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

Table 2

Dataset 1 registration results of 4PCS, K4PCS, SUPER 4PCS, and F-4PCS algorithms.

	4PCS			K-4PCS
Avg.	(s)	RMSE		(s)	RMSE
	14.6	1.39	0.94	8.35	4.19	1.49
Super 4PCS				F-4PCS (proposed)
Avg.	(s)	RMSE		(s)	RMSE
	3.85	2.23	1.15	6.73	1.23	0.84