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

Figure 7

Input data sequences and initial registration results of case 5 (first column) and case 10 (second column). (a and b) are initial poses of Case 5 and Case 10 before registration, (c and d) are the results by the SUPER 4PCS, and (e and f) by the F-4PCS algorithms. The ground planes are removed for better visualization.