7A-6-5 
REFERENCE 
[Wang & Li, 1998] Xingwen Wang and Deren 
Li. Investigation on Object Positioning in 
Projective Space. In: Spatial Information 
Science, Technology and Its Applications, 
Wuhan, P.R.China,1998. pp279-288. 
[Hartley, 1994] R.I. Hartley. Projective 
Reconstruction and Invariants from Multiple 
Images. IEEE T-PAMI, ppl 036-1041, Vol. 16, 
No. 10, 1994. 
[Quan,1995] Long Quan. Invariants of Six 
Points and Projective Reconstruction from 
Three Uncalibrated Images. pp34-46,IEEE T- 
PAMI. Vol. 17, No.1,1995. 
[Xiong, 1995] Xiong Yan, Peng Jiaxiong, Ding 
Minyue. New Algorithm for the Estimation of 
projective Invariant of six points from 
Uncalibrated images. IEEE Electronics 
Letter, Vol. 31, No.25. Dec. 1995 
Table 1 : Result of test of occasional errors: 
Theoritical value 
Basée 
on 2 images 
Basée 
on 3 images 
Basée 
on 4 images 
X 
Y 
Z 
X 
Y 
Z 
X 
Y 
Z 
X 
Y 
Z 
1 
4.0 
0.0 
1.5 
3.99 
-0.05 
1.47 
4.02 
-0.04 
1.50 
3.98 
0.41 
1.65 
2 
8.5 
3.5 
5.0 
8.48 
3.49 
4.99 
8.50 
3.47 
4.95 
8.54 
3.47 
4.96 
3 
0.0 
6.0 
3.5 
0.02 
6.02 
3.51 
-0.03 
6.03 
3.51 
-0.00 
6.03 
3.49 
4 
1.0 
4.5 
2.0 
0.99 
4.54 
2.05 
0.99 
4.54 
2.02 
0.96 
4.49 
2.01 
5 
6.0 
1.5 
3.0 
6.02 
1.46 
2.96 
6.60 
0.80 
2.90 
6.12 
4.84 
4.88 
6 
6.0 
2.5 
3.0 
6.00 
2.49 
2.96 
5.97 
2.52 
3.03 
5.99 
2.50 
2.99 
7 
5.0 
5.0 
0.0 
4.97 
5.03 
0.01 
4.94 
5.03 
0.04 
4.99 
5.03 
-0.11 
8 
2.0 
1.5 
5.0 
1.99 
1.47 
5.04 
1.98 
1.45 
5.03 
2.01 
1.49 
5.04 
Table2: Result of test gross error on 7th points (non-control point): 
Theoritical value 
Basée 
on 2 images 
Basée 
on 3 images 
Basée 
on 4 images 
X 
Y 
Z 
X 
Y 
Z 
X 
Y 
Z 
X 
Y 
Z 
1 
4.0 
0.0 
1.5 
4.00 
0.00 
1.50 
4.00 
0.00 
1.50 
4.00 
0.00 
1.50 
2 
8.5 
3.5 
5.0 
8.50 
3.50 
5.00 
8.50 
3.50 
5.00 
8.50 
3.50 
5.00 
3 
0.0 
6.0 
3.5 
0.00 
6.00 
3.50 
0.00 
6.00 
3.50 
0.00 
6.00 
3.50 
4 
1.0 
4.5 
2.0 
1.00 
4.50 
2.00 
1.00 
4.50 
2.00 
1.00 
4.50 
2.00 
5 
6.0 
1.5 
3.0 
6.00 
1.50 
3.00 
6.00 
1.50 
3.00 
6.00 
1.50 
3.00 
6 
5.0 
5.0 
0.0 
5.00 
5.00 
0.00 
5.00 
5.00 
0.00 
5.00 
5.00 
0.00 
7 
2.0 
1.5 
5.0 
1.99 
1.54 
5.06 
2.17 
1.84 
4.85 
1.05 
0.13 
5.84