Error Estimation in Stereo-Vision

Error estimation in stereo-vision systems has been an area of research for many years [14, 59, 75, 81, 104, 124, 183, 228, 335]. The enclosed developments, based on the fundamental equations given in Chapters 3 and 4, are meant to provide an introduction to their application for estimation of both 3D position bias and variability. Consider a two-camera stereo vision system. As shown in Fig. 4.7, one point in space is in direct correspondence with two sensor locations, one in each camera system. Since the transformations between the world system and the camera 1 are known after calibration has been completed, it is assumed that the world coordinate system is transferred to the camera 1 pinhole location. Thus, if the common point is P, after the transformation is completed (a) the 3D coordinates are defined in the camera 1 system (e.g., see pinhole system in Fig. 3.1) and (b) the transformation given in Eq. (3.9) for the camera 1 view is greatly simplified, since [R]1 = [I] and {t}1 = {0}.