Stochastic analysis of stereo quantization error
Jeffrey J. Rodrı́guez, J.K. Aggarwal · IEEE Transactions on Pattern Analysis and Machine Intelligence · 1990
The probability density function of the range estimation error and the expected value of the range error magnitude are derived in terms of the various design parameters of a stereo imaging system. In addition, the relative range error is proposed as a better way of quantifying the range resolution of a stereo imaging system than the percent range error when the depths in the scene lie within a narrow range.>