GENERAL MODEL FOR AIRBORNE AND SPACEBORNE LINEAR ARRAY SENSORS

Transcription

1 GENERAL MODEL FOR AIRBORNE AND SPAEBORNE LINEAR ARRAY SENSORS Danela Pol Insttute of Geodesy and Photogammety, Swss Fedeal Insttute of Technology, Zuch, Swtzeland KEY WORDS: Oentaton, Modellng, GPS/INS, Integaton, Tangulaton, Thee-Lne ABSTRAT Ths pape descbes a geneal model fo D lnea aay sensos wth along-tack steeo vewng. The senso extenal oentaton, whch s dffeent fo each mage lne, s modelled wth tme-dependent pecewse polynomal functons and ntegated n the standad photogammetc tangulaton, esultng n an ndect geoefeencng model. The contnuty of the functons and the fst and second devatves between adacent segments s mposed. In case of sensos caed on aplane, the senso poston and atttude obseved by GPS/INS nstuments ae ncluded n the pecewse polynomal functons. Usng Gound ontol Ponts (GPs) and, adonally, Te Ponts (TPs), the functon paametes and the gound coodnates of the TPs ae estmated n a least-squaes adustment. The model was tested on magey acqued by TLS and MOMS- sensos, whch wee caed on helcopte and satellte espectvely, usng dffeent numbes and dstbutons of GPs. The Japanese TLS (Thee-Lne Senso) scans along-tack n 3 dectons wth a one-lens optcal system. The senso extenal oentaton fo each mage lne was avalable by GPS/INS nstuments, togethe wth 46 GPs measued n the mages. An absolute accuacy of 4- cm n planmety and 6-16 cm n heght was acheved (gound pxel sze: 1 cm). MOMS- senso was caed on the Russan MIR staton. The steeopas used fo the test wee acqued dung the Poda msson n 1997 and had gound esoluton of 18m. The pelmnay esults showed an absolute accuacy of m n planmety and m n heght. 1. INTRODUTION Today lnea D aay sensos ae wdely used to acque panchomatc and multspectal magey n pushboom mode fo photogammetc and emote sensng applcatons. Lnea scannes ae caed on acaft (e.g. ADS4, DPA and WAA fom DLR, AMISR fom NASA), helcopte (e.g. TLS fom STARLABO) o spacecaft (e.g. SPOT fom NES, IRS fom ISRO, MISR and ASTER fom NASA, IKONOS fom SpaceImage, WAOSS fom DLR) and allow photogammetc mappng at dffeent scales. The steeoscopy of the mages s acheved acoss- o along- the flght decton. Sensos wth acoss-tack steeo capablty ae n most cases caed on spacecaft (SPOT, IRS) and combne one lnea D aay pependcula to the flght decton wth a otatng mo. Steeopas ae acqued fom dffeent obts wth a tme delay n the ode of days. On the othe hand, sensos wth along-tack steeo capablty scan the tean suface wth D aays placed paallel to each othe, pependcula to the flght decton and nclned wth dffeent vewng angles along the taectoy. A vey common geomety used both on abone (ADS4, TLS, DPA, WAA) and satellte (MOMS-, WAOSS) n based on thee lnes lookng fowad, nad and backwad the flght decton. The advantage of the along-tack steeo geomety ove the acoss-tack one s to enable the acquston of a lage numbe of mages wth a smalle tme delay. Wthn pushboom sensos wth along-tack steeo vewng, the numbe of lenses s vaable: some sensos (ADS4, TLS, DPA, WAA, WAOSS) contan one lens common fo all the D aays, othes (AMISR, MISR) have one lens fo each goup of D lnes lookng n the same decton. The mages povded by lnea D aay sensos consst of lnes scanned ndependently at dffeent nstants of tme and stoed one next to the othe. Theefoe each lne of one mage s acqued wth a dffeent set of values fo the senso poston and atttude. In ode to geoefeence ths knd of magey, a classc bundle adustment s not ealstc, because the numbe of unknowns (6 extenal oentaton paametes fo each mage lne) would be huge. Theefoe an extenal oentaton modellng s equed. In case of sensos caed on satelltes, the exteo oentaton can be modelled wth functons dependng on tme, because the taectoy s qute smooth and pedctable and the coelaton between the oentaton paametes s hgh. Thd ode Lagange polynomals (Ebne et al., 199; Konus, 1998) and quadatc functons (Katky, 1989) have aleady been poposed fo ths scope; the physcal popetes of the satellte obt can