Quantization error analysis in stereo vision

The effect of quantization noise in the depth determination through stereo matching is sketched. A general treatment of the quantization noise sheds lights about how to design a stereo ranging system efficiently. A statistical error analysis is provided to help understand how the performance of a given stereo system relies on the system parameters. It is shown that a simple, but important, parameter called depth solvability completely determines the performance of a stereo ranging system. A lower and an upper bound on the depth estimation are derived