Monte Carlo Registration and Its Application with Autonomous Robots

Table 1

Mean computing time , mean rotational error in degree, and number of successful estimations in percent . Entries are for sampling types det/randdet/rand.

(, , )	(5, 3, 1)	(20, 10, 5)	(50, 20, 10)
[s]	102/134/179	10/9/11	1.7/1.8/0.5
[deg]	77/43/11	15/13/7	73/63/88
sr [%]	45/54/95	93/95.4/98.6	60/64.5/20