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

Figure 4

Input data sequences of case 6 (first row) and case 9 (second row) and the initial registration results. (a) and (d) are the input datasets of case 6 and case 9 before registration, (b) and (e) are the results by 4PCS, and (c) and (f) by the F-4PCS algorithms. The dashed rectangular areas are magnified for better visualization.