Pair No.	Yaw Diff.	No. of Features I₁ [#] - I₂ [#]	GT [#]	IC [#]	CC [#]	CR [%]	PMC [#]	PCC [#]	PCR [%]	Err [pixels]
1	90˚	1879 - 1415	140	100	92	92.00	90	88	97.78	1.3
2	90˚	2431 - 2047	58	67	40	59.7	36	34	94.44	6.2
3	90˚	2512 - 1772	75	67	56	83.58	44	43	97.73	1.2
4	90˚	1186 - 1292	45	33	31	93.94	32	31	96.88	4.6
5	90˚	2095 - 3084	57	57	47	82.46	41	39	95.12	1.5
6	180˚	1393 - 1333	95	48	44	91.67	48	48	100	1.7
7	180˚	1843 - 2503	60	43	33	76.74	35	32	91.43	2.4
8	180˚	2560 - 3241	94	69	58	84.06	55	54	98.18	1.9
9	180˚	1874 - 1823	59	43	34	79.07	37	35	94.59	2.1
10	180˚	738 - 1046	51	35	32	91.43	33	32	96.97	2.3
11	270˚	2238 - 1871	106	89	75	84.27	82	79	96.34	2.5
12	270˚	3334 - 2084	81	45	41	91.11	40	39	97.50	1.5
13	270˚	887 - 932	58	41	37	90.24	32	31	96.88	2.8
14	270˚	1470 - 1750	92	70	60	85.71	70	67	95.71	1.5
15	270˚	738 - 1046	85	76	64	84.21	60	58	96.67	1.3