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8(b). By analyzing local areas in the surfaces of different correct alignments we see that the SIM better distributes the registration error over the entire alignment. 10. 8. 9(b). If we analyze the number of interpenetrating points and their corresponding point distances within a very low distance range, we see that our approach has a higher fraction of interpenetrating points compared to the ICP results. 10(a) with the same analysis. 10(a) because in some regions of the alignment the surfaces are parallel.
Mutation also occurs according to a user-defined probability, usually set fairly low, and there are different 48 Robust Range Image Registration using GAs and the SIM mutation rules. The best-known rules are the random mutation and mutation by range. The random mutation replaces the value of the chosen gene (selected randomly) with a random value within some upper and lower bound values for that gene. In contrast, mutation by range adds a constant (user-defined offset), with the sign randomly chosen, to the gene’s value instead of replacing it.
Surface Interpenetration Measure 21 Registration of two range datasets of planar surfaces surface 1 surface 2 Z 7 5 3 0 -10 X -20 -30 5 0 -5 -10 -20 -15 -25 -30 -35 Y Fig. 1 to verify the interpenetration effect after registration of plane surfaces (please view in color for best effect). Scanlines from a range image of a plane surface scanline 1 scanline 2 scanline 3 scanline 4 scanline 5 8 Z range values 7 6 5 4 3 0 20 40 60 80 100 Points position Fig. 1(a) to illustrate the “roughness” of a planar surface.