Modeling stereo measurement error by considering camera vibration

Camera vibration in recorded video is a problem with both handheld and stationary devices that vibrate due to wind and other external forces. To facilitate the development of a robust stereo system that is immune to such camera vibration, this study aims to study establishes an error model for a stereo measurement system by considering camera vibration. In stereo measurements, we approximate the distribution of measurement error in images as a uniform distribution. Given this approximation, parameters of the distribution of measurement error are mean value μ and standard deviation σ, whereas amplitude A and frequency F are parameters of camera vibration. To verify the relationship between these parameters, we performed experiments using a vibration testing system. Results indicated that the vibration did not affect the mean value μ. We also found a positive correlation between standard deviation σ and amplitude A as well as a negative correlation between standard deviation σ and frequency F. Based on these findings, we estimate the parameters of measurement error by the camera vibration parameters and establish our proposed error model.