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Regard and consider are close synonyms, so most of the time their meanings are similar.
However, to consider is usually to think things through logically, so to arrive at a careful decision, e.g. a carefully considered response; we are considering buying a new car.
Regard, on the other hand, is more associated with emotions and judgment. For example, he held her in high regard.
The verb regard is often followed by the preposition 'as'; whereas, the verb consider often leaves out the preposition.