increase the 
geofit), to fit 
o swarms of 
planes. Data 
here operator 
o the digital 
ding edges of 
ges: the first 
ies -Figure 2 
being image 
; the second 
rved tangent 
cted into the 
xtended to fit 
el. 
automated by 
is is done to 
m an existing 
having first 
sing several 
eters of this 
tionships held 
of images in 
The equations 
ed in each of 
1ese equations 
ind the results 
meters of the 
  
ion. 
5. CONCLUSIONS 
A derivation of a number of mathematical models has been 
outlined that will provide useful tools for the modelling of 
industrial plant. The models defined are not encumbered by 
the introduction of large numbers of nuisance parameters. 
The basis of these models, on the coincidence of planes, and 
cones, in both object and camera space has the second 
advantage of by-passing the unknown scale parameter, A, of 
the collinearity equations, (1). 
A typical industrial plant can largely be modelled by using a 
small number of geometric primitives. The cluttered nature 
of many industrial sites complicates the generation of 
detailed CAD models, requires the use of many images, and 
can therefore prove to be very time consuming. As shown, 
through the use of mathematical models relating actual 
objects to the images of them, we can increase the 
productivity in modelling them. Indeed it can become a 
semi-automatic process. 
The HAZMAP system has already begun to address the 
automation of the modelling process, building upon the 
information stored in it'S image database and using software 
based on the equations described. The use of objects and 
their occluding edges as photogrammetric data would appear 
to provide great potential. Work is currently underway to 
extend a similarity transformation program to deal with the 
parameters of objects, as well as point co-ordinates. A 
bundle adjustment program, able to deal with both points, 
and the selection of geometric primitives encountered in a 
CAD model, is also being contemplated. The two programs 
could then be used as part of the interior, relative, and 
absolute orientation processes. 
There is currently much talk about "range cameras” replacing 
close range photogrammetric approaches once their accuracy 
has been improved. Although photogrammetry will always 
require two or more images for precise modelling work, the 
direct extraction of object parameters without recourse to 
point observations will certainly increase the utility of such 
systems. 
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