The relationship between the geometry of a stereo camera setup and the accuracy in obtaining three-dimensional position information is of practical importance in many imaging applications. Assuming a point in a scene has been correctly identified in each image, its three-dimensional (3-D) position can be recovered by the simple geometrical method known as triangulation. The probability that position estimates from triangulation are within some specified error tolerance is derived. An ideal pinhole camera model is used and the error is modeled as known spatial image plane quantization. A point's measured position maps to a small volume in 3-D determined by the finite resolution of the stereo setup. With the assumption that the point's actual position is uniformly distributed inside this volume, closed-form expressions for the probability distribution of error in position along each coordinate direction (horizontal, vertical, and range) is derived. Following this, the probability that range error dominates over errors in the point's horizontal or vertical position is determined.
|Original language||English (US)|
|Title of host publication||Unknown Host Publication Title|
|Number of pages||10|
|State||Published - Jan 1 1987|
ASJC Scopus subject areas