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What can be done with a Badly Calibrated Camera in Ego-Motion Estimation?

Tomas Svoboda 1 Peter Sturm 2 
2 MOVI - Modeling, localization, recognition and interpretation in computer vision
GRAVIR - IMAG - Laboratoire d'informatique GRAphique, VIsion et Robotique de Grenoble, Inria Grenoble - Rhône-Alpes, CNRS - Centre National de la Recherche Scientifique : FR71
Abstract : This paper deals with the ego-motion estimation from two views and with the influence of the accuracy in the camera calibration on the estimation of the motion parameters. We assume a raw knowledge about the camera. We present the linear guess of the uncertainty of the motion parameters based on the uncertainty in the calibration parameters. The statistic observation will be also presented. We did many tests with synthetic data. We find the relations between noise in the camera parameters and the acceptability of the translation vector. We show that the linear guess of the translation vector uncertainty is very stable and useful even with a raw calibration. The guess of the noise in the rotation seems to be less stable and the estimation of the rotation is very sensitive to the accuracy in calibration parameters.
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Submitted on : Tuesday, May 31, 2011 - 2:29:23 PM
Last modification on : Thursday, October 27, 2022 - 4:02:36 AM
Long-term archiving on: : Thursday, September 1, 2011 - 2:20:54 AM


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  • HAL Id : inria-00525701, version 1


Tomas Svoboda, Peter Sturm. What can be done with a Badly Calibrated Camera in Ego-Motion Estimation?. [Research Report] CTU-CMP-1996-01, 1996, pp.27. ⟨inria-00525701⟩



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