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

Algorithm 2

acquisition step.

	Input: base , parameter , point clouds and feature histograms
	Output: Congruent base set , Transformation matrix set and overlap ratio set
	Compute ratios ;
	Point pairs generation step;
	fordo
	fordo
	Compute immediate points ;
	;
	if, where and then
	Compute transformation matrix and overlap ratio ;
	;
	;
	;
	return