Xalên kontrolê û daneyên PPK-ê çawa bandorê li rastbûna têkildar a modela 3D dikin

Di van du ceribandinan de, me çar guhêrbarên cihêreng destnîşan kirin da ku rastbûna têkildar a modela 3D verast bikin. Çar guherbarên cuda ev in:

1: Cûreyên drona hilgir: dronek VTOL an dronek pir-rotor

2: GSD cuda

3:Bi / Bêyî xalên kontrola erdê

4: Bi/Bê daneyên PPK

Ceribandin 1: bandora xalên kontrolê yên erdê (GCP) li ser rastbûna têkildar a modela 3D;

Şert 1

Drone hilgir	Kamera oblique	GSD	PPK
CW10 VTOL	DG4pros	2cm	Erê

Encam Tablo 1:

Hejmara Objects	dirêjahiya pîvandinê (L0)	Dirêjahiya modela 3D (L1) bêyî GCP	Dirêjahiya modela 3D (L2) bi GCP	Ds1 (L0-L1)	Ds2 (L0-L2)
1	7.210	7.20	7.21	0.01	0.00
	8.706	8.71	8.68	0.00	0.03
	10.961	10.87	10.90	0.09	0.06
2	7.010	6.89	6.98	0.12	0.03
3	1.822	1.79	1.80	0.03	0.02
4	10.410	10.39	10.40	0.02	0.01
5	10.718	10.67	10.70	0.05	0.02
6	13.787	13.75	13.77	0.04	0.02
7	11.404	11.39	11.39	0.01	0.01
	12.147	12.13	12.13	0.02	0.02
8	7.526	7.51	7.49	0.02	0.04
	13.797	13.79	13.81	0.01	-0.01
9	10.374	10.35	10.36	0.02	0.01
10	2.109	2.03	2.02	0.08	0.09
	4.281	4.15	4.16	0.13	0.12
11	14.675	14.61	14.66	0.07	0.02
	8.600	8.60	8.54	0.00	0.06
12	13.394	13.37	13.35	0.02	0.04
13	12.940	12.88	12.89	0.06	0.05
14	7.190	7.20	7.18	-0.01	0.01
15	13.371	13.36	13.35	0.01	0.02
	6.435	6.40	6.41	0.03	0.02
16	3.742	3.75	3.72	-0.01	0.02
17	6.022	5.97	5.98	0.05	0.04
18	3.937	3.93	3.89	0.01	0.05
19	8.120	8.10	8.12	0.02	0.00
	14.411	14.40	14.40	0.01	0.01
20	6.077	6.04	6.03	0.04	0.05
21	13.696	13.65	13.66	0.05	0.04
RMSE: Ds1=0,0342m,Ds2=0,0308m

Şert 2

Drone hilgir	Kamera oblique	GSD	PPK
CW10 VTOL	DG4pros	2cm	Na

Encam Tablo 2:

Hejmara Objects	dirêjahiya pîvandinê (L0)	Dirêjahiya modela 3D (L1) bêyî GCP	Dirêjahiya modela 3D (L2) bi GCP	Ds1 (L0-L1)	Ds2 (L0-L2)
1	7.210	7.18	7.18	0.030	0.030
	8.706	8.69	8.68	0.016	0.026
	10.961	10.89	10.91	0.071	0.051
2	7.010	6.88	6.92	0.130	0.090
3	1.822	1.76	1.79	0.062	0.032
4	10.410	10.38	10.39	0.030	0.020
5	10.718	10.65	10.66	0.068	0.058
6	13.787	13.72	13.77	0.067	0.017
7	11.404	11.41	11.38	-0.006	0.024
	12.147	12.13	12.12	0.017	0.027
8	7.526	7.44	7.47	0.086	0.056
	13.797	13.83	13.83	-0.033	-0.033
9	10.374	10.35	10.34	0.024	0.034
10	2.109	1.98	2.03	0.129	0.079
	4.281	4.14	4.18	0.141	0.101
11	14.675	14.55	14.59	0.125	0.085
	8.600	8.58	8.57	0.020	0.030
12	13.394	13.36	13.35	0.034	0.044
13	12.940	12.95	12.92	-0.010	0.020
14	7.190	7.21	7.21	-0.020	-0.020
15	13.371	13.36	13.36	0.011	0.011
	6.435	6.37	6.43	0.065	0.005
16	3.742	3.74	3.72	0.002	0.022
17	6.022	6.03	6.00	-0.008	0.022
18	3.937	3.91	3.94	0.027	-0.003
19	8.120	8.09	8.09	0.030	0.030
	14.411	14.40	14.41	0.011	0.001
20	6.077	6.06	6.03	0.017	0.047
21	13.696	13.68	13.65	0.016	0.046
RMSE: Ds1=0,0397m,Ds2=0,0328m

Şert 3

Drone hilgir	Kamera oblique	GSD	PPK
CW10 VTOL	DG4pros	1,5 cm	Erê

Encam Tablo 3:

