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Abstract : |
This paper presents a consistent theory for describing indeterminacy and uncertainty of 3-D reconstruction from a sequence of images. First, we present a group-theoretical analysis of gauge transformations and gauges by invoking the Lie group theory. We then discuss how to evaluate the reliability of the solution that has indeterminacy. We also extend the Cramer-Rao lower bound to problems with internal indeterminacy. Finally, we describe the free-gauge approach and the normal form of a covariance matrix that is independent of particular gauges., |
