Table 3 Registration with different descriptors in joint learning framework (mean ± std)

7.38 ± 3.56

46.81 ± 32.67

7.70 ± 3.27

7.01 ± 2.95

90.94 ± 1.38

6.67 ± 1.50

32.11 ± 6.96

34.29 ± 10.54

6.03 ± 1.29

50.42 ± 25.68

7.33 ± 2.40

6.17 ± 2.24

92.89 ± 1.95

5.64 ± 1.12

43.65 ± 5.05

42.76 ± 9.78

5.64 ± 1.51

51.58 ± 23.05

7.18 ± 1.94

5.69 ± 1.41

94.61 ± 1.07

4.77 ± 1.08

42.72 ± 4.85

49.30 ± 12.67

5.05 ± 1.79

55.20 ± 18.77

6.71 ± 1.97

4.83 ± 1.49

94.75 ± 0.82

4.53 ± 1.11

44.12 ± 4.63

54.43 ± 11.62