Fig. 11

Variation in uncertainty in height estimation across the image for a Mobotix camera calibrated using stars and terrain, and oriented using horizon matching. The uncertainty in each pixel is calculated using a Monte Carlo procedure. The unit vector in the direction of each pixel is drawn 10,000 times from the appropriate distribution and the standard deviation taken. Multiplying this value by the assumed distance to the point in 3D space, gives the uncertainty in the height being measured. Here we show the errors from uncertainties in (A) intrinsic parameters (B) orientation parameters and (C) digitization separately, to show their variation across the image in isolation. Note error due to uncertainty in orientation and intrinsics increases towards the corners of the image along with lens distortion