Correction to: International Journal of Computer Vision https://doi.org/10.1007/s11263-019-01232-x

The original version of this article contained a mistake in the denominator of Eq. (1). The correct expression is

$$ F(p) = \frac{k}{n + 1} + \frac{{p - Z_{k}^{\text{val}} }}{{(n + 1)(Z_{k + 1}^{\text{val}} - Z_{k}^{\text{val}} )}} $$
(1)

The original article has been corrected.