Terrestrial photogrammetry of weather images acquired in uncontrolled circumstances

This paper describes an accurate automated technique of terrestrial photogrammetry that is applied to weather images obtained in uncontrolled circumstances such as unknown focal length and 3D camera orientation ( azimuth and tilt of the optical axis, and roll about this axis), principal point unmarked on the image, and undetermined lens horizon. With the possible exception of the principal point, these quantities are deduced rapidly by a computer algorithm, with input consisting of accurate azimuth and elevation angles of landmarks that appear in the image. The algorithm works for wide-angle as well as for telephoto images and is more accurate than previous methods, which are based on assumptions of small angles and zero roll. Results are insensitive to the exact position of the principal point for telephoto images. For wide-angle photography, the principal point can be determined only if there is a sufficient number of accurately measured landmarks with diverse azimuth and elevation angles. If all the landmarks have low elevation angles, the principal point is impossible to determine and must be assumed to lie at the intersection of the diagonals of the uncropped image. The algorithm also provides the azimuth and elevation angle of any object, given the position of its image in the photograph. A photogrammetric search technique is described for finding an entity, which is visible in one camera's photography, in the simultaneous image obtained from a different direction by a second camera. Once the same object has been identified in both images, its 3D position is determined by triangulation.