Table 5.

Rotation and translation error (25 poses).

	${\mathit{t}}_{\mathit{x}}$	${\mathit{t}}_{\mathit{y}}$	${\mathit{t}}_{\mathit{z}}$	${\mathit{r}}_{\mathit{x}-\mathit{axis}}$	${\mathit{r}}_{\mathit{y}-\mathit{axis}}$	${\mathit{r}}_{\mathit{z}-\mathit{axis}}$
Pandey [31]	$0.0188$ m	$0.0305$ m	$0.0073$ m	${0.4476}^{\circ }$	${0.8375}^{\circ }$	${0.4839}^{\circ }$
proposed	$0.0020$ m	$0.0028$ m	$0.0032$ m	${0.0771}^{\circ }$	${0.0138}^{\circ }$	${0.0529}^{\circ }$