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Cloud registration and merging process. (A) Shows the unregistered two point clouds; (C) shows the landmark points and noise points after cutting off most plant points; (D) shows the virtual landmarks generated after DBSCAN; (E) shows the SAC-IA registration result; (F) shows the IPC registration result; (G) shows the merged two clouds; (B) and (H) show the magnified views of the blue rectangle areas in (A) and (G), respectively.
