Simultaneous bundle adjustment of the quadruplet

Four aerial photographs with 60% end and side overlaps are the smallest possible block of photographs, called a quadruplet. A method is proposed for simultaneously adjusting the relative orientation of the four photographs based on an iterative procedure where the bundle of rays is the basic unit. The bundles can be reconstructed, or, in other words, the direction cosines of each ray of light can be computed when the image coordinates and the focal length are known.