Figure 5.

Illustration of residuals for edge and plane features. Residuals are shown by the blue lines. (a) The residual of edge feature ${\overline{P}}_j^t$ with the corresponding line shown in green that is formed by ${\overline{P}}_{f_1}^t$ and ${\overline{P}}_{f_2}^t$. (b) The residual of the plane feature ${\overline{P}}_j^t$ with the plane shown in green that is formed by the feature correspondences.