Monte Carlo Registration and Its Application with Autonomous Robots

Table 3

sr, , and for different initial a priori knowledge. Fifth row: only rotations about the -axis are sampled.

		sr
0.48 L	10°	0.69	3.8/4.6
0.48 L	20°	0.71	3.9/4.0
0.48 L	45°	0.68	4.0/4.2
0.48 L	90°	0.74	3.2/4.0
0.48 L	90° ()	0.93	0.7/1.0
1.22 L	10°	0.69	4.1/4.4
1.22 L	20°	0.64	4.3/5.9
1.22 L	45°	0.63	4.0/5.5
1.22 L	90°	0.71	3.5/4.1
4.00 L	45°	0.48	7.2/8.1