Reliability of plane fitting by range sensing

A mathematical model is given for the statistical error characteristics of range sensing, and a numerical scheme called "renormalization" is presented for optimally fitting a planar surface to data points obtained by range sensing. The renormalization method has the advantage that not only an optimal fit is computed but also its reliability is automatically evaluated in the form of the covariance matrix of the optimal fit. A scheme for visualizing the reliability of computation is presented by means of the "primary deviation pair", and its effectiveness is demonstrated by numerical simulation.

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