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| CP(s) | control point(s) |
| TRE | target registration error - Definition II. 1 |
| EIV | errors-in- variables - (1) |
| TLS | total least squares |
| ML | maximum likelihood |
| HEIV | heteroscedastic errors-in-variables |
| LRE | localization registration error - Definition II.2 |
| GLS | generalized least squares - Definition III. 1 |
| OLS | ordinary least squares - Definition III.l |
| SPD | symmetric positive definite |
| WCGLS | weighted covariance generalized least squares - Section III-A |