also be ncluded as constants. Fo abone applcatons, whee the taectoy s not pedctable, the dect measuement of the extenal oentaton s ndspensable fo the geoefeencng of mages acqued by lnea scannes. Thanks to the successful mpovement and apd dffuson of postonng systems and data pocessng algothms, nowadays GPS and INS systems povde pecse poston and atttude obsevatons fo dect geoefeencng and mage ectfcaton (Haala et al., 1998; ame et al., ; Mostafa et al., ; Tempelmann et al., ). The poston and atttude measued by GPS/INS do not efe to the pespectve cente of the cameas, but to adonal efeence systems cented n the nstuments themselves. The offset vectos and msalgnment angles between the systems must be estmated wth post-flght calbaton pocedues. In adon, the GPS/INS obsevatons can also be affected by systematc eos. Theefoe fo hgh pecson applcatons the eos and GENERAL MODEL FOR AIRBORNE AND SPAEBORNE LINEAR ARRAY SENSORS Pecoa 15/Land Satellte Infomaton IV/ISPRS ommsson I/FIEOS onfeence Poceedngs

2 ambgutes contaned n the GPS/INS data have to be modelled and ntegated n the bundle adustment of the magey, esultng n an ndect geoefeencng model (Lee et al., ; hen, 1; Guen et al., ). In ths pape a geneal model fo the geoefeencng of multlne D aay sensos wth along steeo vewng s pesented. Afte a descpton of the geneal pncples of geoefeencng, the poposed appoach fo taectoy modellng and ntegaton of GPS/INS obsevatons wll be descbed. The expemental esults obtaned testng the senso model on MOMS- and TLS (Thee-Lne Senso) magey wll be epoted and dscussed. The conclusons and planned wok on the senso model mpovement wll close the pape.. GEOREFERENING OF MULTI-LINE SENSORS IMAGERY The am of geoefeencng s to establsh a elatonshp between mage and gound efeence systems, accodng to the senso geomety and the avalable data. The mage system s cented n the lens pespectve cente (P), wth x-axs tangent to the flght taectoy, z-axs paallel to the optcal axs and pontng upwads and y-axs along the D lne, completng a ghthand coodnate system (Fgue 1). R(,, ): otaton matx fom mage to gound system, accodng to atttude angles,,. Solvng Equaton 1 wth espect to x and y, the collneaty equatons: 11X X 1Y Y 31Z Z x f X X 3 Y Y 33 Z Z () 1 X X Y Y 3 Z Z y f X X Y Y Z Z ae obtaned. 3 Fo sensos whose optcal systems consst of moe lenses, adonal geometc paametes descbng the elatve poston and atttude of each lens wth espect to the nad one ae mpoted n the collneaty equatons (Ebne, 199). allng f the focal length, x, y, z the elatve poston and,, the elatve atttude of each lens, Equaton 1 s extended to: X X x x Y Y D(,, ) y kr(,,,,, ) y (3) Z Z z f whee: M(,, ): otaton fom mage system cented n the offnad lens to mage system wth ogn n the cental lens; D(,, ): otaton fom mage system cented n the cental lens to gound fame. R D,, M,, 33 : complete otaton fom mage system cented n the off-nad lens to gound fame. The collneaty equatons obtaned fom Equaton 3 ae: x f 1 X X 1Y Y 31Z Z m11x m1y m31z X X 3Y Y 33Z Z mx m3y m33z X X Y Y 3Z Z m1x my m3z X X Y Y Z Z m x m y m z 11 y f (4) Fgue 1. Image coodnate system wth ogn n nstantaneous pespectve cente (P) and gound coodnate system wth ogn n O. In case of D lnea aay scannes wth along-tack steeo capablty, each mage lne s the esult of a nealy paallel poecton n the flght decton and a pespectve poecton n the D lne decton. Fo each obseved pont, the elatonshp between mage and gound coodnates s descbed by: X X Y Y Z Z kr(,, x ) y f whee: X Y Z : pont coodnates n the gound system; X Y Z x y f : P poston n the gound system; : pont coodnates n the mage system; f : focal length; k: scale facto; (1) If the elatve oentaton paametes ae equal to zeo (nad case), Equatons 1 and ae obtaned fom Equatons 3 and 4. The algothms that wll be pesented have been developed both fo one-lens and mult-lens D lnea sensos. Assumng that the focal lengths and the adonal paametes ae known, n ode to solve Equatons 1 and 3, sx extenal oentaton paametes (poston, atttude) ae equed fo