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

Table 3

Dataset 2 registration results of 4PCS, K4PCS, SUPER 4PCS, and F-4PCS algorithms.

	4PCS			K4PCS
Avg.	(s)	RMSE		(s)	RMSE
	9.19	0.91	0.63	339.43	0.59	0.42
Super 4PCS				F-4PCS (proposed)
Avg.	(s)	RMSE		(s)	RMSE
	51.76	0.71	0.68	16.87	0.55	0.47