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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. 13.

Fig. 13.

Statistical results with real-world data. The x-axis is ranges of the percentage of outliers. (a) Rotation error. (b) Translation error. (c) Runtime. (d) The number of detected inliers compared with the maximum, zero suggests this method finds the most inliers.