International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences, Vol XXXV, Part B5. Istanbul 2004 
  
    
  
  
  
  
  
  
  
  
  
  
  
  
  
  
  
  
  
  
  
  
  
  
  
  
  
  
  
x 10° 
0.5 Lu 
Us - 1 / ! ls 
D ; — + A. me 
> i MAN | S. 
2 Ee cen s “ He 
= 0 NS. ~~ 
> 
i | | | | i | 
0 0.5 1 1.5 2 2.5 3 23.5 4 
column (pixel) x 10° 
Figure 8. Image space residuals of the observations for the SpheroCam. 
x 10° 
0.5 
© 
2 
= 
$ o 
column (pixel) x 10° 
Figure 9. Image space residuals of the observations for the EYESCAN. 
10 > … A A t x * € A = 
9. 
> Oo A Control point m 
8 Ep. QOO e bs Check point 
= s 5mm —- Residual vector 
= ri ses © Camera station 
> 
y 
6 + 
5r 
1 1 | ] 1 1 1 
6 8 10 12 14 16 18 
X (m) 
Figure 10. Object space residuals of check points for X and Y axes in XY-plane. 
10 - ° kw . bo nt daha i Sedat po 1 EN t 
9 Ee 
i n & Control point it 
8r s : . Check point 
e 5 mim ae C ^ Residual vector 
= Ee © Camera station 
EU 
6 L- 
È ‘ { i - + 4 i Loy * * 4 
5 | | | | L | I 
6 8 10 12 14 16 18 
X (m) 
  
  
  
Figure 11. Object space residuals of check points for Z axis in XY-plane. 
28 
  
  
  
  
  
  
   
  
   
  
  
  
   
   
    
  
  
  
  
   
  
   
  
  
    
  
  
  
  
  
  
  
   
  
  
  
  
   
  
  
   
      
    
   
  
  
  
   
    
     
Internatic 
used to 
paramete 
well det 
networks. 
the camer 
avoid hig 
coordinat 
parameter! 
they canr 
tumbling 
model the 
camera c 
estimatin, 
the tumt 
tumbling 
process u 
Table 2. 
Number 
Number 
RMSE « 
STD of 
G, (Pix 
  
Table . 
Numbeı 
Number 
RMSE « 
STD of 
ô, (pix 
  
We dev 
cameras | 
the impre 
tumbling 
SpheroCe 
using a p 
the EYSI 
bundle a 
were def 
calibratio 
and Sphe 
The estin 
space are 
EYESCA 
parametei 
systems. 
We also 
determini 
control | 
tumbling 
paramete 
0.84 mm 
reasonabl 
mentione 
camera c 
methods 
paramete 
using ad 
right angl