| Algorithm 2. Algorithm of ICP-based plane refinement. | |
|
| |
| RefinePlaneICP | |
|
| |
| Input: Point cloud G, initial plane n0, error tolerance ∈, number of iterations k | |
| Output: Refined plane nk | |
|
| |
| 1 | n0 ← BestFitPlane(Pi) |
| 2 | For i = 1 to k |
| 3 | Pi ← {p ∈ G : δ(p, ni−1) < ε}, ni ← BestFitPlane(Pi) |
| 4 | If ‖ni − ni−1‖ is small |
| 5 | nk ←ni, i ← k // early stop |
| 6 | End If |
| 7 | End For |
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