Thanks to the development of mobile mapping technologies, close-range photogrammetry (CRP) has advanced to be an efficient mapping method for a variety of applications. A compactCRP system equipped with multiple cameras and aGPSreceiver is one of those advanced portable mapping systems. A portable panoramic image mapping system (PPIMS) was specially designed to capture panoramic images with eight cameras and to obtain the position of image station with aGPS receiver.A PPIMS can be considered as a panoramicCRP system. The coordinates of an object point can be determined by the intersection of panoramic image points. For the implementation, we propose a new concept of photogrammetry by using panoramic images. Eight images capturedbyPPIMS forms a spherical panorama image (SPI). Instead of using the original images, PPIMSSPIs are then used for photogrammetric triangulation and mapping. Under this circumstance, oneSPIis formed for each station, and it is associated with only one set of exterior orientation (EO) parameters. Traditional collinearity equations are not applicable toSPI triangulation and mapping. Therefore, a novel bundle adjustment algorithmis proposed to solveEO of multi-stationSPIs. BecausePPIMSSPIs are not idealSPIs, a correction scheme was also developed to correctthe imperfect geometry ofPPIMS SPI. Two test studies were performed for the data collected at a campus test field of National Cheng Kung University (NCKU) and at a historical site of Tainan. Both cases demonstrate the feasibility ofSPIbundle adjustment and applying corrections for PPIMSSPIs necessary for effective for bundle adjustment. Furthermore, the experiment's results also confirm thatSPIs can replace original imagesforPPIMS triangulation.

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