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isprsarchives XL 5 W1 81 2013

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Figure 1: The orientation of the camera and the depth of thepoints are estimated in such a way to minimize the length of the∆s for all the points, in a least squares sense.
Figure 2: The (s + 1)th residual (diamonds) and the value of thethreshold (t(1−α/2(s+1),s−k)σs) (red line) at each iteration of FS.
Figure 5: False negative rate vs percentage of outliers and numberof points for the first part of the algorithm.
Figure 6: Top row: false negative rate vs percentage of outliers and number of points for MAD (left) and FS (right)

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