Table 2: Comparison result of registration parameters ((b) to (a)).

TranslationRotation (degree)
𝑇 𝑥 𝑇 𝑦 𝑇 𝑧 diff 𝜃 𝑥 𝜃 𝑦 𝜃 𝑧 diff

Answer 2 0 . 0 1 0 . 0 2 . 0 0 . 0 0 . 0 1 2 0 . 0
GA 2 . 6 1 3 . 3 0 . 0 1 1 0 . 8 4 4 4 . 9 3 4 5 . 2 5 1 4 9 . 4 9 2 3 . 4 2
PSO 4 . 8 4 9 . 9 5 0 . 0 9 1 0 . 6 4 5 3 . 4 1 6 0 . 3 9 1 2 0 . 2 7 2 6 . 8 7
HPSO 2 0 . 0 4 1 1 . 1 6 1 . 7 5 0 . 4 0 0 . 2 5 0 . 4 8 1 1 7 . 5 7 0 . 8 3