Hejmara Objects	dirêjahiya pîvandinê (L0)	Dirêjahiya modela 3D (L1) bêyî GCP	Dirêjahiya modela 3D (L2) bi GCP	Ds1 (L0-L1)	Ds2 (L0-L2)
1	7.210	7.20	7.21	0.01	0.00
	8.706	8.69	8.7	0.02	0.01
	10.961	10.88	10.89	0.08	0.07
2	7.010	6.87	6.99	0.14	0.02
3	1.822	1.75	1.78	0.07	0.04
4	10.410	10.38	10.39	0.03	0.02
5	10.718	10.69	10.69	0.03	0.03
6	13.787	13.78	13.76	0.01	0.03
7	11.404	11.38	11.39	0.02	0.01
	12.147	12.12	12.12	0.03	0.03
8	7.526	7.49	7.51	0.04	0.02
	13.797	13.78	13.8	0.02	0.00
9	10.374	10.34	10.35	0.03	0.02
10	2.109	2.02	2.11	0.09	0.00
	4.281	4.21	4.28	0.07	0.00
11	14.675	14.65	14.68	0.03	0.00
	8.600	8.57	8.53	0.03	0.07
12	13.394	13.40	13.37	-0.01	0.02
13	12.940	12.89	12.91	0.05	0.03
14	7.190	7.18	7.2	0.01	-0.01
15	13.371	13.38	13.35	-0.01	0.02
	6.435	6.46	6.4	-0.03	0.03
16	3.742	3.75	3.71	-0.01	0.03
17	6.022	5.97	5.98	0.05	0.04
18	3.937	3.91	3.89	0.03	0.05
19	8.120	8.08	8.1	0.04	0.02
	14.411	14.38	14.39	0.03	0.02
20	6.077	6.05	6.03	0.03	0.05
21	13.696	13.67	13.64	0.03	0.06
RMSE: Ds1=0,0328m,Ds2=0,0249m

Şert 4

Drone hilgir	Kamera oblique	GSD	PPK
CW10 VTOL	DG4pros	1,5 cm	Na

Encam Tablo 4:

Hejmara Objects	dirêjahiya pîvandinê (L0)	Dirêjahiya modela 3D (L1) bêyî GCP	Dirêjahiya modela 3D (L2) bi GCP	Ds1 (L0-L1)	Ds2 (L0-L2)
1	7.210	7.20	7.21	0.010	0
	8.706	8.65	8.68	0.056	0.026
	10.961	10.90	10.87	0.061	0.091
2	7.010	6.86	6.88	0.150	0.13
3	1.822	1.76	1.76	0.062	0.062
4	10.410	10.37	10.38	0.040	0.03
5	10.718	10.68	10.72	0.038	-0.002
6	13.787	13.71	13.79	0.077	-0.003
7	11.404	11.38	11.38	0.024	0.024
	12.147	12.12	12.13	0.027	0.017
8	7.526	7.49	7.53	0.036	-0.004
	13.797	13.77	13.78	0.027	0.017
9	10.374	10.35	10.37	0.024	0.004
10	2.109	2.09	2.11	0.019	-0.001
	4.281	4.19	4.28	0.091	0.001
11	14.675	14.64	14.67	0.035	0.005
	8.600	8.57	8.58	0.030	0.02
12	13.394	13.38	13.39	0.014	0.004
13	12.940	12.91	12.9	0.030	0.04
14	7.190	7.20	7.19	-0.010	0
15	13.371	13.38	13.37	-0,009	0.001
	6.435	6.43	6.42	0.005	0.015
16	3.742	3.70	3.7	0.042	0.042
17	6.022	5.99	5.98	0.032	0.042
18	3.937	3.94	3.91	-0.003	0.027
19	8.120	8.12	8.07	0.000	0.05
	14.411	14.37	14.38	0.041	0.031
20	6.077	6.04	6.04	0.037	0.037
21	13.696	13.65	13.65	0.046	0.046
RMSE: Ds1=0,0356m,Ds2=0,0259m

Şert 5

Drone hilgir	Kamera oblique	GSD	PPK
DJI M600 Pro Multi-rotor	DG4pros	1,5 cm	Na

Encam Tablo 5:

Hejmara Objects	dirêjahiya pîvandinê (L0)	Dirêjahiya modela 3D (L1) bêyî GCP	Dirêjahiya modela 3D (L2) bi GCP	Ds1 (L0-L1)	Ds2 (L0-L2)
1	7.210	7.19	7.21	0.02	0.00
	8.706	8.70	8.70	0.01	0.01
	10.961	10.91	10.91	0.05	0.05
2	7.010	6.98	6.98	0.03	0.03
3	1.822	1.79	1.80	0.03	0.02
4	10.410	10.39	10.39	0.02	0.02
5	10.718	10.69	10.70	0.03	0.02
6	13.787	13.76	13.75	0.03	0.04
7	11.404	11.38	11.38	0.02	0.02
	12.147	12.12	12.13	0.03	0.02
8	7.526	7.50	7.49	0.03	0.04
	13.797	13.77	13.79	0.03	0.01
9	10.374	10.33	10.35	0.04	0.02
10	2.109	2.02	2.07	0.09	0.04
	4.281	4.20	4.21	0.08	0.07
11	14.675	14.65	14.66	0.03	0.02
	8.600	8.57	8.57	0.03	0.03
12	13.394	13.35	13.35	0.04	0.04
13	12.940	12.92	12.93	0.02	0.01
14	7.190	7.17	7.18	0.02	0.01
15	13.371	13.35	13.36	0.02	0.01
	6.435	6.41	6.42	0.02	0.01
16	3.742	3.70	3.71	0.04	0.03
17	6.022	5.99	6.00	0.03	0.02
18	3.937	3.89	3.91	0.05	0.03
19	8.120	8.08	8.10	0.04	0.02
	14.411	14.36	14.35	0.05	0.06
20	6.077	6.06	6.06	0.02	0.02
21	13.696	13.65	13.67	0.05	0.03
RMSE: Ds1=0,0342m,Ds2=0,0256m

