PCA-Based Line Detection from Range Data for Mapping and Localization-Aiding of UAVs

Table 2

Comparison between PCA and LS approaches for line fitting. Effect of the noise level (n = 20; = 5 cm; L = 1 m). Results are averaged over 10000 simulations.

σ(m)	rms (m)	(%)
0.005	0.005
0.01	0.009
0.05	0.048
0.1	0.096	1.56
0.2	0.204	6.85