ERROR ANALYSIS OF MOTION PARAMETER ESTIMATION FROM IMAGE SEQUENCES.

The problem of error estimation and analysis in motion estimation is investigated. An algorithm is presented that gives a closed-form solution for motion parameters using feature points in monocular image sequences. The algorithm is more reliable in the presence of noise, and simpler than existing ones. Then a method is presented that estimates the errors in the motion parameters computed by the algorithm. Specifically, the standard deviation of the error is calculated in terms of the variance of the errors in the image coordinates. The estimated errors indicate any degeneracy or near degeneracy that may cause the failure of the motion estimation algorithm.