Fig. 1. (a) Mean of rotation error and (b) regional magnified view versus number of points

Fig. 2. (a) Mean of translation error and (b) regional magnified view versus number of points

Fig. 3. Mean of rotation error versus initial translation bias. (a) 10 points; (b) 100 points

Fig. 4. Mean of translation error versus initial translation bias. (a) 10 points; (b) 100 points

Fig. 5. Execution time versus number of points

Fig. 6. Verification of proposed algorithm with real images.(a) Original position; (b) after translation and rotation