Panoramic Bundle Block Adjustment with Image Matching for Mobile Mapping System

Abstract

The spherical panoramic image from Ladybug3 in MMS can determine the coordinate of ground point without data from INS. The new mathematical model for spherical panoramic image and new procedure for image matching were developed for bundle block adjustment. Comparing result between data from INS and bundle block adjustment based on 20 check points. The RMSE will check in X, Y and Z direction. The reference result is determined from INS data the RMSE are±0.216 m., ±0.362 m. and ±0.308 m. respectively. However, when the manual tie points and photo control points added in first and last image are used, the corresponding RMSE are ±0.085 m., ±0.100 m. and ±0.039 m. respectively. When applied photo control points to all images the RMSE are ±0.092 m., ±0.109 m. and ±0.041 m. respectively. In addition, using tie points from computer vision and control points produce are ±0.303 m., ±0.330 m. and ±0.202 m. Finally, the RMSE decrease respectively to ±0.128 m., ±0.230 m. and ±0.071 m. after control points are added to all images.