each exposue. Theefoe usng Gound ontol Ponts (GPs) and Te Ponts (TPs), a bundle adustment fo the extenal oentaton and gound coodnates estmaton s not ealstc, because the numbe of unknown would be too lage. Fo ths eason the man poblem fo D lnea scannes geoefeencng s to nclude n the tangulaton a sutable tmedependent functon that models the exteo oentaton and takes nto account any adonal nfomaton about the senso poston and atttude. In the next secton a geneal senso model that ntegates the extenal oentaton model nto the collneaty equatons wll be pesented. GENERAL MODEL FOR AIRBORNE AND SPAEBORNE LINEAR ARRAY SENSORS Pecoa 15/Land Satellte Infomaton IV/ISPRS ommsson I/FIEOS onfeence Poceedngs

3 3. TRAJETORY MODELLING 1 X X (11) The senso extenal oentaton s modelled by pecewse polynomal functons dependng on tme. The platfom taectoy s dvded nto segments accodng to the numbe and dstbuton of avalable GPs and TPs. Fo each segment, wth tme extemes t n and t fn, the vaable t s defned as: beng t tn t, 1 (5) t t fn n 1 X 1 fo the fst ode devatve and to: fo the second ode one. X X 1 (1) In the same way, equatons 8, 11 and 1 ae wtten fo Y, Z,, and functons and ae teated as soft (weghted) constants. 3.1 Mathematcal soluton t the senso exposue tme. The functons modellng the extenal oentaton (Equaton 6) Then n each segment the senso extenal oentaton (X, Y, Z,,, ) s modelled wth second-ode polynomals dependng on t : X Z ( t ) ( t ) ( t ) ( t ) X X 1 1 t Y ( t ) Y Y ( t ) Z Z t Y Z X whee X X 1X... 1 ae the paametes modellng the extenal oentaton n segment. At the ponts of conuncton between adacent segments, constants on the zeo, fst and second ode contnuty ae mposed on the taectoy functons: we foce that the values of the functons and the fst and second devatves computed n two neghboung segments ae equal at the segments boundaes. As the pont on the bode between segment and +1 has t 1 n segment and t n segment +1, applyng the zeo ode contnuty fo X functon, we obtan: (6) ae ntegated nto the collneaty equatons (Equatons o 4), esultng n an ndect geoefeencng model. The collneaty equatons ae lneazed wth the fst-ode Taylo decomposton wth espect to the unknown paametes modellng the senso extenal oentaton ( ), accodng to Equatons (o 4) and 6, and wth espect to the unknown gound coodnates of the TPs (x TP ), accodng to Equatons o 4. The ntal appoxmatons fo the paametes modellng the senso extenal oentaton ( ) ae povded by adonal souces. In case of sensos caed on satellte, ephemes fom sophstcated obt models and satellte-tackng systems gve appoxmatons on the spacecaft poston, whle INS nstuments caed on boad povde both the poston and the atttude. If none of these data souces s avalable, appoxmatons fo the senso poston and atttude can be computed accodng to the obt chaactestcs. As sensos caed on acaft ae concened, appoxmatons fo the senso extenal oentaton ae avalable only fom GPS/INS nstuments caed on boad. x TP The ntal values fo the gound coodnates of the TPs ( ) ae estmated wth fowad ntesecton, usng the ough extenal oentaton. 1 X X (7) ombnng the obsevatons equatons and the constants, the system: t 1 t It yelds to: X 1 X1 X X Smlaly, mposng the fst and second ode contnuty constants fo X functon, we get: and They yeld to: d dx X t 1 t 1 1 t (8) dx (9) 1 d X (1) t egp AGP lgp ; PGP etp ATP BTP xtp ltp ; PTP e l ; P () e1 1 l1 ; P 1 e l ; P s fomed, whee: : vecto contanng ncements to ; x TP : vecto contanng ncements to x TP ; A GP : desgn matx fo fo GPs obsevatons; A TP : desgn matx fo fo TPs obsevatons; B TP : desgn matx fo x TP fo TPs obsevatons;, 1, : desgn matces fo constants on zeo, fst and second ode contnuty; GENERAL MODEL FOR AIRBORNE AND SPAEBORNE LINEAR ARRAY SENSORS Pecoa 15/Land Satellte Infomaton IV/ISPRS ommsson I/FIEOS onfeence Poceedngs

