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. 2021 Apr 15;21(8):2782. doi: 10.3390/s21082782

Figure 8.

Figure 8

RMSE calculation results, where the grey bar and the blue bar are the RMSE values of each pair of point clouds before and after adjustment, and the green bar is the RMSE value of the ground truth. The black dot is the number of points in the plane where each RMSE value is calculated.