882
PHOTOGRAMMETRIC45075820912867111141183222254291333374402433465478515
ENGINEERING97975820912769109122164191218250263305345
&1338758209136
REMOTE138875820913259101145174201
SENSING16037582091265395121134176215
March502375930785592121153191
2014523875930784181120155
229562575910803570105
Comparison6715860359152282481612743827892100611361269
of20005860359130208
Two22685860359119281408
Panoramic2737586035914627540853862275395310171141
Sensor39395860359140270403518647731
Models47315860359208338469598663777
for1513895035978205290
Precise18638950359146230360484548663793
3D27168950359142299
Measurements3076895035920833846958471579992811281258139114761591
Shunping9971491011452101150199248272321371
Ji,139114910114345881
Yun1494149101144793142
Shi,16591491011452101125148
Zhongchao18301491011452101149198248294344392440
Shi,22931491011452101125148
Anmin24641491011454104178202251
Bao,27381491011458107155178
Junli2939149101143483132156180
Li,314214910114456992
Xiuxiao3256149101145478127171195244292
Yuan,3571149101144792141190214
Yulin3807149101144793117140190
Duan,40191491011459107156206229
and4270149101144998147
Ryosuke4440149101145999146189238287334
Shibasaki47961491011452101125174223266314363387
Abstract450183901515197137167196241284314
In450196901073085
this560196901073085113153
paper,7381969010755105160205240260
the1023196901073085130
system1178196901074087127157202282
errors1485196901074580115165200240
produced1750196901075590140195250295340395
by2170196901075097
the2292196901073085130
most24471969010780130170200
widely2672196901076896151196450206901072875
used550206901075595140195
ideal770206901072883128178207
panoramic10022069010755105160210245295375403448
camera1475206901074595175220255305
model18052069010780130185230259
for2089206901073080115
a22292069010750
close-range2304206901074573123163208238273323378423468
multi-camera4502169010780135163193222252297347427472507557
rig1032216901073563108
are1165216901075085130
indicated1320216901072984139167212262292337392
and17372169010750105160
analytically19222169010750105155183230260288333383412440487
modeled24342169010780130185230258303358
according450226901075095140190225280308363408
to883226901073080
a9882269010751
rigorous1064226901073563108158193243298338
panoramic14272269010755105160210245295375403448
camera1900226901074595175220256306
model,22312269010780130185230258283
and25392269010750105160
a27242269010750
comprehensive450236901074595175230265310365410465505533580625
comparison1100236901074595175230280315344383434488
between1614236901075095125193238283338
the1977236901073085130
two2132236901073098148
models23052369010780130185230259299
is2629236901072868
given.2722236901074573120165220245
First,450246901075382117157187212
the687246901073085130
3D8422469010750892248608652
localization969246901072878123173202230275325355384434489
errors1483246901074580115165200240
of1748246901075080
the1853246901073085130
ideal2008246901072883128178206
model22392469010780130185230259
are2523246901075085130
analyzed26782469010750105450256901075078125170215270
that745256901073085135165
shows935256901074095145213253
the1213256901073085130
correlations1368256901074595130165210239289319347397452492
with1885256901076897127182
the2092256901073085130
object-image22472569010750100125170215245275303383433478523
distance450266901075583123153203258303348
and8232669010750105160
the1008266901073085130
viewing1163266901074775120189217272317
angles.15052669010750105150178223263288
Second,18182669010755100145195250305330
the2173266901073085130
epipolar23282669010745100129184234262312347
errors2700266901074580115165200240
are450276901075085130
analyzed6052769010750105155183230275320375
and10052769010750105160
are1190276901075085130
observed13452769010750100140185220267312367
to1737276901073080
exhibit1842276901074595150178229257287
changes21542769010745100150205250295335
with2514276901076897127182
the2721276901072984129
rotation450286901073585115165195223273328
angles8032869010750105150179224264
and10922869010750105160
z-coordinates1277286901074575120170220255310338393443473518558
of1860286901075080
the1965286901073085130
image21202869010729109159204249
points.23942869010755105133188218258283
Finally,2702286901075382137187215243290308
tests450296901073075115145185
are660296901075085130
carried815296901074595130165193238293
out11332969010750105135
in1293296901072984
space1402296901074095145190235
resection,1662296901073580120165210240268318373398
epipolar20852969010745100128183233262312347
constraints,2457296901074595150190220255305333388418458483
and4503069010750105160
bundle6353069010750105160215243288
adjustment9483069010750105130185225255335380435465
with1438306901076997127182
different1645306901075583113143188223268323353
sensor2023306901074085140180230265
models.23133069010780130185230259299324
The26623069010760115160
outdoor4503169010750105135190240290325
tests800316901073075115145185
with1010316901076897127182
small12173169010740120170198226
object-image14683169010750100125170215245275304384434479524
distance2017316901075583123153203258303348
(several2390316901073070115162207242292320
meters)27353169010780125450326901073075110150180
show655326901074095145213
the893326901073085130
difference1048326901075584114144189224269324369414
between1487326901075095125193238283338
the1850326901073085130
two2005326901073098148
models21783269010780130185230259299
is2502326901072868
notably25953269010755105135185235263310
slight.45033690107406897142197227252
In727336901073085
contrast,837336901074595150180215265305335360
the1222336901073085130
indoor1377336901072883138188238273
tests1675336901073075115145185
with1885336901076897127182
larger2092336901072878113158203238
object-image23553369010750100125170215245275303383433478523
distance450346901075583123153203258303348
(more8233469010730110160195240
than1088346901073085135190
1513033469010750100
m)14283469010780110
show1563346901074095145214
the1802346901073085130
rigorous1957346901073563108158193243298338
model23203469010780130185230259
