Theoretical Accuracy Analysis of N-Ocular Vision Systems for Scene Reconstruction, Motion Estimation, and Positioning

Authors:
Pezhman Firoozfam;Shahriar Negahdaripour
Affiliations:
University of Miami, Coral Gables, FL;University of Miami, Coral Gables, FL
Venue:
3DPVT '04 Proceedings of the 3D Data Processing, Visualization, and Transmission, 2nd International Symposium
Year:
2004

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Abstract

Theoretical models are derived to analyze the accuracy of N-Ocular vision systems for scene reconstruction, motion estimation and self positioning. Covariance matrices are given to estimate the uncertainty bounds for the reconstructed points in 3-D space, motion parameters, and 3-D position of the vision system. Simulation results of various experiments, based on synthetic and real data acquired with a 12-camera stereo panoramic imaging system, are given to demonstrate the application of these models, as well as to evaluate the performance of the panoramic system for high-precision 3-D mapping and positioning.