Table 4 Comparison of results of TLS joint/full registration method for all scans and the target-based registration method with reliability assessment for all Test Sites
RMSE on marked check points [mm] | ||||||
|---|---|---|---|---|---|---|
Detector | Test Site I | Test Site II | Test Site III | Test Site IV | Test Site V | Test Site VI |
AFAST | 3.4 | 3.9 | 2.3 | 2.5 | 2.0 | 9.0 |
ASIFT | 1.8 | 2.3 | 1.9 | 2.8 | 1.8 | 4.9 |
ASURF | 3.7 | 5.0 | 2.5 | 2.6 | 2.1 | x |
SuperGlue | x | 4.1 | 4.7 | 2.6 | 1.9 | x |
LoFTR | 4.2 | 10.5 | x | 2.7 | x | x |
KeyNetAffine | 3.6 | 2.3 | 5.5 | 2.5 | 2.4 | x |
Target-based method | 3.5 | 4.4 | 5.7 | 2.8 | 1.3 | 3.8 |
The reliability indices—minimum values | ||||||
|---|---|---|---|---|---|---|
Detector | Test Site I | Test Site II | Test Site III | Test Site IV | Test Site V | Test Site VI |
AFAST | 0.94 | 0.98 | 0.66 | 0.99 | 0.94 | 0.10 |
ASIFT | 0.98 | 0.78 | 0.58 | 0.99 | 0.65 | 0.60 |
ASURF | 0.97 | 0.99 | 0.94 | 0.99 | 0.93 | x |
SuperGlue | x | 0.28 | 0.51 | 0.98 | 0.87 | x |
LoFTR | 0.76 | 0.59 | x | 0.94 | x | x |
KeyNetAffine | 0.51 | 0.89 | 0.86 | 0.98 | 0.86 | x |
Target-based method | 0.35 | 0.20 | 0.22 | 0.23 | 0.29 | 0.28 |