|
| Variable | Explanation |
|
| General |
| 4-point set of the target point cloud |
| Congruent 4-point sets to of the source point cloud |
| Best correspondent set among |
|
| Voxel grid filtering and feature computation steps |
|
| Number of points in a 3D box |
| Centroid of the points in a 3D box |
| Number of 3D boxes or filtered points in the voxel grid filtering step |
| Original point before the voxel grid filtering step |
| Covariance matrix for the points in 3D box |
| Points after the voxel grid filtering step |
| Number of the used neighbourhood points to each query point |
| Proposed feature histogram created by the features |
| Filtered point clouds by the voxel grid filter |
|
| F-4PCS algorithm steps |
|
| Points of and |
| Intersection point of the line and of |
| Number of the nearest points to points of B |
| Histogram to generate point pairs |
| Point pair which is composed of two points |
| Number of the bases of in F-4PCS algorithm |
| Overlap ratio of the transformed and |
| Main threshold to control the range of congruent 4-points sets |
| Set of transformation matrixes computed from and |
| Score threshold, a termination condition of F-4PCS algorithm |
| Best transformation matrix among |
|
