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Rostom R.S., 1981. Stability of Relative Orientation. 
Photogrammetric Record, 10(57):343-357. 
Schwarz, H.R., Rutishauser H., and Stiefel E., 1973. 
Numerical Analysis of Symmetric Matrices. Prentice-Hall 
Inc., New Jersey. 
Slama, C.C., 1980. Editor, Manual of Photogrammetry. 
Fourth Edition. American Society of Photogrammetry, Falls 
Church, Virginia, U.S.A. 
TABLE 1 
CONVENTIONAL, CONSTRAINED and MODIFIED BUNDLE ADJUSTMENT RESULTS 
POINTS TREATED AS CONTROL 
CONVENTIONAL and MODIFIED DEGREES of FREEDOM = 361 
CONSTRAINED DEGREES of FREEDOM = 377 
  
CONSTRAINED 
  
  
  
  
  
  
  
  
  
  
  
  
  
  
ADJUSTMENT TYPE CONVENTIONAL MODIFIED 
BASE (mm) Mean 198.4 197.4 204.1 
X AXIS CONVERGENCE (? ' ") Mean 11 0707.4 1102 58.4 11 26 46.1 
Y AXIS CONVERGENCE (? ' ") Mean 020098 019 41.7 0 25 47.2 
Z AXIS CONVERGENCE (? ' ") Mean 11 06 48.2 11 02 44.3 11 26 29.2 
S2 1.021 2.317 2.697 
RMS PLATE X 0.021 0.039 0.037 
RESIDUALS (mm) y 0.021 0.027 0.034 
RMS POINT COORDINATE X 0.398 0.262 0.329 
RESIDUALS (mm) Y 0.489 0.218 0.386 
Z 0.312 0.283 0.297 
RMS POINT STANDARD X 0.223 0.308 0.358 
ERROR ELLIPSOID (mm) Y 0.324 0.483 0.523 
Z 0.216 0.314 0.352 
RMS CAMERA STANDARD X 1.320 1.702 L 1.966 R 1.014 
ERROR ELLIPSOID (mm)  Y' 1.083 1.036 1.396 0.837 
Z 1.517 1.958 2.180 0.630 
TABLE 2 
CONVENTIONAL, CONSTRAINED and MODIFIED BUNDLE ADJUSTMENT RESULTS 
POINTS TREATED AS UNKNOWN 
CONVENTIONAL and MODIFIED DEGREES of FREEDOM = 304 
CONSTRAINED DEGREES of FREEDOM = 320 
  
  
  
  
  
  
  
  
  
  
  
  
  
  
  
  
ADJUSTMENT TYPE CONVENTIONAL CONSTRAINED MODIFIED 
BASE (mm) Mean 201.4 197.4 205.7 
X AXIS CONVERGENCE (? ' ") Mean 11 24 15.4 11 02 58.4 11 34 56.2 
Y AXIS CONVERGENCE (? ' ") Mean 0 24 54.1 0 19 37.0 0 26 23.6 
Z AXIS CONVERGENCE (? ' ") Mean 11 23 51.2 11 02 44.3 11 34 39.6 
S2 0.7000 2.668 2.966 
RMS PLATE X 0.017 0.039 0.037 
RESIDUALS (mm) y 0.016 0.027 0.032 
RMS POINT COORDINATE X 1.278 0.356 0.885 
RESIDUALS (mm) Y 3.796 1.234 1.933 
Z 0.887 0.339 0.469 
RMS POINT STANDARD X 9.845 17.860 22.155 
ERROR ELLIPSOID (mm)  Y' 9.645 17.908 19.430 
Z 9.398 17.896 20.184 
RMS CAMERA STANDARD X 10.269 20.026 L 23.778 R 14.676 
ERROR ELLIPSOID (mm) Y 26.585 17.851 69.700 0.886 
10.180 19.865 23.453 0.669