PECTRUMMAPPING, LLC

Nevada Test Site Calibration Range and Geometric

Calibration of Digital Cameras

ISPRS I/2

Bob KletzliSpectrum Mapping, LLC

December 2-4, 2003

PECTRUMMAPPING, LLC

Outline

• Engineer Sensor For Geometric Stability

• Lock Lenses at Infinity Before Calibration

• Lab Radiometric Calibration

• Terrestrial Geometric Calibration

• In Situ Calibration

• Calibration Verification NTS

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Geometric Stability

• CDD Fixed To Milled Optical Bench

• Lens Receptacle Is Opposite Side

• Each Lens Fixed To Aluminum Socket

• Lenses Are Interchangeable

• Alignment Pins Eliminate Rotation

• TEC Surrounds CCD

• “Shake and Bake”

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Lens Focus

• Lens Focused At Infinity

• High Frequency Target At 100m

• Each Lens Adjusted & Pinned

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Radiometric Calibration

• Lab Tools Include:

• Integrating Sphere

• Spectralon Panels

• Spectral Line Lamps

• Lab Processes

• Dark Current

• Flat Fielding

• White Balance

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Terrestrial Range

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Terrestrial Camera Stations

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Bundle Result 1 Bundle Adjustment University of Melbourne Department of Geomatics 25 November, 2002 13:38:42 Project: Y:\Dig_cameras\EQ-Color-18Nov02\90mm\Session_1\Session_1.apf Adjustment is Free-Network -- There are no explicit control points *** Results for Camera 1 EQ-CLR90mm-14653069 Lens 14653069 Camera Initial Total Final Initial Final Variable Value Adjustment Value Std. Error Std. Error C 91.7480 0.02407 91.7239 1.0e+003 1.635e-002 XP -0.3981 -0.01890 -0.3792 1.0e+003 3.721e-003 YP 0.5285 -0.01879 0.5473 1.0e+003 3.601e-003 K1 2.04240e-006 -1.588e-007 2.20122e-006 1.0e+003 2.400e-007 K2 -1.92250e-009 -5.825e-010 -1.33999e-009 1.0e+003 8.911e-010 K3 7.70570e-013 7.621e-013 8.44308e-015 1.0e+003 9.949e-013 P1 0.00000e+000 -1.451e-024 1.45124e-024 1.0e-016 2.869e-016 P2 0.00000e+000 -1.750e-024 1.75043e-024 1.0e-016 2.869e-016 B1 0.00000e+000 4.003e-025 -4.00300e-025 1.0e-016 2.869e-016 B2 0.00000e+000 -2.254e-025 2.25423e-025 1.0e-016 2.869e-016 Maximum Observational Radial Distance Encountered: 24.7 mm Summary of Residuals Sta Station Residuals Number of # x y Total Points Image001 2.07 2.22 2.15 17 Image002 0.90 0.74 0.82 17 Image003 1.18 0.76 0.99 13 Image004 0.98 1.67 1.37 10 Image005 1.51 1.10 1.32 16 Image006 1.43 1.37 1.40 13 Image007 1.63 1.49 1.56 14 Image008 0.56 0.40 0.48 11 Image009 1.74 1.67 1.70 14 Image010 1.42 0.96 1.21 9 Image011 1.65 1.64 1.65 14 Image012 1.33 0.61 1.04 10 Image013 1.70 2.07 1.90 31 Image014 0.91 1.14 1.03 20 Image015 1.36 1.45 1.40 17

