Localization between Curved Shell Plate and Its Unfolded Shape in Different Coordinate Systems for Ship-Hull Plate Forming

Table 2

Transform matrix and summary of computation for model 3 and model 4.

Result of computation	Model3	Model 4
Root mean square value of deviation	70.06 mm	4.9 mm
after registration
Number of iteration	60	66
Translation vector	[987.421−390.930−57.044]	[985.4−505.3−11.7]
Rotation matrix	0.999−0.044−0.001−0.044−0.9990.0040.001−0.004−0.999	0.999−0.0002−0.00140.00020.999−0.00530.00140.00530.999