Covariance estimation for minimal geometry solvers via scaled unscented transformation.

Computer Vision and Image Understanding（2015）

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摘要

•Scaled unscented transformation (SUT) for minimal geometry solvers (MGS).•SUT vs. first-order-propagation (FOP) in uncertainty estimation of MGS.•Since MGS are highly nonlinear, SUT is a better uncertainty estimator than FOP.

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关键词

Covariance estimation,Camera calibration,Epipolar geometry

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