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.

Main Page || Model || Stereo Images
Points of Interest || Reconstructed Surface || Quality Check