produces26043469010755901404503569010755110155200240
27153569010750
cm7903569010745125
better940356901075095125155200235
measurement12003569010780125175215270305350430475530560
accuracy1785356901075095140195230280325372
than2182356901073085135190
the2397356901073085130
ideal.2552356901072883128178207232
Introduction450382901512470100129174219265308337360405451
In450395901073085
many5593959010780125180229
research813395901073580119164209244288343
studies1181395901073969124179208253293
and14983959010745100155
applications16773959010745100155184214259303333363413467507
in2209395901072984
recent2318395901073579124169224253
years2596395901075094139174214
(Li2834395901073085114
et450405901074575
al.,549405901075078627405901072550
2004;7014059010750100150200224
Anguelov9504059010770125169224269298348398
et1372405901074575
al.,14714059010750781550405901072550
2010),16244059010750100150200229254
the1903405901072984129
close-range2057405901074474124164208238273317372417462
panoramic25434059010755100155204239284364450415901073075
camera549415901074590170214249294
has8674159010755100140
been1031415901075095140194
employed12504159010745125179209259309353408
in1683415901073084
place1792415901075584129174219
of2035415901075080
a21404159010744
traditional2209415901073064109164194223253303358402432
plane2665415901075585130185229
camera450425901074590169214249294
because768425901075095140184239279324
it1116425901073060
features1200425901073075120149204239283323
full1548425901073084114144
panoramic17164259010755100155204239284364393438
information2179425901073084114164198278323353382432487
in2691425901072984
a28004259010744
single450435901074070124169199244
image7184359010730110154199244
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simple1235435901074069149204234278
structure:1538435901074069104159204233288323368392
one19554359010750105149
projection2129435901075589139164209253283313363417
center2571435901074590144174219253
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sphere3773187801074095149194229274
or4071187801075085
cylinder.4181187801074494124154208263308342362
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compared4981187801074494174229273308353408
with54131878010775105134189
a56271878010745
plane3157197801075585129184229
camera,3411197801074489169214248293318
larger3754197801072974109153198233
geometric4012197801074489139219263293328357402
distortions4439197801075584124154204238268298347402442
exist4906197801074494124163193
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a52331978010745
panoramic530219780107551001552052392843643157207801073075
camera3256207801074590170214249294
or3574207801075085
in3684207801073084
a37932078010745
fish-eye386220780107285595150179224274319
camera4205207801074590170214249294
even4523207801074595140194
with47422078010775105134189
a49562078010744
much50252078010780135179234
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field3157217801072755100129184
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view,3470217801075080124199217
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may39952178010780125174
result4194217801073580119174204233
in4452217801073085
poor45612178010755105155189
imaging47752178010730110154199229283328
quality.51282178010750104149179209238288306
From5459217801075589139219
a31572278010745
manufacturing32262278010780125180235264309354384438473503557602
perspective,3853227801075599134174228273318348377427472497
there4374227801073085129164209
are4608227801074479124
three4757227801072984119164208
main49902278010780125154209
methods52232278010780125155210259314354
used3157237801075595139194
to3376237801073079
overcome34802378010750100144179224274353398
the3903237801073084129
large4057237801072974109154198
distortions.4280237801075585124154204238268298348402442467
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a31572478010745
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multi-camera35792478010780135164194224254298343423467502547
rig4151247801073464109
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reduces4901247801073479134189233278318
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fisheye5452257801072855951503157267801074595139
lenses.3321267801073075129169214254278
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image39572678010730109154199243
stitching422526780107407099129174228258313358
is4607267801073070
required4701267801073580130184214249294348
to5074267801073080
form5178267801073080115194
an5397267801074599
entire55212678010745100315727780107306094139
panoramic3321277801075599154204239283363393437
image,37832778010730110154199244269
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the4653277801072984129
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the3733287801073085129
projection3887287801075589139164209253283313363417
radius4329287801073580134164219258
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system4414297801074089129159204283
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al.,36883078010750783766307801072550
2004;38403078010750100150200224
Sato40893078010755100129179
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Yokoya,44713078010765109158208258303327
2010;48233078010750100149199224
Ladybug,50713078010755100155205254309354379
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a41213178010745
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camera,4952317801074590170214249294318
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axis,3381337801074494124164188
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the3922337801073084129
EYESCAN40753378010755120175230289359429
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Amiri38483478010770150179214244
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platforms3157367801075585129159189239273353393
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mirrors43343878010780110145179229264303
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1a).3633457801075095125150
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