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You might have to read the code to get the answer to some of these questions. Here is where the iterative clipping is done, for example: https://github.com/kbarbary/sep/blob/master/src/background.c#L456-L491

Why is a change of less than 20% in σ a sign that the field is not crowded?

Sounds like a pretty arbitrary threshold that the authors found "works well in practice". That would be my guess anyway. Source Extractor in general is filled with heuristics that work "pretty well" in practice, but aren't perfect.

Does crowded mean crowded by (point) sources?

Or galaxies, yes.

Why is this a reason to use the mean for the background value?

if you think the region of sky is empty, it's be…

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