Runtimes for registering a point-cloud target shape. (Experiment 4).

Average runtimes of successful registrations from Experiment 4 are reported, where 300 randomized trials were conducted for each test case. Each test case represents a different generative noise model (Table 4) applied to points of the source shape. Results are also reported for initial shape misalignments of [15, 30] mm / degrees (Experiment 4A) and [30, 60] mm / degrees (Experiment 4B). The algorithms compared include single-threaded implementations of ICP [1], GICP [11], IMLP, and the two IMLP variants IMLP-CP and IMLP-MD. A multi-threaded implementation of CPD [20] is also reported, which made full utilization of 2 cores.Runtimes for registering a point-cloud target shape. (Experiment 4).