Table 1.

Comparison of the speed and accuracy of four ICP algorithms.

Dataset	Parameters	Algorithms
		ICP	AA-ICP	IMLS-ICP	Our ICP
Market	Experiment1 (1 m, 0 m, 30°)
	Errors (m)	5.808 × 10−3	3.644 × 10−3	1.317 × 10−4	1.556 × 10−3
	Time (s)	125.936	76.455	45.469	12.674
	Experiment2 (0.5 m, 0 m, 15°)
	Errors (m)	5.806 × 10−3	3.261 × 10−3	3.746 × 10−5	2.185 × 10−3
	Time (s)	56.454	23.113	42.924	13.901
	Experiment3 (0.1 m, 0 m, 10°)
	Errors (m)	1.755 × 10−3	1.757 × 10−3	3.293 × 10−4	1.659 × 10−9
	Time (s)	54.458	37.008	48.154	22.093
Stgallen	Experiment1 (1 m, 0 m, 30°)
	Errors (m)	8.662 × 10−3	5.891 × 10−3	1.523 × 10−4	3.265 × 10−3
	Time (s)	239.642	168.634	138.276	21.272
	Experiment2 (0.5 m, 0 m, 15°)
	Errors (m)	6.039 × 10−3	1.971 × 10−3	6.603 × 10−5	1.853 × 10−3
	Time (s)	158.853	70.818	121.159	23.416
	Experiment3 (0.1 m, 0 m, 10°)
	Errors (m)	4.159 × 10−3	9.012 × 10−3	4.203 × 10−5	1.942 × 10−3
	Time (s)	156.046	59.321	114.177	20.718
Station	Experiment1 (1 m, 0 m, 30°)
	Errors (m)	3.096 × 10−2	1.527 × 10−2	2.417 × 10−5	2.357 × 10−3
	Time (s)	57.688	47.728	56.993	12.524
	Experiment2 (0.5 m, 0 m, 15°)
	Errors (m)	1.368 × 10−2	1.079 × 10−2	2.387 × 10−4	9.748 × 10−4
	Time (s)	51.574	37.425	64.251	12.576
	Experiment3 (0.1 m, 0 m, 10°)
	Errors (m)	4.911 × 10−3	8.655 × 10−3	9.817 × 10−5	1.049 × 10−4
	Time (s)	54.861	41.817	42.546	12.876