Table 3.

Estimated lever-arm offsets and boresight angles between each camera and the IMU body frame, using different geo-referencing methods.

Method	Camera	Δω (deg ± s)	Δϕ (deg ± s)	Δκ (deg ± s)	ΔX (m ± m)	ΔY (m ± m)	ΔZ (m ± m)
Two-step (Indirect Georef.) (σo)2: (0.0025)2	Camera “0” (AVT-0)	−0.97284 ±535.7	−0.26904 ±4478.0	1.37450 ±5441.1	0.08 ±0.06	0.49 ±0.02	−1.57 ±0.02
	Camera “1” (AVT-1)	−0.03595 ±698.0	−0.62728 ±4473.9	−0.62241 ±5433.6	0.08 ±0.07	−0.98 ±0.02	−1.49 ±0.02
	Camera “2” (Basler-2)	−42.62160 ±600.5	−1.17411 ±5287.6	−0.21013 ±4784.4	0.09 ±0.06	−0.99 ±0.03	−0.93 ±0.02
	Camera “3” (Basler-3)	−89.92737 ±713.5	0.60325 ±5524.1	−0.93508 ±4580.1	0.06 ±0.04	−0.96 ±0.02	0.16 ±0.02
	Camera “4” (Basler-4)	−129.08182 ±805.1	−0.38674 ±4761.7	−1.40071 ±5167.7	0.04 ±0.04	−0.95 ±0.02	0.92 ±0.02
Two-step (Indirect Geo-ref. with ROC) (σ0)2: (0.0032) 2	Camera “0” (AVT-0)	−0.96123 ±658.8	−0.27439 ±4502.9	1.38869 ±5430.5	0.07 ±0.06	0.49 ±0.02	−1.57 ±0.02
	Camera “1” (AVT-1)	−0.01722 ±641.3	−0.65988 ±4491.6	−0.60753 ±5440.2	0.08 ±0.07	−0.98 ±0.02	−1.49 ±0.02
	Camera “2” (Basler-2)	−42.61830 ±658.0	−1.22283 ±5241.0	−0.21120 ±4722.3	0.08 ±0.06	−0.99 ±0.02	−0.92 ±0.02
	Camera “3” (Basler-3)	−89.87900 ±766.2	0.56395 ±5439.1	−0.94801 ±4492.6	0.06 ±0.04	−0.97 ±0.02	0.17 ±0.02
	Camera “4” (Basler-4)	−129.07587 ±762.3	−0.37444 ±4787.0	−1.40052 ±5181.4	0.04 ±0.04	−0.95 ±0.02	0.92 ±0.02
Single-step (ISO) (σ0)2: (0.0077) 2	Camera “0” (AVT-0)	−0.90343 ±454.4	0.05174 ±125.7	1.28972 ±119.1	0.07 ±0.12	0.50 ±0.10	−1.55 ±0.10
	Camera “1” (AVT-1)	0.06634 ±454.7	−0.31522 ±125.1	−0.70938 ±120.3	0.08 ±0.12	−0.98 ±0.10	−1.48 ±0.10
	Camera “2” (Basler-2)	−42.53492 ±454.7	−0.92732 ±128.6	0.00765 ±119.3	0.08 ±0.12	−0.99 ±0.10	−0.92 ±0.10
	Camera “3” (Basler-3)	−89.83526 ±455.9	0.55968 ±131.7	−0.53241 ±117.4	0.06 ±0.12	−0.96 ±0.10	0.17 ±0.10
	Camera “4” (Basler-4)	−129.0088 ±456.0	−0.64709 ±129.3	−1.07301 ±119.4	0.05 ±0.12	−0.94 ±0.10	0.93 ±0.10