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

<div>The top view of the raw CAD data (a) wherein the zoomed pipe is displayed in dotted rectangular box and raw point cloud acquired by a mobile device is displayed in (b). The ground plane of CAD data is removed for better visualization.</div>

Mathematical Problems in Engineering

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Figure 8

Figure 8: Nontarget-Based Global Registration for Unorganized Point Clouds Obtained in the Dynamic Shipyard Environment 