Proceedings of the Third International Conference on Computer Vision Theory and Applications, Funchal, Portugal, 22 - 25 January 2008, pp.186-193
In this paper, we first propose an analytic formulation for the position’s and orientation’s uncertainty of local
3D line descriptors reconstructed by stereo. We evaluate these predicted uncertainties with Monte Carlo
simulations, and study their dependency on different parameters (position and orientation). In a second part,
we use this definition to derive a new formulation for inter–features distance and coplanarity. These new
formulations take into account the predicted uncertainty, allowing for better robustness. We demonstrate the
positive effect of the modified definitions on some simple scenarios.