Journal of Sensors / 2016 / Article / Tab 5

Research Article

Monte Carlo Registration and Its Application with Autonomous Robots

Table 5

, , and for SMCR with Gaussian ()/uniform () sampling and with optimization () step and ICP for 200 tests of partially overlapping scans of the Zeus bust and 45°, 90°, 120°, and 180° rotations.

DataSMCRSMCR-ICPICP
srsrsr

6.3/5.00.51.7/2.50.72.1
6.3/6.30.51.5/2.70.72.0
2.7/3.40.61.5/2.30.81.62.8/6.60.57.1
2.9/3.10.61.6/2.40.71.8
2.7/3.20.61.4/2.40.81.7
2.5/2.90.61.4/2.30.81.8

7.1/7.80.41.5/2.70.72.0
5.7/7.10.51.7/3.00.72.3
3.1/3.80.61.7/2.50.71.712.6/41.90.37.2
3.2/4.70.51.6/2.40.72.0
3.7/4.20.61.5/2.40.71.8
3.8/4.50.51.4/2.30.81.9

6.0/5.30.51.6/2.80.72.2
5.7/6.90.51.6/2.70.71.9
3.7/3.70.61.5/2.70.71.812.6/53.50.26.9
2.6/4.80.61.3/2.50.81.7
2.7/2.70.61.3/2.30.81.6
2.7/4.00.61.5/2.60.71.8

5.3/5.60.51.6/2.60.72.1
4.1/4.90.61.6/2.30.81.6
2.9/4.00.61.7/2.20.71.815.2/71.60.23.7
4.0/5.60.51.6/2.50.71.9
2.7/3.00.61.5/2.40.71.6
1.8/3.40.61.4/2.40.71.7

Unitsmm/degmm/degsmm/degs

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