A badly calibrated camera in ego-motion estimation — propagation of uncertainty
This paper deals with the ego-motion estimation (motion of the camera) from two views. To estimate an ego-motion we have to find correspondences and we need a calibrated camera. In this paper we solve the problem how to propagate known camera calibration errors into the uncertainty of the motion parameters. We present a linear estimate of the uncertainty in ego-motion based on the uncertainty in the calibration parameters. We show that the linear estimate is very stable.
KeywordsMotion Parameter Euler Angle Calibration Parameter Camera Calibration Fundamental Matrix
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