Fig. 1. Flow chart of proposed algorithm

Fig. 2. Experiment results of cube data set simulation. (a) Raw data; (b) Result of SAC-IA+ICP algorithm registration; (c) Result of GA-SVSNLMS algorithm registration

Fig. 3. Convergence curves of each algorithm in geometric algebraic space of cube dataset. (a) Convergence curves of error function; (b) Convergence curves of cost function

Fig. 4. Experiment results of bunny data set simulation. (a) Raw data; (b) Result of SAC-IA+ICP algorithm registration; (c) Result of GA-SVSNLMS algorithm registration

Fig. 5. Convergence curves of each algorithm in geometric algebraic space of bunny dataset. (a) Error function curve and cost function curve of GA-SVSNLMS; (b) Cost function convergence curve of each algorithm in geometric algebraic space

Fig. 6. Simulation experiment results of each data set under Gaussian noise. (a) Raw data of cube; (b) Result of SAC-IA+ICP algorithm registration of cube; (c) Result of GA-SVSNLMS algorithm registration of cube; (d) Raw data of bunny; (e) Result of SAC-IA+ICP algorithm registration of bunny; (f) Result of GA-SVSNLMS algorithm registration of bunny

Table 1. Running accuracy and convergence speed of different algorithms

Table 2. Running accuracy and convergence speed of different algorithms

Table 3. Running accuracy and convergence speed of different algorithms under Gaussian noise