Monte Carlo Registration and Its Application with Autonomous Robots

Figure 21

Exemplary error convergence of SPFR (red), SMCR (green), and SMCRO (blue) for 1000 runs on a bunny (top) and a Zeus (bottom) scan. Optimization is performed in every (solid) step and every 5th (dashed) and every 10th (dotted) step. Left: translational error in mm. Right: rotational error in degree. -axis: step number. The black horizontal line represents the success threshold of 8 degrees or 8 mm.

(a)

(b)

(c)

(d)