This system was calibrated using the bundle adjustment with the relative orientation constraints. A variable size of template is employed to find the significant maximal correlation coefficient. Third, least squares matching was used to have the sub pixel accuracy. Using this matching method, the point, profile and surface can be measured by selectiong points in a single image of a stereo pair. Finally, this technique is extended to extract three dimensional edges by line following.
All data captured by the mobile mapping system are available in a global coordinate system.