Practical In Situ Implementation of a Multicamera Multisystem Calibration

Figure 1

Mathematical model for 3D reconstruction using the traditional-style collinearity-equation-based bundle adjustment with no constraints (a) versus the one using built-in ROCs (b); (0,0,0) denotes the origin of the mapping frame; , , and are example cameras 1, 2, and 3, respectively; and is the reference camera.

(a)

(b)