Monte Carlo Registration and Its Application with Autonomous Robots

Table 4

100 runs: sr, , and and the mean computation time for SMCR, MCR, and SAC-IA.

Data	SMCR			MCR				SAC-IA
	sr			sr				sr
	0.51	5.7/5.8		0.60	5.9/6.0	8.6		0.04	11.3/15.6	120.4
	0.59	6.0/5.7		0.92	3.8/3.3	14.1		0.26	7.9/11.1	113.1
	0.49	7.1/7.8		0.58	4.5/6.9	14.4		0.24	9.1/9.2	109.0
	0.50	7.0/7.0		0.80	2.7/4.2	14.1		0.47	5.5/7.8	131.7
	0.25	9.4/13.5		0.22	17.8/52.4	10.4		0.92	2.5/3.4	125.8
	0.00	16.5/27.1		0.00	19.2/176.9	7.5		0.44	5.6/8.2	114.1
	0.34	9.3/9.5		0.00	20.6/169.5	7.6		0.58	5.2/6.0	114.8
	0.00	28.3/22.0		0.82	6.2/3.8	8.9		0.11	9.3/12.8	143.2
	0.41	7.6/7.6		0.69	4.1/4.8	10.3		0.05	21.5/24.8	80.4
	0.04	27.3/11.8		0.00	23.7/124.3	6.9		0.06	14.3/143.3	79.0
	0.77	3.7/4.4		0.90	2.9/2.3	6.1		0.02	9.8/18.0	28.4
	0.71	3.9/4.0		0.57	2.2/7.4	7.4		0.06	8.2/13.0	30.3
	0.61	4.6/5.8		0.93	2.4/2.5	6.8		0.42	5.4/8.4	28.5
	0.44	3.9/9.2		0.78	2.7/6.1	4.3		0.22	6.8/11.9	23.0
	0.26	6.7/10.5		0.22	5.3/9.0	4.1		0.70	4.1/5.8	28.8
	0.15	13.9/10.1		0.58	4.6/4.9	4.4		0.20	7.5/10.4	27.7
	0.69	3.8/5.6		0.37	4.2/11.2	4.4		0.17	7.5/12.3	27.6
	0.43	6.0/8.5		0.45	4.6/8.7	4.7		0.02	11.0/28.0	23.4
	0.15	14.8/10.5		0.66	3.2/4.1	30.8		0.15	13.9/8.1	82.5
	0.33	11.8/7.6		0.96	1.4/1.7	23.7		0.14	13.3/9.7	77.0
	0.22	14.7/6.6		0.99	1.6/3.9	16.4		0.04	19.2/13.2	63.5
	0.17	18.7/8.6		0.52	7.5/4.3	15.9		0.01	39.7/170.0	59.2
	0.06	21.8/11.0		0.32	11.8/6.0	15.1		0.00	43.0/26.8	54.5
Units		mm/deg			mm/deg	s			mm/deg	s