Point Set Registration Based on Improved KL Divergence

Table 1

Registration accuracy at different outlier proportions.

Method	Proportion of outliers
	0		20%		40%		60%		80%		100%
	RSR	MSE	RSR	MSE	RSR	MSE	RSR	MSE	RSR	MSE	RSR		MSE
Proposed	0.98	0.02	0.93	0.08	0.87	0.15	0.79	0.20	0.74	0.26	0.59		0.35
ICP	0.96	0.03	0.92	0.10	0.85	0.17	0.76	0.23	0.70	0.28	0.57		0.39
KC	0.97	0.03	0.92	0.12	0.84	0.16	0.75	0.25	0.72	0.30	0.52		0.42
CPD	0.97	0.03	0.91	0.13	0.83	0.19	0.76	0.24	0.69	0.32	0.53		0.43