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VECTOR-MATRIX METHOD FOR RESTORATION OF POINT SPATIAL COORDINATES IN STEREO PHOTOGRAPHY GENERAL CASE

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The paper presents a solution for the problem of the point spatial coordinates  restoration in  three-dimensional basic system of coordinates by its stereo images obtained by cameras with independent  locations and orientations in space; the cameras settings can be different. In analytical photogrammetry such a problem is called direct photogrammetric intersection for the general photographing case. The solution presented in the paper is based on the approach different from that one adopted in analytical photogrammetry. Methodologically, this approach is based on a vector-matrix apparatus applied from the formulation of the problem up to the final solution. Structurally, the result presented in the paper provides the equivalence of the cameras, which equally produce an effect on the final result. Similarity transformations are not used in the solution, the result is obtained just in the base coordinate system. The number of stereo cameras can be easily increased without changing the decision algorithm. These facts distinguish the solution presented in the paper  from the direct photogrammetric intersection, in which one of the cameras (usually the left one) is the main camera and the center of the model coordinate system with a special direction of the axes is placed in its projection center. Similarity transforms should be used repeatedly in calculations to move from one coordinate system to another before the result in the base coordinate system is obtained. The method presented in the paper has greater average accuracy in the presence of errors in determining the coordinates of the corresponding points on the images than the direct photogrammetric intersection. This advantage in the accuracy of determining the spatial coordinates of points in the performed experiments occurred to be more than 20 %.

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