Let us consider a vision system of n cameras by which k sets 
of pictures are taken, and denote the rotations and exposure 
stations of those pictures in the global system (X,Y,Z) as: 
( Rogo Xo, Yo, Zo) j ; iz1.. n; j=1.. k 
Let us further introduce a local object system (X’,Y’,Z’) 
identical to the image system of one camera (say camera 
number 1), and denote the rotations and exposure stations of 
the n-1 residual cameras in this local system as: 
( Rep, X'o, Y'o, Z'9) i? fe Pn 
The additional constraints are then: 
( Rep) ic (Raßy) " J T Raßy)iy 
Xo’ Yo Zo X - (Gag) jor Xo 1 ‚Yo Yo vZorZo 1 X, 
}i=2.n j=1.k (A2) 
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