On The Camera Position Dithering In Visual 3D Reconstruction

The performance of visual 3D reconstruction is affected by camera position dithering, imaging noise and other environmental factors. In this paper, we adopt statistical analysis for camera dithering in visual 3D reconstruction and demonstrate the improvement of reconstruction accuracy brought by camera dithering under some conditions. In particular, we first investigate the influence of camera dithering and imaging noise on the reconstruction accuracy based on hybrid Cramer-Rao Lower Bound (CRLB) analysis. Then we focus on the binocular reconstruction and give closed-form expressions and geometric interpretations to clarify that camera dithering helps reduce reconstruction error. As an extension, the impacts of disparity and quantization error in binocular reconstruction are also analyzed. Numerical results validate our conclusions.