
Reprojection error
Encyclopedia
The reprojection error is a geometric error corresponding to the image distance
between a projected point and a measured one. It is used to quantify how closely an
estimate of a 3D point
recreates the point's true projection
. More precisely, let
be the
projection matrix
of a camera
and
be the image projection of
, i.e.
.
The reprojection error of
is given by
, where 
denotes the Euclidean distance between the image points represented by vectors
and
.
between a projected point and a measured one. It is used to quantify how closely an
estimate of a 3D point



projection matrix
Camera matrix
In computer vision a camera matrix or projection matrix is a 3 \times 4 matrix which describes the mapping of a pinhole camera from 3D points in the world to 2D points in an image....
of a camera
Pinhole camera
A pinhole camera is a simple camera without a lens and with a single small aperture – effectively a light-proof box with a small hole in one side. Light from a scene passes through this single point and projects an inverted image on the opposite side of the box...
and

be the image projection of


The reprojection error of



denotes the Euclidean distance between the image points represented by vectors

