Badly Calibrated Camera in Ego-motion Estimation, Propagation of Uncertainty Badly Calibrated Camera in Ego-motion Estimation { Propagation of Uncertainty ?
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چکیده
Reference Tomm a s Svoboda and Peter Sturm. A badly calibrated camera in ego-motion estimation, propagation of uncertainty. Abstract. This paper deals with the ego-motion estimation (motion of the camera) from two views. To estimate an ego-motion we have to nd 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.
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