Robustness of Structure from Binocular Known Motion 1

This paper analyzes the important issues associated with structure computations through binocular motion when inertial navigation systems are used to nd the sensor motion parameters. In particular, we study the conditions under which the relative error in environmental depth is reduced through the use of binocular motion over the separate use of monocular motion and static stereo. The results obtained give lower bounds on relative errors in depth. Examples on typical situations are included to illustrate our theoretical conclusions.