Monte Carlo Registration and Its Application with Autonomous Robots

Table 2

Mean computing time , mean rotational error in degree, and number of successful estimations in percent. Entries are for scoring methods table and nb.

(, , )	(1, 0.8, 0.5)	(3, 2, 1)	(5, 3, 1)
[s]	10/60	5/41	5/69
[deg]	53/56	47/35	39/36
sr [%]	61/63	65/73	69/73