4 e: obsevaton eos; Fgue. MOMS- steeo mages fom channel 6 (left) and l: dscepancy vectos; channel 7 (ght) afte contast enhancement and adometc P: weght matces fo each goup of obsevatons. equalsaton. GPs and TPs ae equed n ode to solve the system and estmate the unknown extenal oentaton paametes and TPs gound coodnates. onsdeng a senso wth S lnea D aays, N GP GPs, N TP TPs and n s taectoy segments, the complete system contans xsx(n GP +N TP ) collneaty equatons, togethe wth 6x(n s -1) equatons fo each goup of constants descbed n Equatons 8, 11 and 1. The unknowns ae 18xn s fo the extenal oentaton and 3xN TP fo the TP gound coodnates. The vectos and x TP ae estmated wth least-squaes x TP adustment and added to and n the next teaton. The pocess stops when and x TP ae smalle than sutable thesholds. 4. TEST ON MOMS- The ndect geoefeencng model was tested on a steeopa acqued by a D lnea aay senso caed on spacecaft. The senso was the Geman MOMS-, mounted on the Russan MIR staton. The mages wee taken ove South Gemany on Mach 14th, 1997, dung the Poda msson, fom a heght of appoxmately 4 km. MOMS- was a thee-lne senso, wth along-tack steeo vewng povded by a hgh esoluton nad-lookng lens (channel 5, 66 mm focal length) and two off-nad lenses, lookng fowad (channel 6, +1.4 degees, 37.5 mm focal length) and backwad (channel 7, -1.4 degees, 37.5 mm focal length) the MIR taectoy (Konus, 1998). The two mages used n ths wok wee taken fom channel 6 and channel 7, wth a tme delay of 4 seconds and a gound esoluton of 18 m (Fgue ). The nad mage could not be used because channel 5 on Poda was defocused. Each mage has a dmenson of 976 pxels acoss-tack and 5736 pxels along-tack and conssts of a combnaton of two ovelappng scenes (scenes 5-6) n the flght decton. Appoxmatons of MIR obt (hgh pecson ephemes) and atttude (INS measuements) fo the peods of acquston of the two test scenes wee kndly povded by DLR. 9 GPs n egons fee fom clouds wee acqued fom a 1:5 dgtal topogaphc map n Gauss-Kuege coodnate system; then they wee manually measued n the left mage and tansfeed to the othe one wth sem-automatc least-squaes matchng. Fgue 3 shows the dstbuton of the 9 GPs and the spacecaft taectoy. 4.1 Pelmnay esults The geneal ndect geoefeencng model was appled n ode to estmate the paametes modellng the senso extenal oentaton and the gound coodnates of the TPs. As two dstnct lenses acqued the steeopa, the collneaty equatons fo mult-lens sensos (Equaton 4) wee used. The values of the adonal paametes descbng the elatve oentaton between the lenses ae concened wee avalable fom (Ebne et al., 199). The GPs coodnates and the spacecaft wee tansfomed nto the geocentc atesan system. Fom the avalable 9 obect ponts, a goup of them was used as GPs and the emanng as TPs. The estmated coodnates of the TPs wee compaed to the coect ones and used fo the esults' contol. The spacecaft taectoy was dvded nto dffeent numbe of segments (1, and 4) and 6, 1 and 15 GPs wee used as gound nfomaton. Takng nto account the gound accuacy acheved and the mnmum numbe of GPs equed, the best choce fo the numbe of taectoy segments was. Wth ths confguaton, RMS of m n X, 7.6 m n Y and m n Z (gound pxel sze: 18 m) wee obtaned wth 1 GPs. These esults coespond to about.,.4 and.7 tmes the pxel sze. Fgue 3. Spacecaft taectoy and dstbuton of GPs n a local system. 5. INTEGRATION OF GPS/INS OBSERVATIONS In case of sensos caed on satelltes the spacecaft taectoes, whch ae smooth and pedctable, can be well descbed by pecewse polynomal functons. Instead n case of sensos caed on acaft the dect measuement of the extenal oentaton s ndspensable, because the taectoy s GENERAL MODEL FOR AIRBORNE AND SPAEBORNE LINEAR ARRAY SENSORS Pecoa 15/Land Satellte Infomaton IV/ISPRS ommsson I/FIEOS onfeence Poceedngs

