The Cramer-Rao Lower Bound for 3-D state estimation from rectified stereo cameras

Daniel E. Clark, Špela ̌ Ivekovič

Research output: Chapter in Book/Report/Conference proceedingConference contribution

5 Citations (Scopus)


It is well known that any 3-D state estimate computed from stereo camera measurements is corrupted by heteroscedastic noise due to the nature of the perspective projection. It is also well understood that the image measurements used to estimate the 3-D state are inherently noisy. Despite the wealth of research in this area, the accurate statistical characterisation of the uncertainty for any 3-D state estimation from stereo algorithm is less well understood. This paper presents the Cramer-Rao Lower Bound (CRLB) for 3-dimensional state estimation from a rectified stereo pair of cameras. The paper also presents a method for efficient stereo estimation via Bayesian triangulation that achieves the CRLB. These results provide a basis for 3-D statistical estimation for camera-based sensor measurements.

Original languageEnglish
Title of host publication13th Conference on Information Fusion, Fusion 2010
Publication statusPublished - 2010
Event13th Conference on Information Fusion - Edinburgh, United Kingdom
Duration: 26 Jul 201029 Jul 2010


Conference13th Conference on Information Fusion
Abbreviated titleFusion 2010
Country/TerritoryUnited Kingdom


  • 3-D state estimation
  • Bayesian triangulation
  • Cramer-Rao Lower Bound
  • Rectified stereo cameras


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