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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. 9.

Fig. 9.

Accuracy with outlier-free synthetic data (quasi-singular cases). Number of points was 100. Different levels of image noises were added. PPnP is out of range. The accuracy of all PnP methods decreased significantly compared with those in ordinary 3D cases, as shown in Fig.8.