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Figure 7.
INITIAL REGISTRATION ERROR TABLE
| Comparison of registration algorithms | Feature Descriptors | ||
|---|---|---|---|
| 3Dsc | PFH | FPFH | |
| SAC-IA runtime | 417.381 s | 22.727 s | 8.085 s |
| x-axis rotation error | 0.0400952 ° | 0.0474209 ° | 0.0265896 ° |
| y-axis rotation error | 0.811471 ° | 0.758933 ° | 0.709945 ° |
| z-axis rotation error | -0.740596 ° | -0.734409 ° | -0.756489 ° |
| x-axis translation error | 0.012691 mm | 0.007121 mm | 0.019262 mm |
| y-axis translation error | -0.297463 mm | -0.29991 mm | -0.298785 mm |
| z-axis translation error | -0.192225 mm | -0.194115mm | -0.194264 mm |
| distance error | 0.354395 mm | 0.357320 mm | 0.356906 mm |
ACCURATE REGISTRATION ERROR TABLE
| Comparison of registration algorithms | Feature Descriptors | ||
|---|---|---|---|
| 3Dsc | PFH | FPFH | |
| total time | 415.765 s | 23.804 s | 9.094 s |
| SAC-IA runtime | 414.86 s | 23.15 s | 8.435 s |
| ICP runtime | 0.905 s | 0.654 s | 0.659 s |
| x-axis rotation error | 0.0141387 ° | 0.0325149 ° | 0.0134278 ° |
| y-axis rotation error | 0.764633 ° | 0.721214 ° | 0.744733 ° |
| z-axis rotation error | -0.758194 ° | -0.76543 ° | -0.770207 ° |
| x-axis translation error | 0.0128116 mm | 0.013648 mm | 0.015574 mm |
| y-axis translation error | -0.298834 mm | -0.29914 mm | -0.299785 mm |
| z-axis translation error | -0.194931 mm | -0.19437 mm | -0.193715 mm |
| distance error | 0.357021 mm | 0.357004 mm | 0.357266 mm |