<s>
The	O
reprojection	B-General_Concept
error	I-General_Concept
is	O
a	O
geometric	O
error	O
corresponding	O
to	O
the	O
image	O
distance	O
between	O
a	O
projected	O
point	O
and	O
a	O
measured	O
one	O
,	O
mostly	O
occurred	O
in	O
old	O
camera	B-Algorithm
and	O
phones	O
.	O
</s>
<s>
More	O
precisely	O
,	O
let	O
be	O
the	O
projection	B-General_Concept
matrix	I-General_Concept
of	O
a	O
camera	B-Algorithm
and	O
be	O
the	O
image	O
projection	O
of	O
,	O
i.e.	O
</s>
<s>
The	O
reprojection	B-General_Concept
error	I-General_Concept
of	O
is	O
given	O
by	O
,	O
where	O
denotes	O
the	O
Euclidean	O
distance	O
between	O
the	O
image	O
points	O
represented	O
by	O
vectors	O
and	O
.	O
</s>
<s>
Minimizing	O
the	O
reprojection	B-General_Concept
error	I-General_Concept
can	O
be	O
used	O
for	O
estimating	O
the	O
error	O
from	O
point	O
correspondences	O
between	O
two	O
images	O
.	O
</s>
<s>
We	O
wish	O
to	O
find	O
a	O
homography	B-Algorithm
and	O
pairs	O
of	O
perfectly	O
matched	O
points	O
and	O
,	O
i.e.	O
</s>
