Rotation-only registration results for corresponding point sets with anisotropic noise present in both sets of points. (Experiment 1C).

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 (modified to computer only rotation) compared to the closed-form isotropic solution [26] and the prior GTLS rotation estimation method of Ohta and Kanatani [28]. The tests are binned according to the magnitude of initial misalignment in rotation (degrees) with translational misalignment being zero; each bin represents average values measured over 1000 randomized trials.Rotation-only registration results for corresponding point sets with anisotropic noise present in both sets of points. (Experiment 1C).