The size of the reference point set | 10,000 | 20,000 | 30,000 | 40,000 |
Traditional ICP time (t/) | 36.2 | 78.5 | 247.6 | 502.4 |
Improved ICP time (t/s) | 0.49 | 1.1 | 1.8 | 2.4 |