Global ray-casting range image registration

Table 4 Results of Pumpkin, RedKitchen and Stairs datasets

Scene name	Algorithm	Min	Max	Mean	St. dev.
Pumpkin	ISADE	0.05541	0.05603	0.05563	0.000175987
KinectFusion	DE	0.06555	0.16927	0.11105	0.111050113
ref: 0.111361	GA	0.45803	3.15529	1.42922	0.775060060
	SA	0.07468	0.90335	0.49504	0.248322702
	PSO	0.11181	1.43345	0.36443	0.334116975
RedKitchen	ISADE	0.03423	0.03759	0.03481	0.000915588
KinectFusion	DE	0.05879	0.60304	0.17479	0.149183155
ref: 0.0983645	SA	0.52141	5.48133	2.07233	1.339500137
	GA	0.12508	1.58015	0.62601	0.441544434
	PSO	0.05515	2.48188	0.54354	0.671268667
Stairs	ISADE	0.00875	0.00898	0.00883	0.000079463
KinectFusion	DE	0.00975	0.04665	0.01767	0.009514675
ref: 0.0156084	SA	0.21207	2.24988	1.19252	0.627554990
	GA	0.01405	1.08881	0.29528	0.304574563
	PSO	0.04632	0.96723	0.25021	0.239971819

The boldface entries are for emphasis for better result in comparison between the new method with other methods