Table 3. Results of exterior orientation 
Left Camera 
Right camera 
Parameter 
Value 
Parameter 
Value 
x s 
1.01 m. 
x, 
2.63 m. 
Y s 
-36.20 m. 
Y s . 
-36.22 m. 
Z s 
1.44 m. 
Z s 
1.41 m. 
a 
0.30° 
a’ 
0.30° 
CO 
0.26° 
co’ 
-0.24° 
K 
-0.55° 
k’ 
-0.88° 
The origin of spatial exterior system of coordinates is 
determined in the point 1 (-1.17, 36.21, -1.63). 
RESULTS OF APPLICATION 
First mission was performed in Moscow. The aims of mission 
were: 
• to test hardware and software in working condition 
• to acquire primary data for verifying developed methods 
• to estimate system performance and accuracy 
The first step of mission was to acquire images of test scene 
and perform relative orientation. The accuracy of estimation of 
test scene reference 3Dcoordinates was 0.025 m. 
Set of registrations was obtained during the mission in 
Moscow. Image processing and 3D measurements were 
performed later and show good accuracy of developed system. 
The results of 3D estimation by photogrammetric system were 
compared with independent measurements. The example of 
recorded stereo images is shown in Figure 6. The height of the 
bridge with respect to the road was estimated as 4.54 m 
whereas real height is 4.50 m. The distance between road marks 
was estimated as 3.78 m, the independent measurements 
showing 3.80 m. The obtained results show suitable precision 
of the photogrammetric measurements. 
Figure 6. Sample of registration 
CONCLUSIONS 
The developed method for relative orientation in bad stereo 
condition shows good reliability and accuracy. Along with 
results of system calibration the results of relative orientation 
provide photogrammetric measurement with needed precision. 
The approach for exterior orientation accounting vanishing 
point for exterior orientation demonstrates accuracy 
enhancement with comparison to exterior orientation based 
only on roads reference points. It provides the basis for 
common coordinate system for road scenes reconstruction by 
stereo images sequences. 
The next step in developing mobile photogrammetric system is 
to install additional exterior positioning system (like GPS). 
This allows to estimate the quality of exterior orientation and to 
integrate all data in uniform model. 
REFERENCES 
[Klemm, 1997] J. Klemm, W. Caspary, H. Heister, 
Potogrammetric Data Organization with the Mobile Surveying 
System KiSS. Optical 3D Measurement Techniques IV, 
Wichmann, Karlsruhe, 1997, pp. 300-308 
[Knyaz, 1998] V.A. Knyaz, A. V. Sibiryakov. The 
Development of New Coded Targets for Automated point 
Identification and Non-contact 3D Surface Measurements, 
International Archives of Photogrammetry and Remote 
Sensing, Vol. XXXII, part 5, Hakodate, Japan, 1998, pp. 80- 
85. 
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