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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. 7.

Fig. 7.

Except for REPPnP and R1PPnP, most PnP methods cannot handle outliers.