Abstract: This paper presents an automatic procedure of camera orientation developed for a digital close-range photogrammetric system. In this application, small bright balls mounted on a calibration frame serve as control points, since their shape in an image is invariant to the camera position and they are always imaged as circles. To recognize the circles in the image, an edge detection algorithm is exploited to extract the circular edges with subpixel accuracy. The circles are recognized by matching the shape of these edges with the shape of an ideal circular target. The central location of the circles and their diameters can be determined from these edge points. The determination of the identification of the circles is a problem of artificial intelligence. The list of the circles in the image must be arranged in the order of the balls in 3D world. A fast search is described that is based on exploiting the available information in order to limit the number of possible alternative orders of the targets. In this way, the search can be achieved efficiently. The identification of circles results in the correct numbers being attached to the corresponding circles. Finally, the precise camera parameters are calculated by bundle adjustment. !4
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