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

Table 5

Registration results of PFH-based F-4PCS algorithms.

Dataset 1
Avg	(s)	RMSE
	13.53	2.42	1.37
Dataset 2
Avg	(s)	RMSE
	10.97	0.43	0.38
Dataset 3
Avg	(s)	RMSE
	11.61	0.18	0.15