“…In fact, Rosin had compared 16 different geometric distance approximation methods, including algebraic, Sampson, Harker and O'Leary, and the confocal hyperbola, in terms of properties such as linearity, curvature bias, asymmetry and general goodness [21,28,29]. Overall, the confocal hyperbola was the best in every category, especially for larger noise levels (see Table 2 of [21,28,29]). In Section 5.1, we will demonstrate that the confocal hyperbola method provides almost identical results to that of Chernov [11], which is the current state-of the-art.…”