Encamên

Guherbarên ceribandina 1 ev in:

1: Bi / Bêyî daneyên PPK.

2:Cûreyên drona hilgir: dronek VTOL an dronek pir-rotor

3: GSD cuda: 1.5 cm an 2 cm

Piştî analîzkirina pênc komên daneyên ceribandinê, em dikarin encamên jêrîn derxînin:

Dema ku kamera berbi DG4Pros ye:

(1) Bi/Bê xala kontrolê ya erdê (GCP) ku di sêgoşeya AT-ê de têkildar e, çi ew VTOL be an dronek pir-rotor be, çi GSD 2cm be an 1.5cm be, modela 3D ya ku ji hêla kameraya zirav DG4Pros ve hatî çêkirin dikare bigihîje hewcedariyên xeletiya rastbûna têkildar Ds≤10cm.

(2) Gava ku bi/bê GCP guhêrbar yekane be, rastbûna têkildar a modela 3D ya bi GCP ji ya bê GCP çêtir e.

(3) Gava ku GSD guhêrbar yekane ye, rastbûna têkildar a modela 3D ku GSD 1.5cm ji wê GSD 2cm çêtir e.

(4) Gava ku drona hilgir guhêrbar yekane ye, rastbûna têkildar a modela 3D ya ku pir-rotor bikar tîne ji ya ku VTOL wekî drona hilgir bikar tîne çêtir e.

Ceribandin 2: Bê GCP, bandora daneyên PPK li ser rastbûna têkildar a modela 3D

Şert 1

Drone hilgir	Kamera oblique	GSD	GCPs
CW10 VTOL	DG4pros	2cm	NA

Encam Tablo 1:

Hejmara Objects	dirêjahiya pîvandinê (L0)	Dirêjahiya modela 3D (L1) bêyî PPK	Dirêjahiya modela 3D (L2) bi PPK re	Ds1 (L0-L1)	Ds2 (L0-L2)
1	7.210	7.18	7.20	0.030	0.01
	8.706	8.69	8.71	0.016	0.00
	10.961	10.89	10.87	0.071	0.09
2	7.010	6.88	6.89	0.130	0.12
3	1.822	1.76	1.79	0.062	0.03
4	10.410	10.38	10.39	0.030	0.02
5	10.718	10.65	10.67	0.068	0.05
6	13.787	13.72	13.75	0.067	0.04
7	11.404	11.41	11.39	-0.006	0.01
	12.147	12.13	12.13	0.017	0.02
8	7.526	7.44	7.51	0.086	0.02
	13.797	13.83	13.79	-0.033	0.01
9	10.374	10.35	10.35	0.024	0.02
10	2.109	1.98	2.03	0.129	0.08
	4.281	4.14	4.15	0.141	0.13
11	14.675	14.55	14.61	0.125	0.07
	8.600	8.58	8.60	0.020	0.00
12	13.394	13.36	13.37	0.034	0.02
13	12.940	12.95	12.88	-0.010	0.06
14	7.190	7.21	7.20	-0.020	-0.01
15	13.371	13.36	13.36	0.011	0.01
	6.435	6.37	6.40	0.065	0.03
16	3.742	3.74	3.75	0.002	-0.01
17	6.022	6.03	5.97	-0.008	0.05
18	3.937	3.91	3.93	0.027	0.01
19	8.120	8.09	8.10	0.030	0.02
	14.411	14.40	14.40	0.011	0.01
20	6.077	6.06	6.04	0.017	0.04
21	13.696	13.68	13.65	0.016	0.05
RMSE Ds1=0,0397m,Ds2=0,0342m

Pêşî:Nerazîbûn û tehlîlkirina kromatîkî çawa bandorê li ima dike

Piştî:Dirêjahiya fokal çawa bandorê li encamên modelkirina 3D dike

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Ceribandin 1: bandora xalên kontrolê yên erdê (GCP) li ser rastbûna têkildar a modela 3D;

Şert 1

Encam Tablo 1:

Şert 2

Encam Tablo 2:

Şert 3

Encam Tablo 3:

Şert 4

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Şert 5

Encam Tablo 5:

Encamên

Ceribandin 2: Bê GCP, bandora daneyên PPK li ser rastbûna têkildar a modela 3D

Şert 1

Encam Tablo 1:

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