Fig. 1. Changes in the surface of a local neighborhoods. (a) Relatively flat surface; (b) Undulating surface

Fig. 2. Feature point extraction of Dragon model under different artificially selected thresholds Dragon模型在人为选取不同阈值 下的特征点提取情况

Fig. 3. Feature point extraction for Dragon 0°. (a) ISS; (b) SIFT; (c) Harris3D; (d) Proposed method

Fig. 4. Feature point extraction for Bunny 0°. (a) ISS; (b) SIFT; (c) Harris3D; (d) Proposed method

Fig. 5. Influence of neighborhood radius r on feature point extraction. (a) Relationship between registration error and feature point extraction radius r; (b) Relationship between registration time and feature point extraction radius r邻域半径 对特征点提取的影响。（a）配准误差与特征点提取半径 的关系；（b）配准时间与特征点提取半径 的关系

Fig. 6. Rough matching results of Dragon in different feature point extraction methods. (a) ISS; (b) SIFT; (c) Harris3D; (d) Proposed method

Fig. 7. Rough matching results of Bunny in different feature point extraction methods. (a) ISS; (b) SIFT; (c) Harris3D; (d) Proposed method

Fig. 8. Results of fine registration for Dragon and Bunny. (a) ICP algorithm; (b) Proposed ICP algorithm

Fig. 9. Rough matching results of Bunny with 10% noise under different methods. (a) ISS; (b) SIFT; (c) Harris3D; (d) Proposed method

Fig. 10. Rough matching results of Bunny with 20% noise under different methods. (a) ISS; (b) SIFT; (c) Harris3D; (d) Proposed method

Fig. 11. Results of fine registration for Bunny with 10% and 20% noise. (a) ICP algorithm; (b) Proposed ICP algorithm

Fig. 12. Rough matching results of Room in different feature point extraction methods. (a) ISS; (b) SIFT; (c) Harris3D; (d) Proposed method

Fig. 13. Rough matching results of Land in different feature point extraction methods. (a) ISS; (b) SIFT; (c) Harris3D; (d) Proposed method

Fig. 14. Results of fine registration for Room and Land. (a) ICP algorithm; (b) Proposed ICP algorithm

Table 1. Point cloud registration parameter settings

Table 2. Alignment efficiency comparison of Dragon and Bunny for coarse matching in different methods

Table 3. Comparison of alignment efficiency for Dragon and Bunny fine alignment

Table 4. Alignment efficiency comparison of Bunny with 10% and 20% noise for coarse matching in different methods

Table 5. Alignment efficiency comparison of Bunny with 10% and 20% noise fine alignment

Table 6. Alignment efficiency comparison of Room and Land for coarse matching in different methods

Table 7. Alignment efficiency comparison of Room and Land fine alignment