Table 4 Registration results of different schemes.

From: Research on train wheel point cloud registration algorithm based on key points by fusing Super-4PCS and ICP

Scheme no

Coarse registration time (s)

Fine registration time (s)

Total time (s)

RMSE

MAE

\({E_R}\)

\({E_t}\)

\({E_{IR}}\)

1

151.11

22.36

173.47

0.1888

0.2260

0.0088

0.8462

0.9226

2

116.41

71.12

187.53

0.0002

0.00026

0.0000

0.0029

1.0000

3

14.46

39.61

54.07

0.1672

0.2323

0.0111

1.3665

0.9481

4

314.50

12.83

327.33

0.0631

0.0671

0.0000

0.0146

0.9832

5

1004.91

23.53

1028.44

0.1543

0.2172

0.0077

0.9509

0.9604

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