{"title":"The precision of triangulation in monocular visual odometry","authors":"Nolang Fanani, R. Mester","doi":"10.1109/SSIAI.2018.8470356","DOIUrl":null,"url":null,"abstract":"We analyze the depth reconstruction precision and sensitivity of two-frame triangulation for the case of general motion, and focus on the case of monocular visual odometry, that is: a single camera looking mostly in the direction of motion. The results confirm intuitive assumptions about the limited triangulation precision close to the focus of expansion.","PeriodicalId":422209,"journal":{"name":"2018 IEEE Southwest Symposium on Image Analysis and Interpretation (SSIAI)","volume":"24 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2018-04-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"2018 IEEE Southwest Symposium on Image Analysis and Interpretation (SSIAI)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/SSIAI.2018.8470356","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 0
Abstract
We analyze the depth reconstruction precision and sensitivity of two-frame triangulation for the case of general motion, and focus on the case of monocular visual odometry, that is: a single camera looking mostly in the direction of motion. The results confirm intuitive assumptions about the limited triangulation precision close to the focus of expansion.
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