Robotics and structural dynamics characterization of the space station remote manipulator system using photogrammetric techniques

Analytical formulations of the photogrammetric camera models are described. Both a single-camera model and a dual-camera model are presented. Because the cameras are not fixed in well-defined reference frames, calibration methods accounting for their motion are necessary. Two calibration schemes addressing this issue, namely, a linear scheme and a nonlinear scheme, are presented and discussed. Also presented is an analysis which evaluates the sensitivity of the coordinates of a target to the various camera parameters such as focal length of the camera lens, and pan and tilt angles of the camera