Precise Output Error Characterization for Triangulation of Visual Landmarks from Two Views with Noisy Camera Pose

J. Gorgen, L. Lemay, D. Gebre-Egziabher

Abstract:	We present a least-squares formulation of the mid-point method of triangulation. We then present a comparison of three methods of camera triangulation from two views subject to errors in camera pose and calibration: Direct Linear Triangulation, Hartley-Zisserman Optimal method, and the mid-point method. From this comparison we determine that the mid-point method performs close to the optimal method and due to its simplicity is best-suited for error characterization. Triangulation error and error covariance is estimated by propagating camera position, attitude, and pixel registration errors through a first-order Taylor expansion of the closed-form least-squares algorithm. The performance of the covariance estimator is evaluated and found to be a reliable estimate for reasonable levels of Euler angle error.
Published in:	Proceedings of the 2012 International Technical Meeting of The Institute of Navigation January 30 - 1, 2012 Marriott Newport Beach Hotel & Spa Newport Beach, CA
Pages:	1014 - 1088
Cite this article:	Gorgen, J., Lemay, L., Gebre-Egziabher, D., "Precise Output Error Characterization for Triangulation of Visual Landmarks from Two Views with Noisy Camera Pose," Proceedings of the 2012 International Technical Meeting of The Institute of Navigation, Newport Beach, CA, January 2012, pp. 1014-1088.
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