Establishment of a Coal Mine Roadway Model Based on Point Cloud Feature Matching

Table 1

Experimental comparison data.

The algorithm name	The first set of point cloud registration			The second set of point cloud registration			The third set of point cloud registration
	ICP registration	NDT registration	NDT + ICP registration	ICP registration	NDT registration	NDT + ICP registration	ICP registration	NDT registration	NDT + ICP registration
Registration time (s)	9.356	1.509	3.061	8.435	1.134	3.585	11.355	1.355	4.646
Mean-square error in axis-x (m)	0.059	0.075	0.035	0.063	0.099	0.042	0.041	0.082	0.048
Mean-square error in axis-y (m)	0.079	0.093	0.051	0.049	0.063	0.032	0.057	0.067	0.057
Mean-square error in axis-z (m)	0.045	0.034	0.042	0.024	0.014	0.029	0.032	0.033	0.036