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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