Table 2. 
Distortion Models for 
interior Orientation Parameters 
  
   
  
  
        
  
  
     
       
  
  
      
       
  
  
       
   
   
       
       
       
  
  
     
        
       
  
  
       
       
        
  
      
     
    
Parameter Camera-Lens Combination 
(coeff.) 1 2 3 5 6 
k 0.009 0.0088 0.0327 0.0090 0.0088 0.0330 
x. 319.916 331.614 206.682 319.430 262.077 203.814 
b 0.00344 -0.01356 -0.00011 -0.00223 -0.00613 0.00760 
ys € 237.394 222.822 275.680 235.426 261.160 292.169 
d -0.00313 -0.01101 0.00644 -2.677E-6 -0.01608 0.00126 
L, e 2.119E-6 1.548E-6 1.875E-6 1.957E-6 1.698E-6 1.998E-6 
g -2.615E-9 -1.830E-9 -2.185E-9 -2.303E-9 -2.028E-9 -2.376E-9 
h 7.760E-13 4.812E-13 5.763E-13 6.459E-13 5.449E-13 6.507E-13 
i 2.514E-8 5.722E-8 -2.104E-7 1.234E-7 -3.189E-8 -4.414E-8 
j 76.849E-11 -1.424E-10 -2.703E-12 -1.3890E-10- -1.145E-10 °-8.793E-11 
k 4.528E-15 1.359E-14  -2.097E-15 1.392E-14 1.237E-14 1.064E-14 
p, m -6.355E-6 -1.979E-6 -5.540E-6 1.367E-6 -2.616E-6 -1.018E-6 
n 4.268E-9 6.119E-9 3.344E-9 -1.221E-9 3.818E-9 -3.971E-9 
S -8.187E-13  -2.562E-13  -4.404E-13 1.986E-13 - -2.990E-13 1.699E-13 
p t 8.324E-7 -2.041E-6 1.421E-6 -1.304E-6 -5.261E-6 8.172E-7 
u 4.037E-12 5.031E-9 -3.557E-9 1.554E-9 7.163E-9 -7.265E-10 
v =1.253E-13  -5.148E-14 2.136E-13  -1.553E-13  -2.439E-13 6.198E-14 
where f z focal length in pixels 
Xx =a+b£f 
X= + dE 
In =e + gf +hf for f< 25mm 
In =i JF + Wf for £ 2725 mm 
pzm-e-nfus ff 
Bı=t+uf+w f? 
Table 3. Root-Mean-Square Errors of 
  
the Residuals After Sequentially Constrained Calibration 
  
   
      
  
  
   
     
    
    
     
     
    
      
    
    
    
    
    
  
  
     
      
f= 12.5 mm and 75 mm 
Focal Number Camera-Lens Combination 
Setting of 1 2 4 5 6 
(mm) Targets (+ pixels) 
32.5 38 15 22 :24 :14 19 „18 
12.5 38 „15 :22 .20 :15 +19 .18 
15 32 21 „23 2 :20 423 „18 
15 32 23 24 :21 „415 :24 :19 
20 25 „415 :20 „15 -14 „17 41.9 
25 30 .10 20 2:16 .09 222 25 
30 21 16 23 „47 .08 «24. 24 
35 20 +10 „21 „16 .09 „28 .26 
40 18 .10 23 „18 - 10 25 24 
45 15 „42 24 „18 :11 :26 21 
50 13 :14 „28 „26 :12 :27 220 
55 13 „15 „28 17 „13 .30 :17 
60 13 :17 .29 23 : 14 :30 25 
65 13 :19 :34 :25 „15 ‚34 :27 
70 13 :18 „32 „23 . 16 31 25 
75 13 27 „34 :27 „18 „35 28 
Total change in 
RMS errors between +47% +55% +35% +29% +84% +56% 
= 12.5 mm and 75 mm 
Total change in 
image scale between +500% +500% +500% +500% +500% +500%