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. Author manuscript; available in PMC: 2020 Dec 1.
Published in final edited form as: IEEE Trans Pattern Anal Mach Intell. 2019 Dec;41(12):3022–3033. doi: 10.1109/TPAMI.2018.2871832

Fig. 12.

Fig. 12.

Average runtime and number of required RANSAC samples with ordinary 3D cases synthetic data. We do not give the results with quasi-singular cases because they is very close to that with ordinary 3D cases. RANSAC+P3P or P4P needs more than 10 RANSAC trails when poutliers = 0 because the large image noise (σ = 5 pixels) usually makes P3P or P4P methods unable to find the correct pose with 3 or 4 inliers to satisify the termination condition Eq.(25). In contrast, the required number of RANSAC trials of R1PPnP is not sensitive to image noise because all points are taken into account.