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Relative Orientation and Epipolar Arrangement based on Forward Moving Image Pairs along the Optical Axis

KANG Zhi-zhong1,2,ZHANG Zu-xun3,YANG Fan-lin1(1.College of Geoinformation Science and Engineering,Shandong University of Science and Technology,Qingdao 266510,China;2.Faculty of Aerospace Engineering,Delft University of Technology,2629 HS Delft,The Netherlands;3.School of Remote Sensing and Information Engineering,Wuhan University,Wuhan 430079,China)  
The stereopairs along the optical axis have some deficiencies e.g.intersection angle is too small and precision is not satisfied.So it is seldom employed in traditional photogrammetry.However,in mobile mapping,tunnel photogrammetry and especially moving robot vision,it can be involved indispensably.Therefore it becomes a hot issue both in the fields of photogrammetry and computer vision.In this article,some elementary issues included radial parallax,tangential parallax,relative orientationn and the arrangement of epipolars are illustrated on photogrammetry based on forward moving images along the optical axis.Relevant applications and improvements are then implemented.
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