From: Multi-view alignment with database of features for an improved usage of high-end 3D scanners
 |  |  |  | Pairwise alignment | Multi-view alignment | ||||
---|---|---|---|---|---|---|---|---|---|
Dataset | Number of RI pairs | Avg. Number of points/RI | Param. config. | Number of RI pairs | Avg. exec. time/RI [ s] | Number of clusters | Avg. exec. time/RI [s] | Initial align. error [μm] | Final align. error [μm] |
 |  |  |  | aligned |  | created |  |  |  |
Angels | 7 | 1M | std | 7 | 3.6 | 1 | 4.9 | 62 | 27 |
Mould 1 | 7 | 410k | std | 7 | 2.0 | 1 | 2.6 | 39 | 14 |
Mould 2 | 9 | 400k | std | 9 | 1.7 | 1 | 2.2 | 66 | 11 |
Mould 3 | 9 | 370k | std | 9 | 1.5 | 1 | 1.7 | 103 | 11 |
Mould 4 | 9 | 360k | std | 9 | 1.6 | 1 | 2.0 | 165 | 12 |
Platelet | 11 | 80k | sml | 11 | 1.5 | 1 | 1.8 | 28 | 9 |
Dog | 13 | 130k | sml | 13 | 2.5 | 1 | 5.0 | 32 | 16 |
Cherub | 19 | 650k | sml | 18 | 1.3 | 1 | 1.6 | 149 | 20 |
Dolphin | 19 | 410k | std | 19 | 2.0 | 1 | 4.1 | 136 | 33 |
Capital | 22 | 760k | std | 22 | 3.1 | 1 | 6.6 | 127 | 23 |
Rose | 23 | 170k | sml | 23 | 2.8 | 1 | 6.1 | 67 | 13 |
Hurricane | 31 | 690k | std | 30 | 2.9 | 1 | 9.0 | 188 | 35 |
Decoration | 47 | 510k | std | 39 | 2.7 | 2 | 10.3 | – | – |
Venus | 60 | 835k | std | 60 | 3.1 | 1 | 12.1 | 152 | 17 |
Doga | 13 | 130k | sml | 7 | 2.4 | 1 | 5.1 | 41 | 16 |
Capitala | 22 | 760k | std | 11 | 2.9 | 1 | 7.5 | 176 | 23 |
Hurricanea | 31 | 690k | std | 17 | 2.9 | 1 | 9.6 | 255 | 35 |
Carterb | 92 | 550k | std | 64 | 2.5 | 18 | 16.8 | – | – |