The data was generated corrupting the points of a ‘ground truth’ circumference (solid black line) with different noise levels (rows) and four differents occlusion angles conditions (columns). Column 1 (A.1-A.4) Not Occlusion angle, Column 2 (B.1-B.4) , Column 3 (C.1-C.4) , Column 4 (D.1-D.4) . The noise increase by rows: Row 1: , , ; Row 2: , , ; Row 3: , , ; Row 4: , , .