5 unpedctable and the effects of the flght tubulence ae not neglgble. Nowadays GPS/INS nstuments caed on boad, togethe wth accuate flteng technques, povde the senso extenal oentaton of each mage lne and allow the estmaton of the gound coodnates wth fowad ntesecton. Anyway the obsevatons povded by GPS/INS do not efe to the camea P: the poston data efe to a local system cented n the GPS antenna and the atttude efe to a local fame wth ogn n the INS nstument. These two systems ae shfted and otated wth espect to the mage one, theefoe the collneaty equatons (Equatons 1 and 3) have to be extended n ode to nclude the offset vectos and the msalgnment angles between the mage and the GPS and INS fames (Pol, ). Anyway the values of the efeence systems dsplacements and otatons ae usually not avalable and adonal systematc eos occu n the measuements. In ode to solve ths poblem, the pecewse polynomal functons could be used to model the GPS/INS msalgnments and eos. Theefoe the poposed senso model based on ths knd of polynomals was modfed and extended n ode to take nto account the GPS/INS obsevatons dung the geoefeencng of magey fom D lnea aay sensos caed on acaft. Supposng that the senso taectoy s povded fo each mage lne and the scannng tme s constant, the functons modellng the senso extenal oentaton can be consdeed dependent on the lne numbe, nstead of the acquston tme. The acaft taectoy s dvded nto segments. allng l and l fn the fst and last lnes of each segment and l the pocessed lne numbe, the vaable l : s defned n each segment. n l ln l, 1 (14) l fn ln The taectoy model descbed n Equaton 6 s modfed n ode to nclude the GPS/INS obsevatons. The senso atttude and poston of each mage lne l belongng to segment ae modelled as the sum of the measued poston and atttude data fo that lne plus the second ode polynomal functon dependng on l, esultng n: The constant tems (X, Y, Z,,, ) coespond to the shfts and angula dfts between the mage system and the GPS and INS systems, whle the lnea and quadatc tems (X 1, Y 1, Z 1, 1, 1, 1 and X, Y, Z,,, ) model the adonal eos n the GPS/INS measuements. The obsevatons system (Equaton ) s fomed combnng the collneaty equatons (Equatons and 4) wth the taectoy modellng (Equaton 15) and the soft constants fo X, Y, Z,, and (Equatons 8, 11, 1). The soluton s estmated wth least-squaes adustment usng the same pocedue descbed n secton 3.1. As ntal values, the paametes modellng the senso extenal oentaton ( ) ae set equal to zeo and the appoxmate gound coodnates of the TPs ( x TP ) ae estmated wth fowad ntesecton, usng the GPS/INS obsevatons (Xnst, Y nst, Z nst, nst, nst, nst ) l as extenal oentaton. 6. TEST ON TLS The ndect geoefeencng model that ntegates the GPS/INS obsevatons n the taectoy modellng was tested on a senso caed on helcopte wth GPS/INS nstuments. The senso s the Japanese TLS (Thee-Lne Senso), developed by Stalabo opoaton, Tokyo. It conssts of one-lens optcal system (focal length: 6.36 mm) and thee lnes of 1 elements each (pxel sze: 7x7 m), scannng n fowad (+1.5), nad and backwad (-1.5) dectons (Mua, ; Guen et al., ). The ntenal oentaton and the pxels postons n the focal plane wee avalable fom laboatoy calbaton. The senso was caed on a helcopte that flew on GSI test aea n Japan at a mean heght of about 475 m above gound, esultng n a base ove heght ato of.7 and a footpnt of about 6 cm on the gound. The senso atttude and poston fo each exposue wee avalable fom post-pocessng of GPS/INS measuements, but wthout any nfomaton about the accuacy. The mage and gound coodnates of 47 sgnalsed GPs wee also povded. They wee measued n the mages wth manual matchng and on the gound wth suveyng methods based on GPS. The dstbuton s shown n Fgue 4, togethe wth the acaft taectoy. The GPs coodnates and the helcopte poston wee povded n a local tangent system. X Z Y ( l ) Y ( l ) X ( l ) Z ( l ) ( l ) ( l ) nst nst nst nst nst nst Y Z X X 1l X l Y1 l Yl Z1l Z l 1l l 1l l 1l l (15) Fgue 4. Acaft taectoy and GPs dstbuton n local tangent system. whee: X nst Ynst Znst : P poston obseved wth GPS; 6.1 Results nst nst nst : P atttude obseved wth INS; Usng the avalable mage coodnates of the 47 GPs, the X X 1X... 1 : 18 unknown paametes fo calbaton values and the senso extenal oentaton segment. paametes, the gound coodnates of the GPs wee estmated wth a fowad ntesecton based on one-lens sensos' geomety (Equaton 1). The compason between estmated and coected GENERAL MODEL FOR AIRBORNE AND SPAEBORNE LINEAR ARRAY SENSORS Pecoa 15/Land Satellte Infomaton IV/ISPRS ommsson I/FIEOS onfeence Poceedngs

