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

Figure 5

Inconsistent initial registration results of case 9. (a) and (d) are the results by 4PCS, (b) and (e) by K-4PCS, and (c) and (f) by SUPER 4PCS algorithms when the input of case 9 in Figure 4(c) is given.