Fig. 3
From: A robust, autonomous, volumetric quality assurance method for 3D printed porous scaffolds
I-ICP10 workflow for QA of tissue scaffolds. (A) Execution independent ICP trials, each with varying initial rotations were applied to original moving volume. (B) ICP trials with the smallest final RMSE value were autonomously chosen as the most successful registrations. In this example, 180O about Y and 270O about Y were the favorable initial rotations that yielded successful registration