Probabilistic Analysis of Projected Features in Binocular Stereo

To begin with, we will introduce the stereo system model that will be used for the analysis together with the notation that will be employed and the parameters that will be necessary for the calculations. Afterwards, we will use this model to derive the joint probability density function (pdf) of the orientation of the projections on the image planes of arbitrary small edges. In this case, we will find a cumbersome expression so, then, we will focus on the derivation of a tractable pdf of a convenient function of the orientation of the projections.

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