Robustness of structure from binocular known motion

The paper analyses the important issues associated with structure computations through binocular motion when inertial navigation systems are used to find the sensor motion parameters. In particular, the authors study the conditions under which the relative error in environmental depth is reduced through the use of binocular motion over the separate use of monocular motion and static stereo. The results obtained give lower bounds on relative errors in depth. Examples on typical situations are included to illustrate their theoretical conclusions