4.
5.
^Y,Z)
OK.
left to right, exposure station coordinates and orientation elements for
the triplet i, j, k are as tabulated in Table 2.01 .
x^
+ z
- -v X
m = 10
t = 5
l = 10
Photo i
Photo j
Arbitrarily Fixed
Photo k
Initially
Assumed
X o
Fixed =
- 1.0
0
1.0
Y o
Initially Assumed =
0
0
0
Z o
Initially Assumed =
0
0
0
U)
Initially Assumed =
0
0
0
Initially Assumed =
0
0
0
1C
Initially Assumed =
0
0
0
TABLE 2.01
The elements of camera inner orientation are assumed known from the
calibration data. Consequently, the number of unknowns remaining are five
in photo i (two translations, 3 rotations) plus six in photo j (3 translations,
3 rotations) for a total of eleven unknown parameters to be found in triplet
relative orientation.
2. Intersection and Triplet Condition Equations
Consider a point p photographed in the triplet overlap from three
consecutive exposure stations as illustrated in Figures 2.01 and 2.02.
Six equations may be written for the three photographs if it is assumed
that all three rays R . , R . and R . intersect at a single point p :
Pi PJ pk