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Gauges and gauge transformations for uncertainty description of geometric structure with indeterminacy
K. Kanatani and D.D. Morris
IEEE Transactions on Information Theory, Vol. 47, No. 5, July, 2001, pp. 2017--2028.

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This paper presents a consistent theory for describing indeterminacy and uncertainty of 3-D reconstruction from a sequence of images. First, we give a group-theoretical analysis of gauges and gauge transformations. We then discuss how to evaluate the reliability of the solution that has indeterminacy and extend the Cramer-Rao lower bound to incorporate internal indeterminacy. We also introduce the free-gauge approach and define the normal form of a covariance matrix that is independent of particular gauges. Finally, we show simulated and real-image examples to illustrate the effect of gauge freedom on uncertainty description.