Analysis of uncertainty bounds due to quantization for three-dimensional position estimation using multiple cameras

John Jun Wu, Rajeev Sharma, Thomas S. Huang

Research output: Contribution to journalArticle

Abstract

An important source of error when estimating the 3-D position of a point from two (stereo), three (trinocular), or more cameras is that of quantization error on the image planes. In this paper, we are concerned with bounding the quantization errors when using multiple cameras defined in terms of uncertainty regions in 3-D. We use a geometric error analysis method that models the quantization error as projected pyramids and the uncertainty region as an ellipsoid around the polyhedron intersection of the pyramids. We present a computational technique for determining the uncertainty ellipsoid for an arbitrary number of cameras. A numerical measure of uncertainty bound such as the volume of the ellipsoid can then be computed for aiding camera placement, trajectory planning, and various other multiple camera applications.

Original languageEnglish (US)
Pages (from-to)280-292
Number of pages13
JournalOptical Engineering
Volume37
Issue number1
DOIs
StatePublished - Jan 1998

Keywords

  • Computer vision
  • Error analysis
  • Multi-camera stereo

ASJC Scopus subject areas

  • Atomic and Molecular Physics, and Optics
  • Engineering(all)

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