Fig. 2. (top) Two views transformed according to homography H3 superimposed on two color channels. Selected corners are mapped based on homographies that are calculated from noisy image features (with variance σm = 1), and repeated 1000 times with different noise samples. For each corner, the analytical 3σ uncertainty ellipse is given based on Chc (green) and Cho (red). (bottom) Results have been magnified for 4 selected cornersA, B, C and D.
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