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International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences, Vol XXXV, Part BS. Istanbul 2004 
  
Nowadays. Total station has been widely used together with 
digital camera in applications such as accident, archaeological 
site survey, civil engineering survey as well as 3DGIS, building 
reconstruction. But in most cases they have been used separately, 
while total station is just used to achieve the 3D object 
coordinates of control points for the following photogrammetric 
process [Masataka Imura, etc., 2001; S. Ikeda etc., 2003]. Carl 
Gravel presented a CAP (computer assisted photogrammetry) 
system, which combines a total station with ordinary digital 
camera and also offers corresponding software for processing 
the data [Gravel C. etc., 1999]. Unlike his system, in PTSS 
camera is fixed with telescope of total station instead of total 
station so that camera can be rotate with the telescope. Field of 
vision has been extended by rotation photos so that high 
accuracy has been obtained. 
Generally speaking, the technique of integration of total station 
and digital camera is still under development. So when 
proposing several problems which should be resolved for 
further development of geoinformatics in one of his papers, 
Shunji Murai said "Integration of total station and digital 
camera for close range measurement: onsite processing for 
triangulation with ground based control survey has been 
developed. In future total station with digital camera should be 
developed."[Shunji Murai, 2002] In this work our contribution 
aims at providing a further step towards fully development and 
wide application of this technique. 
In the following, section 2 presents the system hardware, 
photography method, Coordinates System, Collinear Equation, 
Orientation Offset definition in detail. Then measurement 
process and mode are introduced in section three. Experimental 
results as well as accuracy analysis and sample applications are 
shown in Section four and five respectively. 
2 SYSTEM DESCRIPTION 
2.1 Hardware 
The hardware of PTSS includes metric digital camera, total 
station and PDA (Personal Digital Assistant). As Fig.l shows, 
metric digital camera is rigidly fixed on the telescope of total 
station with a mechanical adapter and PDA, which is not shown 
in the figure, is used to store measurement data and image index 
and also control whole survey process of total station. 
    
     
  
  
  
Metric digital 
camera 
  
  
  
     
x 
ge b ye 
   
  
Total station 
Fig. 1 Hardware of PTSS 
2.2 Coordinates System 
In PTSS, three coordinate systems have been involved: ground 
coordinate system(G-XYZ), total station coordinate system 
(I-XYZ) and image space coordinate system (S-xyz) (see Fig. 
2). Ground coordinate system is left-hand system. Total station 
coordinate system and image space coordinate system are 
right-hand system, but their orientation of coordinate axis is 
different. Before calculation, coordinates system should be 
transformed so that all calculation happens in same coordinate 
system. 
ZG 
V 
X r 
X 
G Yo 
Ground coordinate system S 
Zz 
2; 
Ys: image space 
coordinate system 
T Xr 
Total station 
coordinate system 
Fig. 2 Coordinate systems 
y 
  
= 
S0 X 
Xo ;l X 
Z 
2.3 Definition of OFFSET 
Image forming process of camera is a central projection defined 
in image space coordinate system. The location and orientation 
of central project in total station coordinate system can be 
uniquely determined in terms of coordinate 
AX olt Y nié Z so 9f projection center S in total station 
coordinate system along with the angular orientation elements 
of its space axis system in the total station axis system (Fig. 3). 
The elements of angular orientation are commonly represented 
by three independent angles ( (9g , C0, , Æ, ), which. along with 
sr 7 
X ME Yeo 5 Z so s 
camera and total station. 
is referred to as Orientation Offset between 
2.4 Collinear Equation 
In traditional photogrammetry, collinear equation is used to 
describe the relationship between ground coordinate system and 
image space coordinate system. But in PTSS a new system, total 
station coordinate system is added. When an object point in total 
station coordinate system is projected into an image point (x, y,