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.

DataSMCRSMCR-ICPICP
srsrsr

3.1/2.30.70.4/0.40.91.6
2.8/1.80.70.3/0.40.91.4
0.9/0.40.80.4/0.40.92.60.9/1.80.610.9
1.1/0.60.80.4/0.31.02.9
1.3/1.30.80.4/0.41.03.4
1.3/1.10.80.4/0.30.93.5
1.3/0.90.90.3/0.41.01.30.610.6

5.3/4.30.60.5/0.50.81.7
2.7/1.80.60.4/0.40.91.7
0.9/0.40.80.4/0.40.92.92.0/11.30.49.7
1.1/0.50.80.4/0.40.93.2
1.5/1.40.80.4/0.40.83.5
2.6/1.70.70.4/0.40.84.4
1.1/0.80.80.4/0.40.91.30.410.4

5.3/4.60.50.5/0.50.81.8
4.5/3.00.60.6/0.40.81.4
0.8/0.30.80.4/0.40.92.77.2/41.50.410.6
1.2/0.60.80.4/0.40.92.5
1.3/1.40.70.4/0.40.92.4
2.2/1.90.60.4/0.40.82.7
1.3/1.00.70.4/0.40.81.4

8.8/6.20.50.7/0.50.81.8
6.1/6.40.50.7/0.50.71.7
1.0/0.50.70.4/0.50.82.410.8/51.90.310.3
1.3/0.90.70.4/0.50.82.4
1.5/2.00.70.4/0.50.82.5
2.6/2.00.60.4/0.50.82.7
1.6/1.10.60.5/0.40.81.5

7.1/8.30.30.7/0.20.91.0
6.7/7.00.60.7/0.21.00.9
0.7/0.30.90.7/0.21.02.00.6/0.31.02.6
0.7/0.50.90.7/0.20.90.9
1.0/1.30.90.7/0.20.90.9
3.1/4.40.70.7/0.21.00.9
0.8/0.80.90.7/0.20.91.0

7.4/8.90.30.7/0.20.91.0
6.7/8.50.40.7/0.30.90.9
0.7/0.40.90.7/0.20.92.30.7/0.30.82.9
0.7/0.80.80.7/0.20.92.6
1.4/2.30.80.7/0.20.92.7
4.2/6.50.60.7/0.20.93.0
0.8/0.80.80.7/0.20.91.1

8.3/10.30.30.7/0.20.91.1
6.9/7.60.40.7/0.20.91.0
0.7/0.40.90.7/0.20.92.40.8/0.30.73.0
0.8/0.70.80.7/0.20.92.4
1.9/2.70.80.7/0.20.92.9
4.2/6.10.60.7/0.20.93.3
0.8/0.80.90.7/0.20.91.2

9.3/11.90.20.7/0.20.91.2
8.1/11.70.30.7/0.20.91.1
0.7/0.40.80.7/0.20.92.512.3/128.50.43.1
0.8/0.70.80.7/0.20.92.6
1.6/2.20.70.7/0.20.82.7
5.4/9.00.40.7/0.20.93.4
0.8/0.90.80.7/0.30.91.2

12.3/0.90.42.2/0.90.61.9
9.5/0.80.51.9/1.10.71.9
5.8/1.10.52.3/1.20.62.21.7/0.80.97.1
5.1/1.30.52.2/1.20.62.3
8.9/1.80.52.2/1.20.62.5
5.8/1.50.61.8/1.10.82.6
13.0/2.30.44.8/1.30.51.9

11.4/1.00.42.2/1.00.61.9
15.5/1.10.32.2/1.30.61.9
4.0/1.20.62.2/1.20.72.21.7/0.90.98.0
4.9/1.10.62.2/1.20.62.3
7.0/1.90.52.6/1.30.62.5
9.8/1.40.52.2/1.10.62.7
15.4/2.70.39.6/1.40.51.9

15.3/1.10.37.4/1.30.51.7
13.8/1.20.42.2/1.30.61.8
10.8/1.10.52.5/1.30.62.22.4/1.00.77.0
6.4/1.20.52.2/1.20.62.2
11.8/1.80.43.9/1.30.52.3
14.2/1.40.42.6/1.00.52.5
14.1/2.80.48.3/1.30.51.9

18.4/5.20.112.3/2.10.41.7
17.0/3.00.211.2/2.10.41.6
14.0/1.10.311.6/2.10.42.16.0/1.50.67.3
13.5/1.50.49.5/1.30.52.3
16.5/2.30.212.0/2.00.42.5
13.6/1.90.32.5/1.30.62.6
15.3/3.60.212.3/2.10.41.8

Unitsmm/degmm/degsmm/degs

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