Table 3.

Error statistics before and after the iterative calculations of the registration (Unit: m).

Data		Before the Iterative Calculations					After the Iterative Calculations
		MIN	MAX	$\overline{\Delta }$	$\mathit{\sigma }$	${\mathit{\sigma }}_{\mathit{X}\mathit{Y}}$	MIN	MAX	$\overline{\Delta }$	$\mathit{\sigma }$	${\mathit{\sigma }}_{\mathit{X}\mathit{Y}}$
Ⅰ	${\Delta }_X$	−12.86	36.92	−3.175	9.270	13.86	−0.375	0.400	−0.020	0.192	0.270
	${\Delta }_Y$	−24.38	30.69	−3.982	10.30		−0.445	0.355	−0.004	0.189
	${\Delta }_Z$	−93.31	355.9	24.747	97.13		−0.293	0.286	−0.012	0.134
Ⅱ	${\Delta }_X$	−0.750	0.964	0.080	0.369	0.437	−0.205	0.282	0.027	0.126	0.165
	${\Delta }_Y$	−0.489	0.499	0.061	0.235		−0.185	0.199	−0.008	0.107
	${\Delta }_Z$	−7.049	1.592	−2.160	3.035		−0.130	0.196	0.031	0.096
Ⅲ	${\Delta }_X$	−0.508	0.271	−0.081	0.219	0.585	−0.271	0.241	−0.053	0.159	0.225
	${\Delta }_Y$	−0.434	1.048	0.389	0.542		−0.225	0.290	0.063	0.158
	${\Delta }_Z$	−0.984	1.617	0.237	0.710		−0.147	0.230	0.066	0.150
Ⅳ	${\Delta }_X$	−0.299	1.136	0.518	0.644	0.806	−0.161	0.289	0.038	0.147	0.218
	${\Delta }_Y$	−0.183	0.917	0.393	0.486		−0.276	0.227	−0.040	0.161
	${\Delta }_Z$	−1.746	2.207	0.014	0.937		−0.179	0.246	0.024	0.120