Journal of Sensors / 2016 / Article / Tab 6 / Research Article
Monte Carlo Registration and Its Application with Autonomous Robots Table 6 ,
, and
for SMCR with Gaussian (
)/uniform sampling (
), with optimization step (
), with aborting after convergence (
) and ICP for the Zeus bust (
), the Bunny (
), and the Chevron (
) and 45°, 90°, 120°, and 180° rotations.
Data SMCR SMCR-ICP ICP sr sr sr 3.1/2.3 0.7 0.4/0.4 0.9 1.6 2.8/1.8 0.7 0.3 /0.40.9 1.4 0.9/0.4 0.8 0.4/0.4 0.9 2.6 0.9/1.8 0.6 10.9 1.1/0.6 0.8 0.4/0.3 1.0 2.9 1.3/1.3 0.8 0.4/0.4 1.0 3.4 1.3/1.1 0.8 0.4/0.3 0.9 3.5 1.3/0.9 0.9 0.3 /0.41.0 1.3 0.6 10.6 5.3/4.3 0.6 0.5/0.5 0.8 1.7 2.7/1.8 0.6 0.4/0.4 0.9 1.7 0.9/0.4 0.8 0.4 /0.4 0.9 2.9 2.0/11.3 0.4 9.7 1.1/0.5 0.8 0.4 /0.4 0.9 3.2 1.5/1.4 0.8 0.4 /0.4 0.8 3.5 2.6/1.7 0.7 0.4 /0.4 0.8 4.4 1.1/0.8 0.8 0.4 /0.4 0.9 1.3 0.4 10.4 5.3/4.6 0.5 0.5/0.5 0.8 1.8 4.5/3.0 0.6 0.6/0.4 0.8 1.4 0.8/0.3 0.8 0.4 /0.40.9 2.7 7.2/41.5 0.4 10.6 1.2/0.6 0.8 0.4 /0.40.9 2.5 1.3/1.4 0.7 0.4 /0.40.9 2.4 2.2/1.9 0.6 0.4 /0.40.8 2.7 1.3/1.0 0.7 0.4 /0.40.8 1.4 8.8/6.2 0.5 0.7/0.5 0.8 1.8 6.1/6.4 0.5 0.7/0.5 0.7 1.7 1.0/0.5 0.7 0.4 /0.50.8 2.4 10.8/51.9 0.3 10.3 1.3/0.9 0.7 0.4 /0.50.8 2.4 1.5/2.0 0.7 0.4 /0.50.8 2.5 2.6/2.0 0.6 0.4 /0.50.8 2.7 1.6/1.1 0.6 0.5/0.4 0.8 1.5 7.1/8.3 0.3 0.7/0.2 0.9 1.0 6.7/7.0 0.6 0.7/0.2 1.0 0.9 0.7/0.3 0.9 0.7/0.2 1.0 2.0 0.6 /0.31.0 2.6 0.7/0.5 0.9 0.7/0.2 0.9 0.9 1.0/1.3 0.9 0.7/0.2 0.9 0.9 3.1/4.4 0.7 0.7/0.2 1.0 0.9 0.8/0.8 0.9 0.7/0.2 0.9 1.0 7.4/8.9 0.3 0.7 /0.2 0.9 1.0 6.7/8.5 0.4 0.7 /0.30.9 0.9 0.7 /0.40.9 0.7 /0.2 0.9 2.3 0.7 /0.30.8 2.9 0.7 /0.80.8 0.7 /0.2 0.9 2.6 1.4/2.3 0.8 0.7 /0.2 0.9 2.7 4.2/6.5 0.6 0.7 /0.2 0.9 3.0 0.8/0.8 0.8 0.7 /0.2 0.9 1.1 8.3/10.3 0.3 0.7 /0.2 0.9 1.1 6.9/7.6 0.4 0.7 /0.2 0.9 1.0 0.7 /0.40.9 0.7 /0.2 0.9 2.4 0.8/0.3 0.7 3.0 0.8/0.7 0.8 0.7 /0.2 0.9 2.4 1.9/2.7 0.8 0.7 /0.2 0.9 2.9 4.2/6.1 0.6 0.7 /0.2 0.9 3.3 0.8/0.8 0.9 0.7 /0.2 0.9 1.2 9.3/11.9 0.2 0.7 /0.2 0.9 1.2 8.1/11.7 0.3 0.7 /0.2 0.9 1.1 0.7/0.4 0.8 0.7 /0.2 0.9 2.5 12.3/128.5 0.4 3.1 0.8/0.7 0.8 0.7 /0.2 0.9 2.6 1.6/2.2 0.7 0.7 /0.2 0.8 2.7 5.4/9.0 0.4 0.7 /0.2 0.9 3.4 0.8/0.9 0.8 0.7 /0.30.9 1.2 12.3/0.9 0.4 2.2/0.9 0.6 1.9 9.5/0.8 0.5 1.9/1.1 0.7 1.9 5.8/1.1 0.5 2.3/1.2 0.6 2.2 1.7 /0.8 0.9 7.1 5.1/1.3 0.5 2.2/1.2 0.6 2.3 8.9/1.8 0.5 2.2/1.2 0.6 2.5 5.8/1.5 0.6 1.8/1.1 0.8 2.6 13.0/2.3 0.4 4.8/1.3 0.5 1.9 11.4/1.0 0.4 2.2/1.0 0.6 1.9 15.5/1.1 0.3 2.2/1.3 0.6 1.9 4.0/1.2 0.6 2.2/1.2 0.7 2.2 1.7 /0.9 0.9 8.0 4.9/1.1 0.6 2.2/1.2 0.6 2.3 7.0/1.9 0.5 2.6/1.3 0.6 2.5 9.8/1.4 0.5 2.2/1.1 0.6 2.7 15.4/2.7 0.3 9.6/1.4 0.5 1.9 15.3/1.1 0.3 7.4/1.3 0.5 1.7 13.8/1.2 0.4 2.2 /1.30.6 1.8 10.8/1.1 0.5 2.5/1.3 0.6 2.2 2.4/1.0 0.7 7.0 6.4/1.2 0.5 2.2 /1.20.6 2.2 11.8/1.8 0.4 3.9/1.3 0.5 2.3 14.2/1.4 0.4 2.6/1.0 0.5 2.5 14.1/2.8 0.4 8.3/1.3 0.5 1.9 18.4/5.2 0.1 12.3/2.1 0.4 1.7 17.0/3.0 0.2 11.2/2.1 0.4 1.6 14.0/1.1 0.3 11.6/2.1 0.4 2.1 6.0/1.5 0.6 7.3 13.5/1.5 0.4 9.5/1.3 0.5 2.3 16.5/2.3 0.2 12.0/2.0 0.4 2.5 13.6/1.9 0.3 2.5 /1.3 0.6 2.6 15.3/3.6 0.2 12.3/2.1 0.4 1.8 Units mm/deg mm/deg s mm/deg s
