A badly calibrated camera in ego-motion estimation — propagation of uncertainty

  • Tomáš Svoboda
  • Peter Sturm
Motion and Calibration
Part of the Lecture Notes in Computer Science book series (LNCS, volume 1296)


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.


Motion Parameter Euler Angle Calibration Parameter Camera Calibration Fundamental Matrix 
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Copyright information

© Springer-Verlag Berlin Heidelberg 1997

Authors and Affiliations

  • Tomáš Svoboda
    • 1
  • Peter Sturm
    • 2
  1. 1.Center for Machine PerceptionCzech Technical UniversityPraha 2Czech Republic
  2. 2.GRAVIR-AMAG, project MOVI, INRIA Rhône-AlpesMonbonnot, GrenobleFrance

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