Fig. 3. Estimated positions of three sample points in a 10-frame sequence based on homographies estimated from noisy correspondences, repeating the experiment 1000 times. Analytical uncertainty ellipses have been given for Chc (green) and Cho. For each sample point, the estimated positions and ellipses in frames 1, 4, 7, 10 are given in a 2 × 2 plot.
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