Fig. 1. Comparison between experimental (dashed-blue) and analytical uncertainty bounds of the plane homography coefficients for various noise levels and image correspondences (Chc in green, and Cho in red). In each case, the experimental homography represents 1000 simulations with different noise samples of variance σm and N point correspondences. From top to bottom, (1) σ = 1 [pix] with N = 20; (2) σ = 0.05[pix] with N = 20; (3) σ = 1/3[pix] with N = 4; (4) σ = 1[pix] with N = 4.
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