Table 7 Performance comparison of 4PCS and NPCS algorithms
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 | S r (%) | t (s) | Δ | S r (%) | t (s) | Δ | S r (%) | t (s) | |
4PCS | 2.845 | 85 | 10.6 | 1.953 | 90 | 22.1 | 0.775 | 40 | 56.3 | 3.762 | 30 | 48.8 | ★ | 0 | 356.3 |
NPCS | 0.875 | 100 | 46.3 | 0.420 | 100 | 31.2 | 0.458 | 95 | 45.5 | 0.517 | 100 | 13.5 | 0.980 | 60 | 76.2 |