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In planetary exploration space missions, motion measurement of a vehicle on thesurface of a planet is a very important task. In this work a visual-odometry solution isanalyzed. Particularly, a vision-based displacement instrument is described and calibratedusing a simulated rocky scene. The most significant uncertainty sources are found out byexperimental tests. Particular attention is dedicated to the uncertainty contributions of thefeature detector and of lighting conditions. Two different motion directions are considered andthe evaluated uncertainty are compared

Calibration of a vision-based system for displacement measurement in planetary exploration space missions