Table 1.

ICP iteration performance.

Experimental Environment	Pose Estimation Algorithm	Average ICP Iteration
Scene-1 Exp.1	Full-Points ICP	25.36
	Corner-Based ICP	2.06
	WP-ICP	2.06/2.04 (corner/line)
Scene-1 Exp.2	Full-Points ICP	30.10
	Corner-Based ICP	2.04
	WP-ICP	2.05/2.04 (corner/line)
Scene-2	Full-Points ICP	49.92
	Corner-Based ICP	2.49
	WP-ICP	2.61/2.85 (corner/line)
	WP-ICP with 10cm Interpolation	2.87/9.25 (corner/line)