6 coodnates of the GPs showed lage dffeences, followng a systematc behavou (Pol, 1). Theefoe a coecton of the GPS/INS obsevatons was equed and the ndect geoefeencng model descbed n chapte 3 was appled. Fom the 47 avalable obect ponts, a goup of them was used as GPs and the emanng as TPs. The TPs gound coodnates estmated by the tangulaton wee compaed to the coect values and used fo the tests' contol. Vaous combnatons of GPs and TPs wee chosen n ode to evaluate the nfluence of the gound nfomaton. Table 1 povdes a summay of the esultng absolute accuacy n the dffeent test confguatons. 6, 1 and 4 GPs wee tested, usng 6 and 1 segments fo the extenal oentaton modellng. Absolute accuaces n the ange 7- cm fo X, 6-9 cm fo Y and 8-16 cm fo Z wee acheved, coespondng to pxels, pxels and pxels; anyway the eos contaned n the mage coodnates measued fom manual matchng could have affected the esults. The compason between the esults fom the dffeent tests confms that the tangulaton accuacy s nfluenced by the numbe and dstbuton of gound nfomaton and mpoves wth the numbe of GPs. As fa as the modellng functons ae concened, the dvson of the taectoy n a lage numbe of segments does not mply any substantal mpovements. The esults also confmed that the ognal GPS/INS data wee not efeng to the camea P, but to the GPS and INS systems. In fact n all test confguatons mpotant values fo X, Y, Z and,, wee estmated n all segments. The fst and second ode tems too wee not neglgble, showng that systematc eos occued. GPs+ TPs RMS X segments RMS Y RMS Z RMS X segments RMS Y RMS Z Table 1. RMS values (n metes) of the estmated TPs coodnates. 7. ONLUSIONS A geneal senso model fo mult-lne D aay sensos wth along steeo vewng has been pesented. The model combnes the classc photogammetc collneaty equatons wth the senso extenal oentaton modellng, esultng n an ntegated tangulaton. The advantage of the poposed model s that t can be appled both on magey acqued by sensos caed on satellte and on sensos caed on acaft wth GPS/INS nstuments. In the fst case, the model estmates dectly the senso extenal oentaton, whle wth abone sensos t coects the obsevatons povded by GPS/INS nstuments. In both cases, pecewse polynomal functons ae used and the unknown paametes ae estmated wth least-squaes adustment. The model was tested on MOMS- (mult-lens, caed on satellte) and on TLS senso (1 lens, caed on helcopte), wth dffeent GPs and TPs dstbutons. An accuacy of.,.4 and.7 pxels fo X, Y and Z was acheved wth the MOMS- steeo-pa, whle fo TLS magey the acheved pxel accuacy was 1.1, 1. and 1.3 pxels fo X, Y and Z. The fst esults confm that the pesented ndect geoefeencng model can be appled to a wde class of sensos. The esults acheved wth sensos caed on spacecaft ae bette than the ones obtaned wth sensos caed on acaft, because of the dffeent chaactestcs of the taectoes. In fact satelltes can mantan a smooth and stable obt dung the acquston of the mages, whle the acaft taectoes ae unpedctable and nfluenced by atmosphec tubulence. Theefoe, as futue wok, the cuent algothms wll be futhe nvestgated and tested. Moeove self-calbaton pocess wll be analysed and othe taectoy modellng functons wll be studed. 8. AKNOWLEDGEMENTS Ths wok s pat of loudmap poect, funded by the Euopean ommsson unde the Ffth Famewok pogam fo Enegy, Envonment and Sustanable Development. Specal thanks ae addessed to Stalabo opoaton, Tokyo who allowed the publcaton of TLS esults and to Manfed Lehne, fom DLR, fo hs contbuton fo the MOMS- dataset. 9. REFERENES hen, T., 1. Hgh pecson geoefeence fo abone Thee-Lne Scanne (TLS) magey. Poceedngs of 3 d Intenatonal Image Sensng Semna on New Development n Dgtal Photogammety, Gfu, Japan, pp ame, M., Stallmann, D., Haala, N.,. Dect geoefeencng usng GPS/INS exteo oentatons fo photogammetc applcatons. 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