Note that Xj and xj are 3-vectors such that Eq. 2 measures the
variance of a three dimensional distance.
The accuracy in Eq. 2 can be computed by taking the GCPs into
account when performing the reconstruction, which is referred
to as “including GCPs” in the results section below and can be
computed without using them (“geotags only”).
To assess both approaches, we applied our method with and without
GCP to three datasets. They are shown in Figures 1, 3 and 5
and differ with respect to the ground resolution of the original
images, the amount of images and the area they cover. We show
in these Figures the resulting orthomosaic and DEM for each of