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

Table 3

The FPFH + ICP registration result.

Field radius size (m)	0.01	0.1	0.15	0.5	1
Point cloud registration diagram
The total time (s)	18.832	16.723	16.042	17.306	17.991
ICP registration time (s)	0.048	0.031	0.019	0.020	0.027
Error in axis-x (m)	0.04844	0.01978	0.00119	0.01479	0.01541
Error in axis-y (m)	0.08701	0.02685	0.00032	0.00922	0.01225
Error in axis-z (m)	0.86614	0.61756	0.61472	0.62405	0.62672