Image016 1.42 1.31 1.36 17 Image017 1.88 1.80 1.84 32 Image018 1.05 1.28 1.17 20 Image019 1.54 1.84 1.69 27 Image020 1.22 0.82 1.04 32 Image021 1.90 1.46 1.69 29 Image022 1.38 1.48 1.43 30 Image023 1.22 1.83 1.56 39 Image024 1.05 0.90 0.98 53 Image025 1.50 1.12 1.33 50 Image026 1.27 1.39 1.33 25 Image027 1.09 0.87 0.99 49 Image028 1.12 1.74 1.46 32 Image029 1.36 1.09 1.23 44 Image030 1.40 1.17 1.29 21 Image031 0.78 0.69 0.74 35 Image032 1.22 0.99 1.11 33 Image033 1.44 1.30 1.37 25 Image034 0.99 0.87 0.93 42 Image035 1.24 1.26 1.25 39 Image036 1.44 1.69 1.57 42 Image037 1.54 1.23 1.39 58 Image038 1.48 1.40 1.44 50 Image039 1.37 1.30 1.34 25 Image040 1.27 1.43 1.35 32 Image041 1.54 1.57 1.56 42 Image042 1.69 1.67 1.68 50 Image043 1.33 1.10 1.22 58 Image044 1.36 1.39 1.37 54 Image045 1.81 1.97 1.89 50 Image046 1.41 0.96 1.21 63 Image047 1.14 1.07 1.10 54 Image048 1.17 1.47 1.33 35 Image049 1.56 1.56 1.56 43 Image050 1.02 0.78 0.91 55 Image051 1.40 1.01 1.22 50 Image052 1.21 1.71 1.48 36 Image053 1.34 0.86 1.13 40 Image054 1.33 0.86 1.12 31 Total Residuals Degrees of Mean Error of x y Total Observations Constraints Parameters Freedom Unit Weight 1.38 1.33 1.36 3480 272 595 3157 2.869

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Bundle Result 2 Bundle Adjustment University of Melbourne Department of Geomatics 25 November, 2002 16:11:43 Project: Z:\Dig_cameras\EQ-Color-18Nov02\90mm\Session_2\Session_2.apf Adjustment is Free-Network -- There are no explicit control points *** Results for Camera 1 EQ-CLR90mm-14653069 Lens 14653069 Camera Initial Total Final Initial Final Variable Value Adjustment Value Std. Error Std. Error C 91.7300 -0.01152 91.7415 1.0e+003 1.115e-002 XP -0.3681 0.00079 -0.3689 1.0e+003 3.276e-003 YP 0.5579 0.00651 0.5514 1.0e+003 2.965e-003 K1 3.29709e-006 -5.996e-008 3.35706e-006 1.0e+003 2.095e-007 K2 -5.49810e-009 5.710e-010 -6.06909e-009 1.0e+003 7.435e-010 K3 3.80144e-012 -6.146e-013 4.41604e-012 1.0e+003 7.941e-013 P1 5.91017e-024 -2.175e-024 8.08555e-024 1.0e-016 2.953e-016 P2 2.29756e-024 -2.460e-024 4.75800e-024 1.0e-016 2.953e-016 B1 -6.43797e-025 4.638e-025 -1.10757e-024 1.0e-016 2.953e-016 B2 1.35261e-024 -2.543e-025 1.60689e-024 1.0e-016 2.953e-016 Maximum Observational Radial Distance Encountered: 26.0 mm Summary of Residuals Sta Station Residuals Number of # X Y Total Points Image001 1.98 1.93 1.96 47 Image002 1.01 0.70 0.87 70 Image003 1.40 0.92 1.18 61 Image004 1.69 1.92 1.81 42 Image005 0.87 0.66 0.77 40 Image006 1.05 0.95 1.00 68 Image007 1.27 0.77 1.05 68 Image008 1.21 2.18 1.76 53 Image009 1.44 2.24 1.88 44 Image010 1.05 0.90 0.98 64 Image011 1.16 0.98 1.07 59 Image012 1.55 1.80 1.68 33 Image013 1.70 1.78 1.74 47 Image014 1.04 1.03 1.04 55 Image015 1.02 1.00 1.01 41

