Although the points inside the extracted voxel Based on (5) are distributed inside of a plane as a whole, there is still a possibility of getting outliers. Due to the interference of measurement errors and sound, the space with the planar characteristic points towards the plane need to stick to a traditional distribution using a signify of zero, that is, d p v i j = p v i j w − p ¯ v i w · a ⇀ three ∼ N ( 0 , λ 3 ) ,
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