無人飛行載具(Unmanned Aerial Vehicle, UAV)於要求精度之圖資測製應用時，因飛行高度較低並可在雲下飛行取像，與大型載具相比可更機動性獲取空間解析度較高之影像，雖無法如大型載具酬載大像幅感測器供大區域圖資製作，但於小區域之圖資更新卻相當適合。但一般UAV因酬載重量限制，僅可酬載體積小且重量輕之感測器，如非量測型相機及低精度定位定向系統，即AHRS系統。因此，本研究嘗試在UAV上酬載Trimble BD970 GNSS OEM GPS接收模組，此GPS接收模組體積小且重量輕可安置於UAV上，並透過VBS-RTK GPS定位技術獲取UAV精確飛行軌跡資訊，再經時間內插相機曝光瞬時的GPS資訊供空中控制使用，輔助UAV影像空中三角測量(簡稱空三)平差，以降低地面控制點需求。 但欲引入GPS觀測量供空中控制使用必須考量GPS天線與相機投影中心偏移量之問題，但因UAV所酬載之非量測型相機，將造成此偏移量不易透過地面測量方式測得，於本研究將於空三平差時使用線性漂移參數克服此偏移量無法量測之問題；此外，UAV所酬載之非量測型相機，相機參數乃透過地面近景攝影測量以自率光束法平差方式率定所得，但率定所得相機參數無法完全描述相機在航拍取像時的情況，故本研究於空三平差將採用自率光束法克服相機參數率定不完全之問題。實驗中，首先確定GPS模組BD970在VBS-RTK GPS定位技術下在地面高速移動時可獲得高精度的定位成果；接續驗證線性漂移參數及自率光束法平差於此研究的適用性；最後亦探討不同地面控制點配置及來源對空三平差之精度探討，並提出1/5000基本圖圖資測製精度要求下，VBS-RTK GPS輔助UAV影像自率光束法空三平差的地面控制點最適配置。 / UAV(Unmanned Aerial Vehicle) is currently used in civil purpose such as mapping and disaster monitoring. One of UAV advantages is to collect images with high resolution for mapping demand. However, due to payload limitations of UAV, it is difficult to mount metric aerial camera and precise POS(Positioning and Orientation System) device. Instead, only the non-metric camera and the low accurate AHRS (Attitude and Heading Reference System) can be installed. For mapping demands, Trimble BD970 GNSS OEM board will be carried on the UAV to collect the high accurate flying trajectory as control information for AT (aerial triangulation) by VBS-RTK(Virtual Base Station - Real Time Kinematic) GPS technique. Meanwhile self-calibration bundle adjustment will be employed for AT(Aerial Triangulation) to overcome the imperfect calibration of non-metric camera by the close-range photogrammetric approach. The precise offset between image perspective center and GPS antenna center, called GPS antenna-camera offset, is hard to measure in centimenter level by terrestrial measurement approach. Therefore the drift parameters will be utilized to solve the problem of GPS antenna-camera offset while performing bundle adjustment with self-calibration for AT of UAV images. In the experiments of this study, the height positioning accuracy of BD970 by VBS-RTK GPS approach at high speed movement will be proved firstly. Then the adaptability of drift parameters and self-calibration for GPS supported AT of UAV images will be verified. Finally, the accuracy of AT by using different control information will be analized and appropriate configuration of GCPs(Ground Control Points) for VBS-RTK GPS supported self-calibration bundle adjustment for AT of UAV images will be proposed under the mapping demand with the scale of 1 : 5000.

