ISPRS Commission III, Vol.34, Part 3A ,,Photogrammetric Computer Vision“, Graz, 2002 
Table 2. Intersection results (30 points) 
  
  
  
  
RMSE Exp. A Exp. B Exp. C Exp. D 
RMSx [m] | 0.00030 | 0.00036 | 0.00047 | 0.00073 
RMSy [m] | 0.00035 | 0.00025 | 0.00047 | 0.00065 
RMS; [m] | 0.00094 | 0.00078 | 0.00040 | 0.00073 
  
  
  
  
  
  
  
5. CONCLUSION AND REMARKS 
In this research, straight line constraints are incorporated in 
bundle adjustment with self-calibration. Experiment results 
proved the feasibility of the suggested approach. The IOP 
derived from the suggested approach are stochastically identical 
to the derived IOP from the traditional point-based calibration 
procedure. It has been established that one radial distortion 
coefficient (K;) is enough to model the distortions in the 
involved camera. The suggested approach has the following 
advantages: 
e Compared to traditional point-based calibration test filed, 
the required test field is much easier to establish. 
e Automation of the intermediate point measurements along 
the linear features improves the efficiency of the suggested 
approach. 
e  Non-photogrammetric users of off-the-shelf digital 
cameras can carry out the calibration procedure. This is 
important since it will allow such users to generate high 
quality photogrammetric products from digital cameras. 
e For unstable digital cameras, the calibration procedure can 
be carried out every time the camera is switched on. 
e The approach offers an effective tool to study the short- 
term and long-term stability of off-the-shelf digital camera 
and the most appropriate model that sufficiently describes 
various deformations taking place during the imaging 
process. 
Future work will focus on more elaborate testing of the short 
and long-term stability of off-the-shelf digital cameras. We will 
investigate other distortion models to see if they can describe 
digital cameras more successfully. Finally, we will build a 
complete system that allows the user to perform three- 
dimensional measurements of the objects of interest (e.g. if 
those objects can be incorporated in the calibration test field, 
then the calibration and measurements can be done 
simultaneously). 
ACKNOWLEDGEMENT 
The Authors would like to thank Mr. Yushin Ahn for his help in 
collecting the imagery used in conducting the experiments. 
Also, we thank other members in the OSU photogrammetry 
group for the helpful discussions and feedback. 
REFERENCE 
Ayache, N. and Faugeras, O., 1989. Maintaining representations 
of the environment of a mobile robot. /EEE Transactions on 
Robotics Automation, 5 (6): 804-819. 
Brown, D. C., 1966. Decentric distortion of lenses. Journal of 
Photogrammetric Engineering & Remote Sensing, 32 (3): 444- 
462. 
Brown, D. C., 1971. Close range camera calibration. Journal of 
Photogrammetric Engineering & Remote Sensing, 37 (8): 855- 
866. 
Fraser, C., 1997. Digital self-calibration. /SPRS Journal of 
Photogrammetry & Remote Sensing, 52(1997): 149-159. 
Habib, A., 1998. Motion parameter estimation by tracking 
stationary three-dimensional straight lines in image sequences. 
ISPRS Journal of Photogrammetry & Remote Sensing, 53 
(1998): 174-182. 
Habib, A., 1999, Aerial triangulation using point and linear 
features. Proceedings of the ISPRS Conference on Automatic 
Extraction of GIS Objects from Digital Imagery, Munich, 
Germany, 32 (3-2W5). 226 pages: 137-142. 
Heuvel, F., 1999-a. A line-photogrammetric mathematical 
model for the reconstruction of  polyhedral objects. 
Videometrics VI, Proceedings of SPIE, Vol. 3641: 60-71. 
Heuvel, F. 1999-b. Estimation of interior orientation parameters 
from constraints on line measurements in a single image. 
Proceedings of International Archives of Photogrammetry and 
Remote Sensing, 32 (5W11): 81-88. 
Kraus, K. 1993. PHOTOGRAMMETRY. Dümmler Verlag, 
Bonn., Vol.1, pp.277-279. 
Kubik, K., 1991. Relative and absolute orientation based on 
linear features. ISPRS Journal of Photogrammetry & Remote 
Sensing, 46 (1): 199-204. 
Mulawa, D. and Mikhail, E., 1988. Photogrammetric treatment 
of linear features. Proceedings of International Archives of 
Photogrammetry and Remote Sensing, Kyoto, Japan, 
Commission III, 27 (B10). 393 pages: 383-393. 
Tommaseli, A. and Lugnani, J, 1988. An alternative 
mathematical model to collinearity equations using straight 
features. Proceedings of International | Archives of 
Photogrammetry and Remote Sensing, Kyoto, Japan, 
Commission III, 27 (B3). 842 pages: 765-774. 
Tommaselli, A. and Tozzi, C., 1992. A filtering-based approach 
to eye-in-hand robot vision. Proceedings of International 
Archives of Photogrammetry and Remote Sensing, Washington, 
USA, Commission V, 29 (B5). 950 pages: 182-189. 
Tommaselli, A. and Poz, A., 1999. Line based orientation of 
aerial images. Proceedings of the ISPRS Conference on 
Automatic Extraction of GIS Objects from Digital Imagery, 
Munich, Germany, 32 (3-2W5). 226 pages: 
A- 149