of the united model construction can also be solved in the same manner
(See Figs.-7a, 7b, 7c, and 7d).
3.2 Self calibration problem with four pictures for the usual case
In this paragraph, the self calibration problem with four overlapped photo-
graphs will be discussed for the usual case in close-range photogrammetry,
where a picture has nine independent orientation parameters (the six exter-
ior and three interior). Further, only functional constraints regarding
the interior orientation of the system are introduced, because such con-
straints are used more often in the practical self calibration of non-met-
ric cameras. Under the assumption that the first and second pictures were
taken with a non-metric camera, and the third and fourth photographs by means
of another non-metric camera, the functional constraints may be formulated
as follows
Sy 65,9, 720,450, 6-07 B, * 8,20
= Jz Yu ^ gs CT.»
*H3 7 He’ Yus ^ Yg4* Cs C4
Fig.-8: The self calibration problem with four overlapped pictures for the usual case under functional con-
straints regarding the interior orientation. N(9) denotes a non-metric camera having nine orienta-
tion parameters.
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