Camera auto-calibration in GPS/INS/stereo camera integrated kinematic positioning and navigation system

The Journal of Global Positioning Systems

Table 5 Relative orientation of right camera w.r.t left camera

Parameter	True value	COL	SRE1	SRE2
\( {b}_{LR.x}^c\left(\mathrm{m}\right) \)	0.01	0.011	0.007	0.007
\( {b}_{LR.x}^c\left(\mathrm{m}\right) \)	0.01	±0.001	±0.002	±0.001
\( {b}_{LR.y}^c\left(\mathrm{m}\right) \) ^a	0.65	0.650	0.650	0.650
\( {b}_{LR.y}^c\left(\mathrm{m}\right) \)	−0.1	−0.013	−0.013	−0.012
\( {b}_{LR.y}^c\left(\mathrm{m}\right) \)	−0.1	±0.004	±0.004	±0.002
\( {\theta}_{cR,x}^c\left( \deg \right) \)	−0.25	−0.257	−0.266	−0.260
\( {\theta}_{cR,x}^c\left( \deg \right) \)	−0.25	±0.007	±0.008	±0.004
\( {\theta}_{cR,y}^c\left( \deg \right) \)	0.5	0.504	0.500	0.494
\( {\theta}_{cR,y}^c\left( \deg \right) \)	0.5	±0.008	±0.014	±0.006
\( {\theta}_{cR,z}^c\left( \deg \right) \)	0	0.002	−0.003	−0.002
\( {\theta}_{cR,z}^c\left( \deg \right) \)	0	±0.002	±0.002	±0.001