Number Standard error | Photograph residuals 
of Redundancy|of unit weight | of control points 
parameters Benthos - MEL 
Benthos| UMEL | 59x [y | *x | 9, 
(mm) |(mm) (mm) | (mm) 
1] 19 0.016 0.016. 1 0.016 0.025. |.0.021 10.017 
0.011 0.013 | 0.014/0.012 | 0.012 |0. 018 
12 18 0.016 0.008 | 0.010/0.016 | 0. 007 |0. 006 
0.011 0.012 | 0.008/0.009 | 0.007 |0. 011 
14 16 0.012 0.008 | 0.007/0.011 | 0. 007 |0. 006 
0. 006 0.011 | 0.0040. 005 | 0.007 |0. 009 
16 14 0.012 0.008 | 0.005/0.011 | 0.005 [0.006 
0. 006 0.010 | 0.004(0.004 | 0.005 |0. 008 
  
  
  
  
  
  
  
  
  
Table II - Comparison of precision of projective 
transformation for the Benthos and UMEL cameras 
  
  
  
Number Benthos camera UMEL camera 
of 
parameters sd x sdy sdz sdvi| six sdy sdz sdv 
(mm) (mm) (mm) (mm) (mm) (mm) (mm) (mm) 
11 1.49 1.19 6.35 6.63] 0.58" 0.58 3.39 3.49 
12 0.96 0.62 5,43 5.55] 0.51 0.40. 1.77... 1.89 
14 0.96 0.89 4.22 4.39] 0.49 0.37 1.70 1.80 
16 0.84. 0.92 4.15 -4,331.0.38 0.96 .1.27 : 1.37 
0. 38m Camera base 0.23m 
2 . Om Distance setting 1.6m 
15 No. of control points 15 
30 No. of computed object space points 30 
| 
Table III - Comparison of accuracy of computation of object 
space coordinates from the Betnhos and UMEL cameras 
  
  
  
  
48