Image016 1.65 2.07 1.87 41 Image017 1.17 1.09 1.13 36 Image018 1.39 1.33 1.36 54 Image019 1.53 1.10 1.33 50 Image020 1.44 1.69 1.57 26 Image023 1.09 1.20 1.15 23 Image024 1.20 1.01 1.11 32 Image025 1.55 2.04 1.81 35 Image026 1.17 0.97 1.08 54 Image027 1.53 1.05 1.31 43 Image028 1.53 2.00 1.78 37 Image029 1.42 1.04 1.25 49 Image030 1.65 0.96 1.35 46 Image031 1.47 2.04 1.78 34 Image032 1.03 1.09 1.06 47 Image033 1.35 0.93 1.16 42 Image034 1.63 2.14 1.90 23 Image035 1.08 0.87 0.98 25 Image036 1.45 1.02 1.26 27 Image037 1.60 2.17 1.91 23 Image038 1.15 1.22 1.19 26 Image039 1.48 1.19 1.34 28 Image040 1.47 1.10 1.30 31 Image041 1.46 2.01 1.76 25 Image042 1.36 1.10 1.23 33 Image043 0.99 0.82 0.91 33 Image044 1.36 1.32 1.34 23 Image045 2.08 1.81 1.95 23 Image046 0.89 0.98 0.94 19 Image047 1.28 1.44 1.36 27 Image048 1.94 2.21 2.08 29 Image049 1.43 0.98 1.22 31 Image050 1.51 2.01 1.78 11 Image051 2.31 1.82 2.08 15 Image052 1.28 1.46 1.37 16 Image053 2.01 1.35 1.71 16 Image054 2.36 1.70 2.05 13 Image055 1.37 1.02 1.21 17 Image056 1.23 1.56 1.41 17 Image057 2.66 2.06 2.38 20 Image058 1.23 1.12 1.17 22 Image059 1.19 0.97 1.09 20 Total Residuals Degrees of X Y Total Sigma0 Freedom Observations Parameters Constraints 1.41 1.40 1.41 2.953 3686 4024 628 290

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Bundle Result 3 Bundle Adjustment University of Melbourne Department of Geomatics 25 November, 2002 17:08:37 Project: Z:\Dig_cameras\EQ-Color-18Nov02\90mm\Session_3\Session_3.apf Adjustment is Free-Network -- There are no explicit control points *** Results for Camera 1 EQ-CLR90mm-14653069 Lens 14653069 Camera Initial Total Final Initial Final Variable Value Adjustment Value Std. Error Std. Error C 91.8275 0.10373 91.7238 1.0e+003 1.099e-002 XP -0.3960 -0.01904 -0.3770 1.0e+003 3.234e-003 YP 0.5480 0.00787 0.5402 1.0e+003 2.859e-003 K1 3.57803e-006 6.067e-007 2.97134e-006 1.0e+003 2.145e-007 K2 -9.62096e-009 -1.813e-009 -7.80826e-009 1.0e+003 7.525e-010 K3 8.98724e-012 1.997e-012 6.99015e-012 1.0e+003 7.952e-013 P1 1.74595e-024 -1.371e-024 3.11733e-024 1.0e-016 2.846e-016 P2 -3.51506e-024 -2.119e-024 -1.39603e-024 1.0e-016 2.846e-016 B1 4.44110e-025 3.646e-025 7.94663e-026 1.0e-016 2.846e-016 B2 7.97213e-025 -2.068e-025 1.00406e-024 1.0e-016 2.846e-016 Maximum Observational Radial Distance Encountered: 25.4 mm Summary of Residuals Sta Station Residuals Number of # x y Total Points Image001 2.42 0.81 1.80 14 Image002 1.73 1.70 1.72 23 Image003 1.30 1.06 1.19 21 Image004 1.84 2.51 2.20 13 Image005 1.83 1.24 1.56 20 Image006 1.21 1.65 1.45 18 Image007 2.10 2.58 2.35 14 Image008 1.71 1.44 1.58 15 Image009 1.52 1.97 1.76 19 Image010 1.43 1.43 1.43 17 Image011 1.45 0.84 1.18 10 Image012 1.81 1.77 1.79 12

