Figure 3
From: Robust monocular visual odometry for road vehicles using uncertain perspective projection
Example of observation uncertainty regions (red quadrilaterals, bottom) for some detected Harris corners in the camera image (red dots, top). The background image in the bottom picture was obtained by applying the inverse perspective transform in the absence of pitch and roll to the entire camera image. It serves as indication of feature context only, as it does not take into account the backprojection uncertainty.