t
The el-
ground,
and 300
Factor of
plane is
ge of the
roughly
fact that
distance
lt and is
ted real-
€ image
5 shows
ethod to
iwing is
the real
images
ojection
entation
wing of
Wing or
1ay also
rect so-
on pro-
| to ver-
ther the
lied the
of error
cal data
mpara-
' of this
harater-
image
cal way
ISPRS Commission III, Vol.34, Part 3A ,,Photogrammetric Computer Vision", Graz, 2002
Figure 5: Superimposition of an image and the associated
drawing of the scene. Again, the ground plane is not lo-
cated on the actual ground, but at the top edge of the con-
crete foundations.
Then the projection center Z fulfills
h+HZ=0 orexplicitely Z=-H'h
From total differentiation dh + dHZ + HdZ = 0 we
obtain with Z = (Z',1)! and vec(P)' = ((vecH)', h")
the differential
dZ = —H*dHZ — H* dh
— —(H^! & Z') vec(dH) — H7* dh
=H (I3 & Z' |I5 & 1) vec(dP) 2 —H^! (I5 & Z') vec(dP)
= —H^! (Z' & Is) vec(dP") = —H^' (Z' & Ia) dp
from which the covariance matrix
322 = H^! (Zt © I3) 5 (Z 9 I3) HT
follows.
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