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    "***************************************\n",
    "Algorithm Evaluation and Error Analysis\n",
    "***************************************"
   ]
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    "(i)\n",
    "===\n",
    "\n",
    "Suppose that :math:`N` 2D points are measured with independent standard\n",
    "deviations of :math:`\\sigma` in each coordinate.  The RMS residual error (5.3)\n",
    "for the best fit line using orthogonal regression is\n",
    ":math:`\\sigma \\left(1 - 2 / n \\right)^{1 / 2}` because :math:`d = 2` and\n",
    ":math:`N = n` :cite:`eberly2000least`."
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    "(ii)\n",
    "====\n",
    "\n",
    "Revisit once chapter 18 is finished.  The answer seems to be along the lines of\n",
    "*2D homography – error in one image* (5.5) and\n",
    "*Error in both images* (5.6)."
   ]
  },
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   "source": [
    ".. rubric:: References\n",
    "\n",
    ".. bibliography:: chapter-05.bib"
   ]
  }
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