Numerical example of sampling effect in the source paper

[guillermoacdc]

Has someone confirmed the values ​​of the numerical example presented in section 4.3.1 of the source paper [1]?

In my attempt I obtained different values; (assumption: d=2) Expected Values:

T = 151.522.829 T_local = 64.929

Obtained Values

T = 1.6210e+07 T_local = 3.4558e+04

[1] R. Schnabel, R. Wahl, and R. Klein, “Efficient RANSAC for point-cloud shape detection,” Eurographics Assoc. Blackwell Publ. 2007, vol. 26, no. 2, pp. 214–226, 2007.

my code in matlab %% parameters pt=0.99;%probabilitiy of a succesful detection; defined by user k=2;%size of a minimal set required to define a cylinder candidate. n=1066;%size of the shape psi in the point cloud PC N=2000000;%size of the point cloud PC; in number of points d=2;%--octree's depth where the cell C is located; Points in cell=341.547

%% compute P(n) Pn=(n/N)^k;%probability of detecting the shape psi in a single pass Pn_local=n/(Nd2^(k-1));

%% compute T T=log(1-pt)/log(1-Pn) T_local=log(1-pt)/log(1-Pn_local)