Bundle adjustment of High Resolution Stereo Camera on Mars Express

The High Resolution Stereo Camera (HRSC) can obtain stereo imageries almost simultaneously along the track and avoid the changes of the Martian surface over time. According to the exposure time of image line number, the exterior orientation (EO) parameters of all conjugate points are extracted from the Spacecraft, Planet, Instrument, C-matrix, Events (SPICE). The interior orientation parameters are obtained from the camera calibration files. Due to existence of error in the exterior orientation parameters, bundle adjustment (BA) is carried out to remove the geometric inconsistencies. After BA, the object points calculated with the adjusted EO parameters are back projected onto the image plane and compared with the original observation. The experimental results show that sub-pixel accuracy is obtained after BA.