A quantization error analysis for convergent stereo

In this paper, a statistical error analysis is developed to show how the performance of a stereo ranging system relies on system parameters. Formulas for expected absolute depth error, expected relative depth error, and lower and upper bounds of depth error are derived. We show that for a given convergence angle, a simple, but important, parameter called generalized depth resolvability completely determines the performance of the system. These results are useful for the design of fixed ranging systems in constrained environments, or for the active selection of system parameters in “purposive” stereo systems