From: Robust surface registration using N-points approximate congruent sets
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 | Δ | S r (%) | t (s) | Δ | S r (%) | t (s) | Δ | Sr (%) | t (s) |
LCP (α = 1) | 0.3738 | 100 | 21.4 | 0.7377 | 95 | 25.6 | 0.7141 | 100 | 6.6 |
LCP (α = 2) | 0.7252 | 100 | 8.3 | 0.7264 | 90 | 26.5 | 2.4107 | 100 | 15.2 |
LCP (α = 4) | 1.2058 | 100 | 16.8 | 0.9550 | 30 | 24.8 | 3.7339 | 10 | 27.1 |
LCP (α = 8) | 0.5809 | 100 | 47.9 | 1.3048 | 20 | 22.6 | 4.5258 | 10 | 37.8 |
QLCP (λ = 1, α = 1) | 0.3524 | 100 | 31.3 | 0.5304 | 95 | 33.2 | 0.4041 | 100 | 11.7 |
QLCP (λ = 1, α = 2) | 0.2622 | 100 | 30.8 | 0.5225 | 100 | 43.0 | 0.5107 | 100 | 14.6 |
QLCP (λ = 1, α = 4) | 0.2895 | 100 | 62.0 | 0.7329 | 95 | 43.9 | 0.7857 | 100 | 28.6 |
QLCP (λ = 1, α = 8) | 0.3934 | 100 | 81.5 | 0.8767 | 80 | 85.1 | 0.9193 | 100 | 97.1 |
QLCP (λ = 2, α = 1) | 0.2127 | 100 | 49.3 | 0.3264 | 95 | 29.1 | 0.3782 | 100 | 10.9 |
QLCP (λ = 2, α = 2) | 0.3055 | 100 | 35.9 | 0.4783 | 100 | 61.2 | 0.5394 | 100 | 23.5 |
QLCP (λ = 2, α = 4) | 0.2904 | 100 | 59.3 | 0.4910 | 100 | 97.8 | 0.6343 | 100 | 33.6 |
QLCP (λ = 2, α = 8) | 0.3537 | 100 | 142.3 | 0.8897 | 85 | 79.5 | 0.7970 | 100 | 64.0 |