Table A2.

Accuracy test: smaller is better.

	Small Rotation, Centered			Large Rotation, Not Centered
	Bunny	Dragon	Armadillo	Bunny	Dragon	Armadillo
ICP	$0.045\pm 0.018$	$0.045\pm 0.19$	$0.036\pm 0.022$	$0.96\pm 1.14$	$1.09\pm 1.13$	$1.17\pm 1.15$
CPD	$0.016\pm 0.0089$	$0.014\pm 0.0083$	$0.012\pm 0.0074$	$1.15\pm 1.30$	$1.11\pm 1.19$	$1.13\pm 1.15$
DARE	$0.020\pm 0.0093$	$0.016\pm 0.0090$	$0.016\pm 0.0083$	$1.30\pm 1.26$	$1.34\pm 1.22$	$1.48\pm 1.16$
TEASER++	$0.14\pm 0.076$	$0.15\pm 0.084$	$0.16\pm 0.095$	$0.15\pm 0.096$	$0.13\pm 0.082$	$0.14\pm 0.093$
CF	$0.16\pm 0.10$	$0.19\pm 0.13$	$0.28\pm 0.42$	$0.18\pm 0.14$	$0.14\pm 0.11$	$0.15\pm 0.12$
CFK	$0.26\pm 0.26$	$0.25\pm 0.22$	$0.33\pm 0.35$	$0.26\pm 0.23$	$0.19\pm 0.18$	$0.20\pm 0.17$