TABLE 2.

Quantitative Evaluation on 130 Pairs of Sinus Images

	Translation Error			Rotation Error
	Median	Mean	Std. Var.	Median	Mean	Std. Var.
LMedS	47.30	52.40	29.67	3.57	4.39	4.62
MSAC	32.50	40.71	28.13	6.59	8.06	6.28
RANSAC	29.38	36.59	26.85	11.38	13.34	10.57
RANSAC2	9.73	12.22	8.80	0.48	0.75	0.86
RESC	12.84	29.36	34.87	0.61	2.19	3.16
ASSC	9.61	12.33	14.73	0.41	0.83	1.99
pbM	47.18	52.98	36.99	2.40	3.41	3.10
ASKC2*	27.80	37.90	34.23	1.69	2.69	2.89
ASKC1	9.49	10.71	7.00	0.38	0.58	0.71
ASKC2	7.25	8.95	7.52	0.32	0.46	0.59

Because pbM employs the eight-point algorithm, we also test our ASKC2 with the eight-point algorithm (ASKC2*) for fairness.