Chapman, David 
  
  
    
Figure 8. Best fit plane to brick wall with plot of residuals. 
  
Figure 9. Residuals of plane fit to range image of equipment cabinet. 
  
Surface 
Normal 
   
  
Figure 10. Residuals from cylinder fit to cylinder, RMS = 1.51mm 
  
  
  
128 International Archives of Photogrammetry and Remote Sensing. Vol. XXXIII, Part B5. Amsterdam 2000. 
  
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