Before revision:  Extensive evaluations on perfect ground truth exhibit superior performance and  up to 20 \% accuracy gain to the originally proposed Least Squares solution. The renormalization performs similarly to the optimal Maximum Likelihood estimate, despite arriving to the solution by different means. By this, we extend the set of common Computer Vision problems which can be cast into the renormalization scheme.
After revision:  Extensive evaluations on perfect ground truth exhibit superior performance and up to 20