Results of Least Squares Adjustment

The "bundle" adjustment solution produced the camera interior and exterior parameters as shown in the table below. Omega, Phi and Kappa are the cameras' orientation. X, Y and Z are the cameras' position. Xp and Yp are the offset of cameras' principal point from the center of the CCD array. f is the cameras' focal length. Kx and Ky are the scaling factor for the distance between the CCD sensors in the X and Y direction, respectively.

Left Camera

Right Camera

Omega (degree)

0.884

-0.815

Phi (degree)

-16.399

15.178

Kappa (degree)

-0.051

0.949

X (mm)

-148.851

385.159

Y (mm)

-81.860

-59.082

Z (mm)

921.304

906.624

X p (mm)

-0.102

0.040

Y p (mm)

0.056

-0.085

f (mm)

26.572

25.999

Kx

1.004

1.004

Ky

0.994

0.994

The position of the 802 points detected and calculated by STEREO is shown in the figure below.


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