Table 4. Stability and Repeatability of Calibration Parameters Over Time 
  
RMS Errors of Image Residuals (+ pixel) 
  
Focal Number Camera-Lens Comb. 4 Camera-Lens Comb. 2 
Length of Initial 7-days Initial 14-days 
(mm) Targets Set Later Set Later 
12.5 38 „14 „15 „22 „20 
12.5 38 „15 „14 „22 „23 
15 32 «20 .16 „23 „26 
15 32 -15 215 224 .24 
20 25 „13 „20 „20 22 
25 30 .09 „15 „20 25 
30 21 .08 .14 :23 „23 
35 20 .09 15 ‚21 25 
40 18 .10 12 323 : 25 
45 15 xl .16 .24 27 
50 13 „12 „14 „28 „28 
55 13 13 16 „28 „29 
60 13 :14 .19 .29 31 
65 13 15 21 +21 „34 
70 13 16 „21 232 .34 
75 13 „18 .21 34 „35 
  
Table 5. 3-D Positioning Accuracy with Different Focal Length 
  
  
  
  
  
  
Camera Focal Number Average Camera RMS Error Relative’ 
Config. Length of Target Base AX AY AZ Accuracy 
(mm) Check Distance Distance ( x mm) 
Points (meters) (meters) 
1 15 27 5.9 0.61 0.62 3.14 0.67 1/1800 
45 14 0.27 1.70 0.18 1/3400 
70 12 0.25 1-61 0.18 1/3600 
2 15 28 5.7 0.63 0.75 2.75 0.61 1/2000 
45 14 0.20 1.26 0.18 1/4400 
70 12 0.20 1.25 0.18 1/4500 
3 15 30 5.6 1.02 0.87 2.79 0.40 1/1900 
45 15 0.23 1.16 0.17 1/4700 
70 12 0.21 0.90 0.17 1/6000 
4 15 33 5.4 1.12 0.66 1.06 0.63 1/3900 
45 15 0.30 1.12 0.17 1/4600 
70 12 0.18 0.52 0.21 1/9200 
1 
  
* Relative Accuracy = 
  
(AverageTargetDistance, 
VAX? + AY? + AZ?