in which 
m m 
11 12 
21 > Vas 
m m 
31 
m 
32 
The quantities X. and y, are the image coordinates of image point i (Figure 1). 
Xr, Yr and s are the object space coordinates of object point I. The quantities Ko? Yo 
and f are the interior orientation elements of the photograph, Xa and Yo being the image 
coordinates of the principal point, and f the principal distance. The camera station 
coordinates, Xo» Ye and Zo are exterior orientation parameters which give the position of 
the camera station in the object space. The orientation matrix, [M], gives the angular