Rigid-body registration results for corresponding point sets with anisotropic noise present in one set of points and isotropic noise present in the other. (Experiment 1B).

Results report the efficiency (number of iterations and runtime (seconds)), registration error (RE) (mm), and instability (% of trials) of the GTLS 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 rotation (degrees), with all bins having a translational misalignment in the range [90, 100] mm; each bin represents average values measured over 1000 randomized trials.
Rigid-body registration results for corresponding point sets with anisotropic noise present in one set of points and isotropic noise present in the other. (Experiment 1B).