Error Propogation from Camera Motion to Epipolar Constraint

Abstract

This work investigates the propagation of errors from the camera motion to the epipolar constraint. A relation between the perturbation of the motion parameters and the error in the epipolar constraint is derived. Based on this relation, the sensitivity of the motion parameters to the epipolar constraint is characterised, and a constraint on the allowed perturbation in a motion parameter in response to a threshold for the produced error in the epipolar constraint is determined. The presented error propagation model is useful to vision systems such as a mobile robot where the camera motion is provided by an odometry sensor. Experimental results on real images are presented.