229 
The model coordinates of the two projection centers: X^, Y^, Zq, 
Xq, Yq, Zq, the angles <P 1 , (0 1 , K 1 , (p 2 ,C0 2 , K 2 and the elements of the 
inner orientation of the image carriers: xj, yj, c^ are determined 
by the following calibration procedure: 
The image coordinates of eight marks on each image carrier plate are 
known from precise comparator measurements. The operator records the 
model coordinates of these marks at two different Z-levels by 
separate left and right monocular measurements. The eighteen unknown 
parameters are determined by a space-resection in the model space 
using least-squares. 
This calibration procedure is performed monthly by the operators. 
Between calibrations, the parameters are assumed to remain invariant. 
b) Relationship between object space and image space: 
(3) 
X j . - x j 
u. - u j 
H 
►d 
H 
o 
y-j - y j 
J p 
= D. (Oj iij Kj) 
V. - v j 
1 0 
I 
1 
o 
1 
H* 
1 
«; 
where: Dj = fi 1 (ilj)*R 2 (<J>j)*R 3 (Kj) 
j = 1 ,2 and i = 1,2,...n 
c) Relationship between object and pseudo-model space: 
x‘ - x J 
u. - u j 
1 0 
1 0 
Y i " Y i 
= Rj (<pj C0j Kj) • p. (<Dj ilj Kj) 
v. - v j 
1 0 
Z i - z 0 
_ w i " <_ 
d) Elimination of the scale factors: 
f j 
= (zÌ 
- Z i ) 
*11 
x i 
h 31 
f j 
= (zj 
- Z i ) 
h 2 i 
h 31 
where : 
: j = 1 
,2 
(4) 
fi = (z| - zi ) ft - u ° > } - (X,- Il ) - 0 
h 3i (U, - u' ) + l4(Vj- vi ) + ... 
(5) 
and 
i = 1,2,...n