Monocular Vision Ranging and Camera Focal Length Calibration

Table 3

Results of maximum generalization error and average generalization error.

Range	Inclination angle	Camera height (mm)	Number of groups	Max (generalization E (d))	Average (generalization E (d)) (%)
2–20 m	13.6°	1451	1	2.80	0.83
			2	2.49	0.94
			3	2.16	0.98
2–20 m	0°	864	1	2.89	0.83
			2	2.75	0.68
			3	2.91	0.97
5–20 m	−10.5°	1491	1	2.90	0.98
			2	2.01	0.78
			3	2.46	0.81