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Table 2 Performance evaluation of different sampling approaches on five pairs of scans

From: Robust surface registration using N-points approximate congruent sets

Sampling approaches

G c

G e

G g

G i

G j

 

Δ

S r (%)

Δ

S r (%)

Δ

S r (%)

Δ

S r (%)

Δ

S r (%)

Random

0.4561

100

★

0

0.0606

95

★

0

★

0

Uniform

0.4465

100

0.2160

95

0.0854

100

0.5146

95

0.4231

100

probAPD

  

0.2045

100

0.0501

100

0.3260

100

0.3548

100

probSurfVar

  

0.0774

10

0.0329

100

★

0

★

0

Random+uniform

0.4719

100

0.1547

100

0.0410

100

0.1961

5

★

0

Random+probAPD

  

0.1670

100

0.0679

100

0.4719

65

0.8053

45

Uniform+probAPD

  

0.2001

100

0.0629

100

0.4211

100

0.4343

100

SIFT+random

  

0.1020

100

0.0276

100

0.6754

5

★

0

SURF+random

  

0.0840

85

0.0264

100

0.3329

10

0.2675

30

FAST+random

  

0.1331

75

0.0252

100

0.4970

55

★

0

HARRIS+random

  

0.0679

100

0.0121

100

0.0820

100

0.3756

100

SIFT+uniform

  

0.0647

100

0.0349

100

0.1491

100

0.1959

100

SURF+uniform

  

0.0848

100

0.0542

100

0.3064

100

0.3426

100

FAST+uniform

  

0.0672

100

0.0446

100

0.1118

100

0.2719

100

HARRIS+uniform

  

0.1131

100

0.0194

100

0.1077

100

0.5959

100

  1. "★" denotes that no correct transformations were found in 20 runs