Fig. 1. Original point cloud “xbox”

Fig. 2. Effect diagrams for different values of K and R

Fig. 3. Point set sorting process

Fig. 4. Three-dimensional Douglas-Puck algorithm diagram

Fig. 5. Comparison of rejection rates of 10 targets

Fig. 6. Contour extraction effect of Meleon40 data

Fig. 7. Preprocessing of original point cloud. (a) Real environmental objects; (b) original point cloud collected; (c) point cloud after preprocessing

Fig. 8. Contour extraction effect diagram

Fig. 9. Algorithm comparison analysis. (a) Original point cloud of Sink; (b) extraction effect of Sink using Gaussian clustering algorithm; (c) extraction effect of Sink using improved 3RDP algorithm; (d) original point cloud of Table; (e) extraction effect of Table using Gaussian clustering algorithm; (f) extraction effect of Table using improved 3RDP algorithm

Table 1. Comparison ofnormal line estimation algorithm and improved RDP algorithm

Table 2. Effect of point cloud extraction of 11 targets

Table 3. Comparison of improved 3RDP algorithm and Gaussian clustering algorithm