Table 2.

Estimated ROPs between camera “0” (AVT-0) and the other cameras.

Procedure	Camera	Δω (deg ± s)	Δϕ (deg ± s)	Δκ (deg ± s)	ΔX (m ± m)	ΔY (m ± m)	ΔZ (m ± m)
Two-step Indirect	Camera “1” (AVT-1)	0.92777 ±285.5	−0.38012 ±100.1	−2.00209 ±85.2	−0.03 ±0.01	−1.47 ±0.01	0.06 ±0.01
	Camera “2” (Basler-2)	−41.65608 ±144.7	−0.05911 ±140.8	−1.05843 ±198.3	−0.02 ±0.01	−1.49 ±0.01	0.62 ±0.01
	Camera “3” (Basler-3)	−88.95329 ±235.1	1.98176 ±237.6	−0.69070 ±200.0	−0.04 ±0.01	−1.48 ±0.02	1.71 ±0.02
	Camera “4” (Basler-4)	−128.10177 ±321.9	0.52740 ±130.3	−0.33972 ±85.9	−0.06 ±0.01	−1.48 ±0.01	2.47 ±0.01
Single-Step Indirect Geo-ref. with ROC	Camera “1” (AVT-1)	0.93444 ±14.6	−0.40842 ±17.1	−2.00061 ±20.0	−0.03 ±0.0013	−1.48 ±0.0019	0.06 ±0.0014
	Camera “2” (Basler-2)	−41.66469 ±17.5	−0.09493 ±23.3	−1.06639 ±31.4	−0.03 ±0.0017	−1.50 ±0.0022	0.63 ±0.0024
	Camera “3” (Basler-3)	−88.91613 ±25.0	1.95771 ±43.2	−0.69984 ±36.8	−0.04 ±0.0021	−1.49 ±0.0026	1.72 ±0.0031
	Camera “4” (Basler-4)	−128.10779 ±25.1	0.54875 ±52.1	−0.32753 ±38.0	−0.05 ±0.0021	−1.48 ±0.0028	2.47 ±0.0035