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(a) (b) 
Figure 5. Convergence of the IEKF. (a) Rotations; and (b) Translations. 
4 CONCLUSIONS 
A line based method aiming automatic orientation of digital aerial images has been proposed and tested. This method is 
based on automatic feature extraction techniques, relational matching and a mathematical model specifically derived to work 
with straight lines. 
Experiments performed with real data have demonstrated the potential of the proposed solution. More empirical 
investigations are being conducted in order to assess the optimal configuration of straight lines to provide high quality 
results. 
ACKNOWLEDGEMENTS 
This work was supported by FAPESP (Fundagáo de Amparo à Pesquisa do Estado de Sáo Paulo) and CNPQ 
(Conselho Nacional de Pesquisa e Desenvolvimento). The scanned aerial photograph and the DXF files used in our 
experiments have been kindly provided by Esteio - Engenharia e Aerolevantamentos Ltda. 
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