Skaloud, JanSchaer, Philipp2005-11-172005-11-172005-11-172003https://infoscience.epfl.ch/handle/20.500.14299/220101This work focuses on the stochastic properties of boresight determination between a strapdown IMU and a frame-based imaging sensor. The core of the stochastic model is a rigorous error propagation of the estimated input accuracies and their correlations.Boresightcalibrationexterior orientationdirect sensor orientationmethodsadjustmentiqualtopomappTowards A More Rigorous Boresight Determination: Theory, Technology and Realities of Inertial/GPS Sensor Orientationtext::conference output::conference proceedings::conference paper