近來三維數值城市及數碼城市（Cyber City）為各界極欲發展及研究的課題，為了要增加三維數值城市的擬真性及美觀程度，通常是將建物模型敷貼真實拍攝之牆面影像，增加三維模型的細緻化程度。而欲精確的敷貼牆面紋理影像，必須嚴密地將所拍攝之近景影像定位定向，一般採用光束法區域平差解算，此時需加上適當的控制點控制資訊才能完成，因此控制點控制資訊若來自地面測量將相當耗費成本。多年來，各地方政府製作大比例尺地形圖時已拍攝相當多的航照影像，可用來做為上述的控制資訊，亦即航空影像控制實體，若能使用這些航空影像控制實體作為控制資訊，不但可有效利用資源，亦能減少控制點取得所需花費的成本。因此，本研究將使用航空影像控制實體所提供的控制資訊做為控制來源。 本研究探討以航空影像控制實體作為控制資訊時，使用非量測型相機以類似傳統航測拍攝方式及旋轉多基線交向拍攝方式拍攝涵蓋建物牆面的目標區影像後，於最少控制且不同控制分布時，對光束法區域平差精度之影響。因使用非量測型相機，故本研究先以iWitnessPRO近景攝影測量軟體率定相機參數，接著以PHIDIAS近景攝影測量軟體解算光束法區域平差。過程中探討使用航空影像控制實體作為控制資訊時，於最少控制且不同控制分布時，加入附加參數解算的自率光束法區域平差與與一般光束法區域平差之精度。根據實驗結果，低樓層取像的光束法區域平差之檢核點RMSE精度，其結果大多可應用於LOD 3精度等級的牆面敷貼。另，因都市地區高樓林立，狹小巷弄多，有鑒於此，本研究使用旋轉多基線交向攝影，結果顯示其將有機會運用於近景攝影測量LOD 3精度等級的牆面紋理敷貼。 / Recently, the studies about the cyber city have become a popular topic. For improving the level of detail of cyber city, photo-realistic textures from images are mapped onto the surfaces of 3D building models. Before the accurate texture mapping, bundle block adjustment can be performed to recover the parameters of exterior orientation for each close-range images more accurate and more precise, where the control information is necessary. For the past years, many aerial photogrammetry projects were done by local governments for the mapping of 1/1000 topographic maps. Those historic aerial images can be used as control information to reduce the cost and increase the efficiency. Therefore, this study investigates the accuracy of bundle block adjustment about non-metric close-range images, taken from the ways similar to the traditional aerial photogrammetry and the rotating multi-baseline photogrammetry, by using control entities from historic aerial images as the minimal controls under various control distributions. Since the non-metric camera is used for collecting the close-range images, the iWitnessPRO software is utilized for camera calibration. After that, the PHIDIAS software, a close-range photogrammetry software, is employed to performed the bundle block adjustment. During performing the bundle block adjustment, the camera parameters are regarded as unknowns and determined, called as self-calibration bundle adjustment. The results of self-calibration bundle adjustment will be compared with conventional bundle adjustment. The test results show that the accuracy of most self-calibration bundle adjustment about close-range images covered with low buildings can be used for the application of LOD 3 texture mapping. Moreover, the test results of using close-range images from rotating multi-baseline photogrammetry in urban areas show the potential possibility for LOD 3 texture mapping in urban areas with high buildings and narrow alleys.

Tato práce popisuje problematiku návrhu a vývoje aplikace pro rekonstrukci 3D modelů z 2D obrazových dat, označované jako bundle adjustment. Práce analyzuje proces 3D rekonstrukce a důkladně popisuje jednotlivé kroky. Prvním z kroků je automatizované získání obrazové sady z internetu. Je představena sada skriptů pro hromadné stahování obrázků ze služeb Flickr a Google Images a shrnuty požadavky na tyto obrázky pro co nejlepší 3D rekonstrukci. Práce dále popisuje různé detektory, extraktory a párovací algoritmy klíčových bodů v obraze s cílem najít nejvhodnější kombinaci pro rekonstrukci budov. Poté je vysvětlen proces rekonstrukce 3D struktury, její optimalizace a jak je tato problematika realizovaná v našem programu. Závěr práce testuje výsledky získané z implementovaného programu pro několik různých datových sad a porovnává je s výsledky ostatních podobných programů, představených v úvodu práce.