4 Theory of Orientation for Stereoplotters with Eccentric Cardans ofProjectors
    20. 5 Principles of Plotting with Affinely Transformed Bundle of Rays
    20. 6 Correction for Lens Distortion in a Stereoplptter
   Chapter 21 STEREOMETERS
    21. l Basic Formulas
    21. 2 Stereometer CTд-2
    21. 3 Zeiss (Opton) Stereotope
   Chapter 22 RECTlFlCATlON OF PHOTOGRAPHS
    22. l Persoective Relationships Between Planes
    22. 2 Law of Perspective Rotation
    22. 3 Optical Conditions for a Rectifier
    22. 4 Structural Axis and Orientation Elements of a Rectifier
    22. 5 Principle of Vanishing Point Control
    22. 6 Analytical Formulas for Photo Rectification
    22. 7 Empirical Orientation of a Rectifier
    22. 8 Orientation by Setting of Orientation Elements
    22. 9 Rectification of Inclined Planes (Affine TransfOrmation)
    22. lO Zonal Rectification
    22. ll Sketch Transfer by a Single Projector
    22. l 2 Optical Rectification of Remote Sensing Images
   Chapter 23 DlFFERNTIAL RECTlFtCATlON
    OF PHOTOGRAPHS(ORTHOPHOTOS)
    23. l Classification of Differential Rectification
    23. 2 Theory of Corrections within the Elementary Segments of Differential Rectification
    23. 3 Differential Rectifiers of Central Projectlon.Type
    23. 4 Differential Rectifiers of Functional Projection Type
    23. 5 The Stereo Orthophoto Pair
   Chapter 24 ANALYTlCAL PLOTTER
    24. l Basic Principles of an Analytical Plotter
    24. 2 Analytical Plotter Type Helava
    24. 3 Analytical Plotter Type D. S. (Digital Stereocartograph)
    24. 4 Various Types of Analytical Plotters
    24. 5 Automatic Analytical Plotters
   Chapter 25 DIOITAL ELEVATlON MO5DEL
    25. l Introduction
    25. 2 Acquisition of Reference Points
    25. 3 Accuracy Assessment of DEM
    25. 4 Automatic Plotting of Contour Lines
   Chapter 26 PHOTOGRAMMETRlC INTERPOLATlON
    26. l Introduction
    26. 2 Polynomial Interpolation
    26.3 Pointwise Interpolation Metnoq.
    26. 4 Least Squares Collocation
    26. 5 Least Squares Prediciton with Multi-Surface Functions
    26. 6 Interpolation by Finite Elements
   Chapter 27 APPLlCATlON OF ARRAY ALGEBRA
    27. l Introduction
    27. 2 Two-dimensional Array Algebra
    27. 3 Solution of Adjustrnent(Filterin) by Array, Algebra
    27. 4 Multi-dimensional Array Algebra
   Chapter 28 TERRESTRlAL PHOTOGRAMMETRY
    28. l Introduction
    28. 2 Theoretical Formulas of Terrestrial Photogrammetry
    28. 3 Length of the Photographic Baseline
    28. 4 Analogue Data Reduction
    28. 5 Error Theory
    28. 6 Analytical Terrestrial Photogrammetry
   Chapter 29 CLOSE-RANGE PHOTOGRAMMETRY
    29. l Introduction
    29. 2 Solution by Collinearity and Coplanarity Equations
    29. 3 Solution by Direct Linear Transformation
    29. 4 Deformation Parameters of Image Coordinates
    29. 5 Calibration of Close-range Cameras
    29. 6 Configuration of Photography
    29. 7 Multi-view Stereometry with Mirrors
    29. 8 X-ray Stereometry
    29. 9 Photogrammetric Treatment of Scanning Eleetron Microscope Imagery
    29. lO Two-media Photogrammetry
   Chapter 50 COMPUTER AlDED MAPPlNG.DATA BASE ANDGEOGRAPHICAL
    INFORMATlON SYSTEM (A BRlEF INTRODUCTlON)
    30. l General Process of Computer-aided Mapping
    30. 2 Attribute Encoding of Cartographic Information
    30. 3 InteractIve Cartographic Editing Workstation
