The video theodolite system developed in this 
investigation, consisting of a CCD camera, a theodolite 
and a video recorder where the camera rotation parameters 
can be determined in real-time while recording a moving 
object. 
The current values of the X and Y coordinates and velocity 
of a moving object are continuously superimposed on 
image frames and thus recorded as a part of the image 
data. 
The detail of the CCD camera and the components of the 
video theodolite system are shown in table 1. Figure 2 
shows the configuration of this system. 
Table 1 Components of the video theodolite system 
  
  
  
  
  
  
  
  
  
Theodolite MET2NV (Sokkia, accuracy +2” ) 
CCD CCD 1 CCD 2 
Camera 
CCB-GC5 (Sony, 510HX492V) | EVI-310 (Sony, 768H X 494V) 
Lens f=300 mm f=5.9 -47.2 mm 
col MTAT-CL (microtecnica,15.734KHz) 
Video 
Recorder PVM-1454Q (Sony) 
Monitor HR-SC1000 (Victor) 
PC Optiplex GXTM 5166 (DELL) 
  
  
  
  
  
  
    
        
  
  
  
  
— 
TV Monitor 
  
MET2NV 
       
   
Image Processing 
Board 
  
Figure 2 System configuration 
3. CAMERA CALIBRATION 
Bundle adjustment is applied for camera calibration using 
9 control points which were produced in the following 
procedures: 
When the telescope is pointing to P, point under the 
condition that the distance is D from the center of the video 
theodolite to P,, horizontal angle H, and vertical angle V, , 
the image point to P, is taken as p, on the image. Next, 
when the video theodolite is rotated H, angle, the image 
point to P, is taken as p,, and the object position to 
image point p, becomes P,. Similarly, when the video 
theodolite is rotated V, angle, the image point to P, is 
taken as p,, the object to p, becomes P,. Repeating this 
operation, control points are taken on the image and are 
produced in the space respectively. 
736 
  
Ground coordinates for these control points are calculated 
with the following equation: 
X, 2 - D cosVgsin(H; - Hg) 
Yy= D [cosv;sinv; - sinV;cosVgcos(H; - Ho) - (1) 
Z,= D (sinv;sin Vo + cosVjcosVocos(H,; - Ho) 
The unknown parameters for the orientation image are as 
follows: exterior orientation parameters { w , , & ma À à 
(rotation parameters), X;, Yo, Æ(camera positions)} and 
interior orientation parameters { f, x,, y, (principal points), 
a,, a,(scale factor), p, (lens distortion)}. 
4. EXPERIMENT 
Figure3 shows the test site and the rectangular target in 
this figure corresponds to the above P, point. Similarly, 
Figure 4 shows a moving object (Radio-controlled car) used 
in this test. 
  
Figure 3 Test site and rectangular target 
  
perhé 
MET 
was 
that c 
Thec 
+ Wir 
the c 
+ Ar 
and | 
+ TW 
cant 
theu 
imag 
and 
orien 
o ar 
calib 
+ Du 
and 
each 
ther