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

Algorithm 3

F-4PCS algorithm.

	Input: point clouds
	Output: Initial transformation matrix set that aligns to
	Apply a Voxel grid to and to reduce their size;
	Compute feature histograms from ;
	Base set Algorithm 1: acquisition step;
	fordo
	Algorithm 2: acquisition step;
	selection step;
	ifthen
	;
	return;
	Set Transformation matrices and overlap ratios ;
	Set , where its ;
	;
	return