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isprs annals III 3 131 2016

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Table 1. Comparison of all tested methods. The methods arecategorized into being iterative or a polynomial solver and if theyincorporate measurement uncertainty Σ
Figure 1.Observations of object points from a camera.Theplanes at each bearing vector vi are spanned by its respectivenull space vectors ri and si.
Figure 4. (a) Camera system with mounted T-Probe. The back-ground shows the lasertracker
Figure 2. Runtime. (a) All methods. (b) Zoom to the fastest methods. CEPPnP and MLPnP+Σ incorporate measurement uncertainty.All other algorithms assume equally well measured image points.
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