Point Set Registration Based on Improved KL Divergence

Table 2

Registration accuracy at different noise proportions.

Method	Proportion of noises
	0		20%		40%		60%		80%		100%
	RSR	MSE	RSR	MSE	RSR	MSE	RSR	MSE	RSR	MSE	RSR		MSE
Proposed	0.97	0.02	0.92	0.07	0.85	0.16	0.76	0.21	0.76	0.22	0.58		0.34
ICP	0.95	0.04	0.91	0.11	0.83	0.18	0.75	0.25	0.73	0.25	0.55		0.42
KC	0.94	0.03	0.90	0.11	0.85	0.17	0.74	0.23	0.73	0.31	0.55		0.46
CPD	0.94	0.02	0.91	0.12	0.82	0.21	0.74	0.22	0.74	0.30	0.54		0.45