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. Author manuscript; available in PMC: 2009 Jan 23.
Published in final edited form as: Proc IEEE Int Conf Comput Vis. 2005 Oct;2:1246–1251. doi: 10.1109/ICCV.2005.17

Figure 4.

Figure 4

Robustness to outliers in the presence of large noise. Errors in estimated rigid transform vs. proportion of outliers ((τ — ρ)/(ρ)) for both our method and KC method.