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. Author manuscript; available in PMC: 2015 Jul 22.
Published in final edited form as: IEEE Trans Cybern. 2014 Apr 22;44(12):2771–2783. doi: 10.1109/TCYB.2014.2316282

Fig. 9.

Fig. 9

Plane-fitting errors and angular errors of plane normal of NCC-RANSAC and CC-RANSAC. CC: CC-RANSAC. NCC: NCC-RANSAC. EP: extracted plane. GT: compare with ground truth. BFMP: before finding missing points. (a) Point cloud with even density. (b) Synthetic SR4000 range data. (c) Plane fitting error (ea/et). (d) Error of plane normal (ξn).