Understanding Spatial Error in Photogrammetry

Reprojection error in photogrammetry refers to the discrepancy between a known point in a scene and its projected position on an image. Photometric error, on the other hand, involves errors related to pixel intensity values. To minimize reprojection error, parameters such as camera intrinsics, extrinsics, and lens distortion can be optimized. This optimization process differs from that in bundle adjustment, where multiple overlapping images are simultaneously optimized. The four coordinate frames associated with calculating reprojection error are the world frame, camera frame, image frame, and pixel frame.

• Photogrammetry
• Reprojection Error
• Photometric Error
• Optimization
• Coordinate Frames

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1. Homework | Reprojection Error What is re-projection error? What is photometric error? Which parameters can be optimized to minimize the re-projection error? How does this differ from the optimization in bundle adjustment? What are the four coordinate frames associated with calculating re-projection error?

2. Homework |Scan Registration Implement a 2D scan registration algorithm and test using this data. http://wavelab.uwaterloo.ca/slam/2017-SLAM/data/scans.mat

3. Homework |IMU Noise Characterization What are the definitions of these terms? Quantization Noise Angle / Velocity Random Walk Noise Correlated Noise Bias Instability Noise Rate / Acceleration Random Walk Noise Simulate an IMU using the standard noise model Plot Fourier Transform and Power Spectral Density of simulated IMU Extract the IMU Noise characteristics using Allan Variance

4. Discussion |Landmark Based VIO Discussion topics Algorithm choices often seem empirical Is there something to emulate here? Should we value KITTI benchmark results?

5. Discussion | Calibration Discussion topics Why is calibration so challenging? How do we evaluate calibration? How accurate do these have to be?