This course covers advanced topics of 3D sensing. It is comprised of three roughly equal parts: photogrammetry, LiDAR and GNSS. The module introduces the fundamental principles and mathematical concepts for each sensing technique, which are independent of specific applications (airborne, mobile, static…). It then shows how these techniques are used in wide varieties of application from industrial to space-borne. In the first part the course will introduce the mathematical and geometric foundation of photogrammetry, camera calibration and its application. The second part covers theory and practice of producing and validating digital models and from laser scanning (LiDAR). The module also introduces approaches for automated point cloud processing and feature extraction. The third part introduces advanced aspects of the fundamental GNSS principles, applications and integration of GNSS phase observables and other positioning and navigation systems. Special emphasis is placed on the modelling of errors and on the control and assessment of quality.

Learning Outcomes

competent to read and follow current research literature on the techniques, technologies and applications of photogrammetry, LiDAR and GNSS
	critically assess data quality and understand the nature of the errors which affect products
	understand capabilities of technologies as well as their limitations
	be able to derive solutions to given problems of 3D sensing and will have an understanding of the sensor technologies available
	understand the concepts, principles and process of point cloud generation and processing
Reading List:

Luhmann ,T., Robson, S., Kyle S. and Boehm J. (2019) Close-Range Photogrammetry and 3D Imaging. (De Gruyter STEM). ISBN-10: 3110607247 [See UCL library for digital copy]

A Wehr & U Loh (1999) Airborne laser scanning—an introduction and overview. ISPRS Journal of Photogrammetry & Remote Sensing 54 1999 68–82

J Skaloud & D Lichti (2006) Rigorous approach to bore-sight self-calibration in airborne laser scanning. ISPRS Journal of Photogrammetry & Remote Sensing 61 (2006) 47–59

N. Pfeifer & J. Böhm (2008) Early Stages of LiDAR Data Processing. ISPRS Congress 2008 Book Chapter

G Vosselman and Hans-Gerd Maas (2001) Adjustment and Filtering of Raw Laser Altimetry Data.

Fischler, M. A. & Bolles, R. C. (1981) Random Sample Consensus: A Paradigm for Model Fitting with Applications to Image Analysis and Automated Cartography Communications of the ACM, 1981, 24, 381393

Groves, P. D., Principles of GNSS, Inertial, and Multisensor Integrated Navigation Systems, Artech House, 2nd edition, 2013 • Extracts on Moodle • Kaplan, E. D., and C. J. Hegarty, (eds), Understanding GPS Principles and Applications, 3rd ed., Norwood, MA: Artech House, 2017. • Misra, P. and P. Enge, Global Positioning System Signals, Measurements, and Performance, 2nd ed., Lincoln, MA: GangaJamuna Press, 2006. • Van Diggelen, F., A-GPS: Assisted GPS, GNSS and SBAS, Norwood, MA: Artech House, 2009.