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A Badly Calibrated Camera in Ego-Motion Estimation, Propagation of Uncertainty

T. Svoboda and P. Sturm
7-th International Conference Computer Analysis of Images and Patterns, Kiel, Germany
September 1997

Abstract

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.


Download in postscript format
@InProceedings{eth_biwi_00135,
  author = {T. Svoboda and P. Sturm},
  title = {A Badly Calibrated Camera in Ego-Motion Estimation, Propagation of Uncertainty},
  booktitle = {7-th International Conference Computer Analysis of Images and Patterns, Kiel, Germany},
  year = {1997},
  month = {September},
  pages = {183--190},
  editor = {G. Sommer and K. Daniilidis and J. Pauli},
  series = {LNCS},
  publisher = {Springer},
  keywords = {visual motion, stereo vision}
}