Image013 1.29 0.89 1.11 10 Image014 1.68 1.44 1.57 13 Image015 0.77 0.88 0.83 12 Image016 1.34 1.07 1.21 13 Image017 1.23 1.26 1.24 37 Image018 1.18 1.93 1.60 27 Image019 1.32 1.05 1.19 42 Image020 1.55 2.24 1.93 34 Image021 1.20 0.96 1.09 40 Image022 1.44 1.23 1.34 35 Image023 1.71 2.11 1.92 38 Image024 1.07 1.02 1.04 41 Image025 1.41 1.06 1.25 39 Image026 1.63 2.10 1.88 43 Image027 1.07 1.06 1.06 53 Image028 1.40 1.05 1.24 45 Image029 1.34 1.90 1.64 36 Image030 0.91 0.80 0.85 53 Image031 1.08 0.92 1.00 44 Image032 1.12 1.92 1.57 29 Image033 1.08 0.96 1.02 54 Image034 1.16 1.26 1.22 40 Image035 1.45 1.79 1.63 32 Image036 1.41 1.65 1.54 39 Image037 1.11 1.24 1.18 43 Image038 1.37 1.24 1.31 52 Image039 1.44 1.20 1.33 43 Image040 1.35 1.31 1.33 45 Image041 1.09 0.99 1.04 48 Image042 1.21 0.74 1.00 54 Image043 1.67 1.16 1.44 57 Image044 1.14 1.98 1.62 41 Image045 1.17 1.23 1.20 49 Image046 1.16 0.70 0.96 50 Image047 1.35 2.10 1.76 48 Image048 1.11 1.34 1.23 54 Image049 1.36 0.89 1.15 57 Image050 1.06 1.89 1.53 53 Image051 1.14 0.95 1.05 75 Image052 1.21 0.81 1.03 66 Total Residuals Degrees of Mean Error of x y Total Observations Constraints Parameters Freedom Unit Weight 1.33 1.38 1.35 3716 281 589 3408 2.846

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Bundle Summary

Session FL XP YP

1 91.7239 -0.3792 0.54732 91.7415 -0.3689 0.55143 91.7238 -0.3770 0.5402

0.0102 0.0054 0.0057

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• 400+ points by RTK• 2-3 cm accuracy• Photo Identifiable• Variable terrain• Used for both laser & photography• Building corners surveyed

Insitu Range (NM)

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Insitu Range Closeup

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NTS Calibration Range

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NTS LandSat

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NTS Site

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Flight Plan

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GPS Trajectory NLV to NTS

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GPS Fwd/Rev RMS (NLV)

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GPS Fwd/Rev RMS (NTS)

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1:12,000 Images/Control

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1:12,000 Flight

1:12,000 Control Variance

-0.4

-0.2

0

0.2

0.4

VX VY

VX VY VZ XY Flt Hgt Flt Hgt/XY

0.097 0.153 0.208 0.128 1079 8429.688

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1:18,000 Images/Control

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1:18,000 Flight

1:18,000 Control Variance

-0.4

-0.2

0

0.2

0.4

VX VY

VX VY VZ XY Flt Hgt Flt Hgt/XY

0.12 0.166 0.312 0.145 1620 11172.41

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1:24,000 Images/Control

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1:24,000 Flight

VX VY VZ XY Flt Hgt Flt Hgt/XY

0.169 0.118 0.367 0.146 2160 14794.52

1:24,000 Control Variance

-0.4

-0.2

0

0.2

0.4

VX VY

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Summary

• Digital Cameras Can be Calibrated to Conventional Specifications

• Calibrations Are Maintained Over Time

• Regional Test Ranges Are Extremely Useful For Calibration and Verification