Uncertainty Propagation in Estimation of Partial 3D Velocity

This paper analyses two methods to compute the 3D velocity of a navigating stereo head in the depth () direction. Both methods, which are function of the optical flow and disparity maps, are presented in two approaches: differential and discrete. All the expres-sions of both methods in both formulations are stud-ied within the scope of uncertainty propagation. This provides a mean to point out the critical input vari-ables for each method where special care in mea-surements should be taken. Different paths (trans-lational, rotational and mixed) as well as different types of surfaces are compared.