Parameter estimation and error analysis of range data

Parameter estimation and error analysis techniques applicable to range data are discussed. Extracting surface parameters from noisy range data amounts to data reduction (parameter estimation) and error analysis, the most popular method for which is the least-squares method. Using least squares, it is shown how error in range data percolates upward to manifest itself in the value of each parameter that is calculated either directly or indirectly from data. In addition to estimating surface parameters, errors in the parameters themselves are estimated. The formalisms (with examples) for estimating error in a computed parameter and for combining two or more sets of parameter estimates into a single estimate are presented