Datasets to evaluate the performance of point-based, rigid-body registration may be downloaded from this site. Registration is the process of transforming one coordinate frame to another coordinate frame.

The datasets contain 3D position measurements obtained from three instruments: a laser tracker (LT), a motion capture system (System A), and a large-scale metrology system (System B). The positions are for points that are in a semi-regular, 5 x 5 x 5 grid. The grid covers a volume that is approximately (3 x 3 x 1.8) m [L x W x H]. The measurement uncertainties are ± 25e-03 mm for the laser tracker, ± 250e-03 mm for System B, while the accuracy of System A is only specified as sub-millimeter. The datasets for each instrument were collected in the instrument's local coordinate frame.

The datasets contain measurements of 125 fiducials (points used for registration) and 16 test points. Test points are points that are not used for registration but to which a transformation is applied; these points are used to evaluate the performance of the registration.