Camera Calibration Error Modeling and Its Impact on Visual Positioning
- Resource Type
- Conference
- Authors
- Hao, Wenhan; Zhu, Chen; Meurer, Michael
- Source
- 2023 IEEE/ION Position, Location and Navigation Symposium (PLANS) Position, Location and Navigation Symposium (PLANS), 2023 IEEE/ION. :1394-1399 Apr, 2023
- Subject
- Aerospace
Components, Circuits, Devices and Systems
Computing and Processing
Engineering Profession
General Topics for Engineers
Robotics and Control Systems
Signal Processing and Analysis
Transportation
Visualization
Uncertainty
Three-dimensional displays
Monte Carlo methods
Navigation
Measurement uncertainty
Estimation
camera calibration
calibration error estimation
pose estimation uncertainty
- Language
- ISSN
- 2153-3598
Unmodelled calibration errors can lead to integrity risks in visual positioning. In this paper, we present a method to estimate the uncertainty of camera intrinsic parameters induced during the calibration process by backpropagation of the uncertainty in the 3D reconstruction error. The conventional approach propagates the uncertainty of image measurements forward and suffers from its high nonlinearity and the mismatch between the real and the applied camera model. Our proposed method is completely independent of the estimation techniques used during the calibration phase and can therefore be used to evaluate the performance of the calibration. Additionally, we also demonstrate how to propagate the uncertainties of calibration and image measurements into the estimated camera position. The derived camera position distribution shows a high concordance with Monte-Carlo results.