    30. 4 Map Data Base
    30. 5 Data Models of a Data Base
    30. 6 Geographical Information System
   Chapter 51 QENERAL INTRODUCTlON TO DlGlTAL
    PHOTOGRAMMETRY AND REMOTE SENSlNG
    31. l Digital Photogrammetry
    31. 2 Digital Image Fundamentals
    31. 3 Introduction to Remote Sensing
    31. 4 Propagation of Electromagnetic Waves
    31. 5 General Description ot sensors
    31. 6 All Digital Photogrammetry and Remote Sensing
   Chapter 52 THE FOURlER TRANSFORM AND THEOREM
    OF CONVOLUTlON
    32. l Image Analysis in Frequency Domain
    32. 2 The Fourier Transform
    32. 3 The Discrete Fourier Transform
    32. 4 Two-dimensional Discrete Fourier Transform
    32. 5 Unit Impulse Function
    32. 6 Analysis of a Linear System
    32. 7 Convolution
    32. 8 Theorem of Convolution
    32. 9 Two-dimensional Convolution
   Chapter 53 IMAQE SAMPLING AND RESAMPLlNG
    33. l Image Sampling
    33. 2 Image Resampling
   Chapter 54 DlGlTAL IMAGE CORRELATlON
    34. l One- and Two-dimensional Image Cprrelation
    34. 2 Theory of Digital Correlation
    34. 3 Computational Methods in Digital Correlation
    34. 4 Some Strategies of Computation in Correlation
    34. 5 Correlation by Least Squares
    34. 6 Least Squares Correlation with Geometric Conditions
    34. 7 Least Squares Multi-point Matching (MPM)
    34. 8 Feature-based Matching
   Chapter 55 DlGlTAL GEOMETRlC PROCESSlNG OF IMAGES
    35. l Introduction
    35. 2 The Orbit of a Satellite
    35. 3 Projective Transformation Equations
    35. 4 Geometric Distortion of Remote Sensing Imagery
    35. 5 Effect of Terrain Undulations
    35. 6 Digital Differential Rectification
    35. 7 Ground Coordinate Transformation in Rectification of Remote Sehsing Imagery
   Chapter 56 PROCESSlNG OF IMAGE GREY LEVELS
    36. l Introductipn
    36. 2 Spectrum Feature Space
    36. 3 Image Transformation
    36. 4 Enhancement by Algebraic Operations
    36. 5 Contrast Enhancement
    36. 6 Enhancement by Histogram Modification
    36. 7 Filtering in Spatial Domain
    36. 8 Filtering in Frequency Domain
    36. 9 Optical ProCessing of Grey Values
    36. lO Colour Enhancement
    36. ll Image Restoration
   Chapter 57 COMPUTER-ASSlSTED CLASSFlCATlON
    37. l Supervised Classification Methods
    37. 2 Unsupervised Classification Methods
    37. 3 Auxiliary Processing Techniques in Image Classification
   Cjapter 58 IMAGE ENCOOlNG
    38. l General
    38.2 Entropy
    38.3 The Encoding Process
    38. 4 Some Typical Codes
   Chapter 59 MAPPlNG WlTH SPACE-BORNE REMOTE SENSlNG IMAQERY
    39. l Introduction
    39. 2 Accuracy Requirements of Topographuc Maps
    39. 3 Image Resolution
    39. 4 Mapping with Space Imagery
    39. 5 Stereoplotting with Spot Imagery
    39. 6 Three-dimensional Satellite Fnotogrammeny
   APPENDlX
    l ELEMENTARY KNOWLEDGE OF PHOTO ANALYSlS
    l BASlCS ABOUT MATRlCES
    l ORTHOGONAL MATRlX
    IV VARlANCE AND COVARlANCE
    V GENERALlZED LAW OF ERROR PROPAGATlON
    Vl MATRlX EXPRESSlON OF ADJUSTMENT EQUATlONS
    VII CORRESPONDENCE BETWEENMATRICES AND VECTORS
    VM EXPRESSlON OF BASlC EQUATlONS IN PHOTOGRAMMETRY IN VECTOR FORM
    K SOME IMPORTANT PROBABILTY DlSTRlBUTlON FUNCTlQNS
    X MULTl-DlMENSlONAL NORMAL DlSTRlBUTlON
    XI OPERATlONAL RULES FOR KRONECKER PRODUCTS
    XII FAST FOURlER TRANSFORM (FFT)
    BlBLlOGRAPHY