Error analysis of 3D motion estimation algorithms in the differential case

We put forth in this paper a geometrically motivated 3D (three-dimensional) motion error analysis, which is capable of supporting investigation of global effect such as inherent ambiguities. The error expression that we derive allows us to predict the exact conditions likely to cause ambiguities and how these ambiguities vary with motion types such as lateral or forward motion. Our formulation, though geometrically motivated, is employed to model the effect of noise.