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

Table 3

Comparison between PCA and LS approaches for line fitting. Effect of the outliers percentage (n = 200; = 2.5 cm; L = 5 m). Results are averaged over 10000 simulations.

(%)	rms (m)	(%)
1	0.041
5	0.047
10	0.053
20	0.062