id camera atti- 
elow. 
(6 
(6) 
ge Iorth, and 
h minimize the 
Kazuo Oda 
  
e x, y, Eall, i L = lorth, X. y E,, I, - Iorth, XY, E,, I, (7) 
where E, and E, are absolute orientation parameters of stereo image 7 ; and L5: 
t t 1 t 
-- |/ Í = = lf f = 
Eo roli 1 1X Y, Zj eT E 
(8) 
t 
and Eall = [, 'e) 
We can define evaluation function KEall for least square optimization as below: 
n 
Eall = ex, y; Eall I, I, ? (9) 
i 
where n is the number of points on DSM which are seen on both of the stereo images. 
2.3 Least-Square Optimization 
We have adopted Gauss-Newton method for non-linear least square optimization. This method revises target parameters 
Eall with Eall: 
Eall+ Eall Eall (10) 
Eall can be computed by the following equation: 
=1 
Eal --'A A ‘À € (11) 
where 
  
  
  
  
  
  
  
  
  
  
  
  
  
ft 
€ = le, e ej (12) 
t 
t t t 
A= e: e en (13) 
Eall Eall Eall 
This computation is repeated until the evaluation function — Eall converges on the minimum value. 
e; 
. . . 1 . . 
Partial derivative Eall © be computed by following equation: 
a 
e 
= ei e; = I; Pbhti I Ppp 
Eall VE. "TP. CE. COP. UE 
E, E, Pont1 E, Poy E, 
(14) 
where 
P phil "phil "phil "phil "phil "phi 
I, I I A phtl. | 1 1 : 7 '" 7 
= 1 / E 
Pont1 E] Y» 1 phi phi phil phu phil phil 
pht /pht 1 1 1 Xj Y, Z; 
; P _"pht2 "pht2 J"phi2 "phr2 J"phr2 "hi2 
2 da I, I, pht2 = 2 2 2 X, Y, Z, 
P EL = Es: |, | ; i ; 
pht2 Xpht Ypht 2 phi2 Ypht2 phi2 Ypht2 "phi? Ypht2 
2 à 2 75 ^» ^ (15) 
  
International Archives of Photogrammetry and Remote Sensing. Vol. XXXIII, Part B3. Amsterdam 2000. 653