Nontarget-Based Global Registration for Unorganized Point Clouds Obtained in the Dynamic Shipyard Environment

Algorithm 1

acquisition step.

	Input: point clouds and feature histograms
	Output: Selected base set
	for do
	;
	two nearest points of in using ;
	where ;
	;
	Set Initial bases , where ;
	Construct correspondence sets using ;
	for do
	Apply reciprocity tests to ;
	if or or or passes the reciprocity test then
	;
	return