4. 
5. 
^Y,Z) 
OK. 
left to right, exposure station coordinates and orientation elements for 
the triplet i, j, k are as tabulated in Table 2.01 . 
x^ 
+ z 
- -v X 
m = 10 
t = 5 
l = 10 
Photo i 
Photo j 
Arbitrarily Fixed 
Photo k 
Initially 
Assumed 
X o 
Fixed = 
- 1.0 
0 
1.0 
Y o 
Initially Assumed = 
0 
0 
0 
Z o 
Initially Assumed = 
0 
0 
0 
U) 
Initially Assumed = 
0 
0 
0 
Initially Assumed = 
0 
0 
0 
1C 
Initially Assumed = 
0 
0 
0 
TABLE 2.01 
The elements of camera inner orientation are assumed known from the 
calibration data. Consequently, the number of unknowns remaining are five 
in photo i (two translations, 3 rotations) plus six in photo j (3 translations, 
3 rotations) for a total of eleven unknown parameters to be found in triplet 
relative orientation. 
2. Intersection and Triplet Condition Equations 
Consider a point p photographed in the triplet overlap from three 
consecutive exposure stations as illustrated in Figures 2.01 and 2.02. 
Six equations may be written for the three photographs if it is assumed 
that all three rays R . , R . and R . intersect at a single point p : 
Pi PJ pk