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Table 5 Average running time (in second) on different scenes of new methods and Go-ICP

From: Global ray-casting range image registration

  New methods New method Go-ICP Go-ICP
  100 generations 150 generations distTransSize = 50 distTransSize = 100
Chess 0.388414 0.516832 inf inf
Fire 0.385928 0.625765 14.2786 inf
Heads 0.335828 0.562451 0.102944 0.104659
Office 0.378768 0.560734 0.030326 34.411
Pumpkin 0.410615 0.621756 104.468 inf
RedKitchen 0.415258 0.588466 30.3815 inf
Stairs 0.409834 0.597050 188.205 inf