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INVARIANCE-SUPPORTED PHOTOGRAMMETRIC TRIANGULATION

A multi -photo invariance triangulation and object reconstruction method has been developed based on analysis of the invariance techniques for two images. An extension of the invariance technique of the fundamental matrix factorization to multiple photographs has been accomplished by introducing the concept of pass points into the invariance technique. A similar technique has been developed for blocks of calibrated cameras. Development of an approach to triangulation and object reconstruction, based on the combined advantages of invariance and photogrammetry, is introduced next. A technique for recovering the interior and exterior orientation camera elements from the invariance parameters is presented. These are then used as initial parameter approximations in the photogrammetric block adjustment. Experimentation, using both simulated and real data sets, is performed employing the different invariance techniques and comparison made with equivalent photogrammetric methods, and results summarized. Conclusions and recommendations for future research are also presented.