The uncertainty of camera calibration and attitude determination is discussed and demonstrated based on three orthogonal vanishing points. The necessary and sufficient condition of parameters determination is given out. Especially, under the condition of joint error distribution of two orthogonal directions vanishing points (VX, VY), how to solve the third vanishing point (VZ) is discussed. Assessment of the uncertainties of vanishing points based on relative error ellipse is supplemented. Furthermore, the algorithms of simulating the spatial distribution of the VZ and estimating its area size...
