Table 1. Table summarizing registration errors, expressed in mm, on single 3D object models.

	Moneybox	Lamp	Pentray	Jug	Melon	Bottle	Mean
The table reports the maximum, average and standard deviation of the error after the global registration procedure, for six 3D object models (see Fig. 1), randomly selected among those used to construct the virtual worlds. The last column reports the mean values over all object models.
Maximum	2.971	6.599	1.260	2.757	2.654	4.030	3.578
Average	0.066	0.100	0.051	0.085	0.084	0.110	0.112
Std. Dev.	0.103	0.176	0.054	0.128	0.098	0.128	0.124