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16
6
Roll
Pitch
Yaw
Epipoles
Virtual Epipoles
14
5
12
4
10
3
8
6
2
4
1
2
0
0
a
b
c
d
e
f
30
45
60
Mirror angle [deg.]
Rotational displacement
(a)
(b)
0.14
Sylvester equation
Screw axis
0.12
0.1
0.08
0.06
0.04
0.02
0
a
b
c
d
e
f
Translational displacement
(c)
| θ θ |
Fig.
θ
{ 30 deg , 45 deg , 60 deg } ;(b) R c w estimation error for the rotational displacements re-
ported in Table 1.1; and (c) error ε( t c w ) for the translational displacements reported in
Table 1.1
1.10 Experiments:
(a)
mirror
angle
estimation
error
for
experiments conducted for each
. In confirmation of the simulation results, the
algorithm that exploits the virtual cameras epipoles is the most accurate, with a
maximum mean error of about 6 deg. Figure 1.10(b) reports the R c w estimation er-
ror computed as the roll-pitch-yaw angle errors, for the six rotational displacements
reported in Table 1.1, (
θ
= 60 deg). As already pointed out in Section 1.5.1, the
proposed algorithm has a reduced sensitivity to noise: the maximum error is less
than 6 deg. Finally, Figure 1.10(c) depicts the estimation error
θ
ε( t c
w ), for the six
translational displacements reported in Table 1.1. As in the simulation experiments,
the algorithm based on the Sylvester equation exhibits the best performance, with a
maximum error of about 7 cm.
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