Figure 5
From: Robust monocular visual odometry for road vehicles using uncertain perspective projection
Prediction uncertainty regions for two features for a range of possible vehicle positions. When the vehicle drives forward with a certain initial velocity and steering angle, limited rate of change of these two parameters means the vehicle can only end up in the dark zone (red) in the central band (green). From the vehicle’s point of view, the two features that were originally seen at the points of the side bands (blue) will have moved to somewhere in the dark zone on their band (red).