Table 3: Comparison result of registration parameters ((c) to (a)).

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

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