Table 3 Average rotation errors for rigid registration. is normalized mutual information. is the measure in [20] using scale-space maps. is our approach using the neurobiology-based saliency model. All values are in units of degrees.

(0,0,2.75)

(0,0,0.56)

(0,0,0.43)

(0,0,2.71)

(0,0,0.50)

(0,0,0.44)

(0,0,2.67)

(0,0,0.55)

(0,0,0.41)

(0,0,2.66)

(0,0,0.53)

(0,0,0.39)

(0,0,2.72)

(0,0,0.52)

(0,0,0.40)

(0,0,4.81)

(0,0,0.53)

(0,0,0.32)

(0,0,4.23)

(0,0,0.65)

(0,0,0.44)

(0,0,3.98)

(0,0,0.75)

(0,0,0.29)

(0,0,3.12)

(0,0,0.54)

(0,0,0.31)

(0,0,3.33)

(0,0,0.58)

(0,0,0.24)

(0,0,3.31)

(0,0,0.57)

(0,0,0.36)