osented in 
ved the 
he radial 
significant 
Stereo 
ameters in 
the object 
oordinate 
to the 
reo-vision 
of object 
e of the 
used for 
in Tab. 4 
ed from 
accuracy 
he 10 cm 
ont of the 
> mapping 
oints with 
heck the 
ints were 
. Table 5 
tioned by 
nd their 
ts to the 
the State 
zone code 
receivers 
rotation 
from the 
al system. 
/stem and 
using the 
  
  
  
  
  
  
  
  
  
  
  
  
  
  
  
  
  
  
  
  
  
  
  
  
  
  
Image Pair Bx [m] By [m] Bz [m] Aw AQ AK 
200 2.165 -0.028 -0.442 -0.00836 0.05255 0.01337 
201 1.647 -0.098 -0.236 -0.00609 0.03777 0.01800 
202 1.853 0.033 -0.136 -0.01108 0.04597 D.01712 
203 1.848 0.026 -0.135 -0.01378 0.04619 0.01799 
204 1.841 0.017 -0.107 -0.01159 0.04594 0.01777 
206 1.865 0.011 -0.159 -0.01069 0.04648 0.01866 
208 1.861 0.083 -0.145 -0.01607 0.04674 0.01744 
209 1.881 0.043 -0.109 -0.01423 0.05041 0.01844 
Tab. 2 The relative orientation parameters are different without 
the relative orientation constraints 
Number of Sx mm Sy mm Sz mm O mm 
Check Points 
no ADP 4 1.7 3.2 6.2 6.8 
ADP 4 1.6 1.0 3.1 3.7 
  
  
Tab. 3 Comparison of calibrations with and without additional parameters (ADP) 
  
  
  
  
  
  
  
  
  
  
  
  
  
  
  
  
  
  
Object No. of Points Sx [m] Sy [m] Sz [ ml O [ml 
Distance 
30m 5 0.029 0.010 0.115 0.1.19 
17m 9 0.010 0.014 0.068 0.070 
9m 8 0.005 0.009 0.023 0.025 
Tab. 4 Positioning accuracy of the stereo vision system 
where the object distance corresponds to the Z coordinate 
Points Distance to AX [ m] AY [m] AZ [m] 
GPSVan 
A 26.5 -0.125 0.109 -0.160 
B 10.6 -0.063 -0.406 -0.275 
C 19.7 0.000 -0.109 -0.102 
D 20.0 -0.187 -0.406 0.037 
o 0.117 0.297 0.127 
  
  
  
  
  
  
  
Tab. 5 Global positioning accuracy of the GPSVan and stereo vision system 
  
4. Conclusions 
In this paper, we have presented all of the 
algorithmic aspects of GPSVan calibration. The 
positioning accuracy of the GPSVan is better than 
one foot in a global coordinate frame. This meets 
the requirements of most engineering 
applications. For example, we have finished 
projects for railroads, airports and utility 
applications. All projects have been completed 
successfully and much faster than using 
conventional surveying techniques. In the future, 
we plan to use dual frequency receivers and an 
inertial system to improve the accuracy to 
better than 10 cm. 
485