Table 4.

Average angular error in degrees with standard deviations.

AAE [°]	translSqu	rotBar	translSin	rotDisk	translBoxes
LKBD	135.77 ± 31.45	73.24 ± 56.52	20.35 ± 16.46	51.71 ± 45.47	108.07 ± 28.67
LKCD1	7.05 ± 20.05	29.68 ± 20.54	21.72 ± 35.31	19.93 ± 21.35	28.98 ± 31.27
LKCD2	9.38 ± 19.31	32.85 ± 21.17	13.33 ± 15.18	18.72 ± 19.00	36.07 ± 36.69
LKSG	11.48 ± 8.80	16.75 ± 8.26	9.56 ± 15.90	6.37 ± 6.53	12.13 ± 19.84
LPorig	0.00 ± 0.00	17.54 ± 21.56	38.93 ± 61.85	28.06 ± 33.39	9.78 ± 32.96
LProbust	0.00 ± 0.00	9.56 ± 29.97	37.72 ± 55.76	22.30 ± 32.70	9.46 ± 22.67
LPSF	2.39 ± 8.98	6.81 ± 24.34	43.99 ± 48.52	23.39 ± 32.12	9.27 ± 13.11
LPSG	0.00 ± 0.00	8.72 ± 17.92	28.39 ± 42.78	18.77 ± 31.74	13.96 ± 23.62
DS	0.63 ± 5.28	6.88 ± 7.18	32.82 ± 56.67	16.62 ± 20.36	12.01 ± 31.91

Values in bold face are smallest error for each algorithm.