FIG. 4.

Deviations of the surface registration compared to the volumetric registration, where ∇T = (T_s − T_v), (∇t_lat, ∇t_vert, ∇t_long, ∇r_pitch, ∇r_rot, ∇r_roll) = (t_s,lat − t_v,lat, t_s,vert − t_v,vert, t_s,long − t_v,long, r_s,pitch − r_v,pitch, r_s,rot − r_v,rot, r_s,long − r_v,long). The central box represents the central 50% of the data (its lower and upper boundary lines are at the 25% and 75% quantile). The central line in the box indicates the median of the data, and the cross marks are the outlier data.