Algorithm 2: Optimal transformation search.
	input: ModelS and DataT with normals of size $N\times 6$ (N is the scale of Model/Data)
	output: transformation T, correlation $corr$, iteration $iter$
1	initialize $iter=0;stall=0;corr=0;T=eye\left(3\right)$
2	extract normals ${\mathbb{N}}_S$ and ${\mathbb{N}}_T$ from S and T
3	$H^S\leftarrow \mathcal{H}\left({\mathbb{N}}_S\right)$;	// see Equation (8)
4	while $corr<0.98$ and $iter<50$ do
5	estimate initial transformation $T_{temp}$ with Equations (15)∼(18)
6	$H^T\leftarrow \mathcal{H}\left({(T_{temp}·{\left({\mathbb{N}}_T\right)}^T)}^T\right)$
7	calculate $cor{r}_{temp}$;	// see Equation (19)
8	$stall\leftarrow stall+1$
9	if$corr<cor{r}_{temp}$ then
10	if $cor{r}_{temp}>corr\times 1.005$ then
11	$stall\leftarrow stall-1$
12	end if
13	$corr\leftarrow cor{r}_{temp}$
14	$T\leftarrow T_{temp}·T$
15	${\mathbb{N}}_T\leftarrow {(T_{temp}·{\left({\mathbb{N}}_T\right)}^T)}^T$
16	end if
17	if $stall⩾3$ and $cor{r}_{temp}<0.98$ then
18	$T\leftarrow T_{rand}·T$;	// see Equation (20)
19	${\mathbb{N}}_T\leftarrow {(T_{rand}·{\left({\mathbb{N}}_T\right)}^T)}^T$
20	$stall\leftarrow 0$
21	end if
22	$iter\leftarrow iter+1$
23	end while