. Author manuscript; available in PMC: 2019 May 9.

Published in final edited form as: IEEE Trans Autom Sci Eng. 2018;15:10.1109/TASE.2017.2720478. doi: 10.1109/TASE.2017.2720478

TABLE III.

Mean Translational Error, Maximum Translational Error, and Significance of Probability of Successful Insertion.

Registration Method	ē (mm)	max(e) (mm)	PS
Large 3-point	0.699	1.493	0.427
Small 3-point	1.006	1.911	0.590^*
SA Large 3-point	0.435	0.987	0.817^*
SA Small 3-point	0.594	1.271	0.889^*
Large 5-point	0.383	0.851	0.897
Clustering	0.410	0.813	0.982^*
SA Large 5-point	0.422	0.758	0.982

Indicates Statistical Significance With Entry of Previous Row