1 setup 
  
  
214 X27 
  
  
ILl-conditioned 
  
o 
fe 
52 
> 
o 
S g rel 
t. 
o G 
+ Q 1 
= : 
- (9 
8 g 7500 
r G 
$ 9 5000 
= 3 2500 
o 0 
o 
fn 
en (D 
> 
£ g 
o © 
- £a 
o c 1 
#2 : 
= © 7500 
8 5 S 
c 5 500C 
> 250C 
o 
= X14 
sm % 
> t£ r 
- 0 
cs 
6 0 
£ 
N © 
5 L 
Qo c 
cC à 
© L 
+» © 
2 > 
© E 
© 
e 
o 
2% L 
c o 
o 
, 
  
Given distances only 
  
ItL-conditioned 
  
  
Local camera parameters 
  
7500 
  
5000 
  
2500 
  
  
  
Given distances only; 
global camera parameters 
mated 
Fig. 3 3-camera setups. Each graph shows for 14 and 27 points’ testfields (fig.s 1a and 1b) the relative standard error o,,, for estimated 
distances (fig. 1c) in X- (or Y-) and Z-direction (bars X14,214,X27,Z27). 95 (image coordinate = 0-1 Pixel is assumed. 
  
2 setups 
12500 
10000 
7500 
5000 
2500 
X14 214 x27 227 
Constrained rel. or. 
12500" 
10000 
7500 
5000 
2500 
X14 214 X27 227 
Not constrained rel. or. 
  
  
  
F Ill-conditioned 
  
  
  
Constrained rel. or. 
  
- Ill-conditioned 
  
  
  
Not constrained rel. or. 
7500 
5000 
2500 
X14 214 X27 227 
Not constrained rel. or. 
  
Ti 
3 setups 
15000 
12500 
10000 
7500 
5000 
2500 
  
X14 214 X27 z27 
Constrained rel. or. 
15000 
12500 
10000 
7500 
5000 
2500 
  
X14 214 x27 227 
Not constrained rel. or. 
10000 
7500 
5000 
2500 
  
X14 214 X27 227 
Constrained rel. or. 
  
  
7500 
5000 
2500 
  
  
  
X14 214 x27 227 
Not constrained rel. or. 
  
7500 
5000 
2500 
  
  
  
  
  
X14 Z14 Xer Led 
Not constrained rel. or.