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Propagation of Error from Registration Parameters to Transformed Data



Mili Shah, Marek Franaszek, Geraldine Cheok


Methods to register two sets of data have existed for quite some time. However, these sets of data are rarely error-free. Consequently, any parameters obtained from a registration method will be affected by the error in the sets of data. Moreover, if these registration parameters are then used to formulate a registration matrix to transform data from one coordinate system to another, any error in the registration parameters will also get propagated to the transformed data. In this paper, we will characterize the propagation of random error, or noise, through a mathematical perspective and will illustrate its use with both real and simulated sets of data. In addition, we will discuss the limitations of this propagation of error when systematic bias is present in the data.
Journal of Research (NIST JRES) -


Registration, Uncertainty, Error Propagation, 6DOF


Shah, M. , Franaszek, M. and Cheok, G. (2016), Propagation of Error from Registration Parameters to Transformed Data, Journal of Research (NIST JRES), National Institute of Standards and Technology, Gaithersburg, MD, [online],, (Accessed April 13, 2024)
Created June 5, 2016, Updated October 12, 2021