Rotation Estimation Based on Serial Network and Application in Cave Buddha Statues

Algorithm 1

Online training algorithms.

 Data: point cloud

 Result: a rotation representation;

1 initialization;

2 set N as the number of re-generation datasets;

3 set S as the number of dataset size;

4 set e as the number of epochs;

5 ,;

6 whiledo

7   generate a smaller dataset, the size of which is S;

8   whiledo

9       perform one epoch of training;

10    

11     end

12     empty the dataset;

13     

14 end

15 training completed.