Table 1.

Median rotational alignment error ΔE of all 100 pairwise alignments for phantom models 1 and 2. ΔE is defined as the difference between the rotational matrix determined by the fast rotational matching and the ground truth: ΔE = ∥R_dif − I∥. The maximum value of ΔE is 8. Grey fields are considered failed alignments, white fields are considered correct alignments.

Model 1
	∞	0.1	0.05	0.01	0.005	0.001
±90	0.00323	0.00382	0.00384	0.00558	0.0185	7.12
±80	0.00329	0.00309	0.00292	0.00739	0.0176	7.04
±70	0.00275	0.00329	0.00332	0.0116	0.0579	6.64
±60	0.00347	0.00339	0.0043	0.0104	6.54	6.82
±50	0.00388	0.00407	0.00555	7.26	6.93	6.26
±40	0.00648	0.0152	6.49	6.1	6.68	6.55

Model 2
	∞	0.1	0.05	0.01	0.005	0.001
±90	0.00353	0.00381	0.00384	0.0145	0.0397	6.65
±80	0.00386	0.00351	0.0047	0.0144	0.106	6.87
±70	0.0042	0.00361	0.00635	0.0115	5.03	6.79
±60	0.00437	0.0044	0.005	5.23	6.45	6.63
±50	0.00623	0.00721	5.38	7.38	6.58	6.15
±40	0.0077	4.79	6.42	6.31	5.92	6.4