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This paper deals with the error analysis of a novel navigation algorithm thatuses as input the sequence of images acquired from a moving camera and aDigital Terrain (or Elevation) Map (DTM/DEM). More specifically, it has beenshown that the optical flow derived from two consecutive camera frames can beused in combination with a DTM to estimate the position, orientation andego-motion parameters of the moving camera. As opposed to previous works, theproposed approach does not require an intermediate explicit reconstruction ofthe 3D world. In the present work the sensitivity of the algorithm outlinedabove is studied. The main sources for errors are identified to be theoptical-flow evaluation and computation, the quality of the information aboutthe terrain, the structure of the observed terrain and the trajectory of thecamera. By assuming appropriate characterization of these error sources, aclosed form expression for the uncertainty of the pose and motion of the camerais first developed and then the influence of these factors is confirmed usingextensive numerical simulations. The main conclusion of this paper is toestablish that the proposed navigation algorithm generates accurate estimatesfor reasonable scenarios and error sources, and thus can be effectively used aspart of a navigation system of autonomous vehicles.

Correction of inertial navigation system's errors by the help of video-based navigator based on Digital Terrarium Map