Rigid-body registration results for corresponding point sets with anisotropic noise present in both sets of points. (Experiment 1A).

Results report the efficiency (number of iterations and runtime (seconds)), registration error (RE) (mm), and instability (% of trials) of the GTLS registration method proposed in this paper compared to the closed-form isotropic solution [26] and the prior GTLS methods of Estepar et al. [10] and Balachandran and Fitzpatrick [31]. The tests are binned according to the magnitude of initial misalignment in translation (mm) and rotation (degrees); each bin represents average values measured over 1000 randomized trials. Rigid-body registration results for corresponding point sets with anisotropic noise present in both sets of points. (Experiment 1A).