The International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences. Vol. XXXVII. Part B5. Beijing 2008 
where camera position and orientation are estimated based on 
the similarity transformation function between the 3D 
coordinates of the ground control point and their respective 2D 
image measurements. 
The trend in designing photogrammetric adjustment has 
changed significantly, with the availability of navigation 
sensors together with mapping sensors (i.e. mobile mapping 
systems), thus applying the concept of Integrated Sensor 
Orientation (ISO). The design of the bundle adjustment 
framework has been extended to include all the available 
information about the block configuration like platform 
position/attitude, as observed by GPS/INS integrated systems. 
Additionally, camera characteristics, as camera calibration 
procedure output, can be also included, (Ebner, 1976). All the 
introduced information is involved with appropriate weighting 
schemes. 
Most of the scientific/educational, see for example BLUH, 
(Linder, 2003) or commercial photogrammetric frameworks , 
see for example (HJW), (INPHO's), and (NOOBEED) 1 , are 
mainly designed for aerial applications, with one possible 
camera attached, with possible integration of navigation 
information as observed parameters. However, this treatment 
makes it only suitable for single camera system per exposure 
station (i.e. AMMS). 
In case of integrating data from both LMMS and AMMS, a 
photogrammetric framework, Figure 1, specially designed for 
mobile mapping systems, is required. This framework is 
different from other frameworks for photogrammetric 
operations. This difference is more pronounced, if the system 
hardware includes more than one camera, fixed to the 
navigation sensor. 
Figure 1: Framework Input Data 
Usually AMMS are designed to have one camera, while LMMS 
always have multi-camera to increase the field of view of the 
1 HJW, Geospatial http://www.hjw.com/index.htm 
INPHO's, Photogrammetric System. 
http://www.inpho.de/index.php?seite=index_en&navigation=1896 
&root=165&kanal=html 
NOOBEED http://noobeed.com/index.htm 
system (e.g. the VISAT imaging system configuration, has 8 
cameras with 330° panoramic field of view). In this case, a 
change of the definition of the exposure station has to take 
place. For a single camera system, the physical exposure station 
is the location of the camera perspective center at the images 
exposure time. In case of multi-camera system, the exposure 
station is no longer related to the camera perspective center 
rather than the navigation sensor center (i.e. IMU triad center), 
see Figure 2. The different camera perspective centers are 
connected to the exposure station though a linear offset and 
series of rotations. The photogrammetric adjustment framework, 
based on multi-camera concept, models the system more 
efficiently and provides the ability to perform the system 
calibration-an extremely important task in mobile mapping 
system cycle. 
Figure 2: Multi Camera System 
A more general form of collinearity model for frame cameras is 
given: 
( A 
x ijk 
Xi~X e 
AX^ 
yijk 
fUl 
V 7 
= 1 /¿i.R c b U) 
'* 
a ,2: 
Y- - 
Z;-Z eW 
\ 7 
— 
A y0) 
v 7 
Where: 
Refined image measurements of point 
(i) in an image taken by camera (j) at 
the exposure station (k) 
R b(k) 
K m 
The system attitude rotation matrix at 
the exposure station (k) 
p c U) 
R b 
Camera delta rotation matrix as a 
function of boresight angles 
x e{k) je(f) z e ik) 
System position, which are equivalent 
to the exposure station in multi-camera 
framework 
ax^\ay^\az^ 
Lever arm component 
XiJi,Zi 
Ground coordinate of point (i) 
Unknown scale factor