We consider one-photogram raster-photogrammetry to be highly suitable for robot-vision applications. To date a Zeiss-Jena UMK 10/1318 metric camera and projector have been used. The metric projector is a high-precision instrument, whose interior orientation is known with the same accuracy as that of the metric camera. The equipment projects a reticule consisting of a double series of straight lines intersecting in nodes on the object to be photographed. In normal case where the metric camera and projector optical axes are parallel to one another and normal to the base, the image of the reticule on the photogram,id est the raster will be distorted but the horizontal reticule lines remain horizontal and equidistant, and the nodes only move on the horizontal lines. Consequently, in order to plot one node, it is merely sufficient to measure one coordinate on the raster photogram. If the image that is obtainable with the camera is analysed on-line with a RS1 Rollsimetric Reseau-Scanning System, which allows automatic extraction and measurement of the marked points, on-line plotting can be obtained.
Elena Baj, Elena Baj,
"Experiments on real-time raster photogrammetry", Proc. SPIE 1395, Close-Range Photogrammetry Meets Machine Vision, 139534 (1 August 1990); doi: 10.1117/12.2294355; https://doi.org/10.1117/12.2294355