Table 2.
Error measurements for 3D object registration using Aruco fiducial markers.
| FRE | TRE | |||||
|---|---|---|---|---|---|---|
| Tx (mm) | Ty (mm) | Tx (mm) | Ty (mm) | R (o) | S (%) | |
| Mean | 1.41 | 1.11 | 1.74 | 1.37 | 0.95 | 1.01 |
| STD | 0.31 | 0.37 | 0.47 | 0.36 | 0.63 | 0.00 |
| Maximum | 1.9 | 1.8 | 2.4 | 2 | 2.5 | 1.8 |
| Minimum | 0.8 | 0.5 | 0.8 | 0.8 | 0.1 | 0.4 |
Measurements include translational error in the x-direction (Tx) and in the y-axis (Ty), as well as rotational error (R) and scaling error (S). Both the Fiducial Registration Error (FRE) and Target Registration Error (TRE) were determined.