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

Article in 7-th International Conference Computer Analysis of Images and Patterns. 1997, Kiel, Germany.

Tomas Svoboda and Peter Sturm.

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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.