Table 7.

Analysis of resistance to interference factors.

Difficulty	Profile Radius	NARF	RFPD + NARF	Boundary Detection	Region-Growing	Ours
The steel arch is askew	×	√	√	√	√	√
Point cloud holes and defects	√	√	√	×	√	√
Rocks of complex shapes	√	×	×	√	×	√
Steel arches covered with concrete	√	×	×	×	×	√
The similar geometric characteristics of wire mesh and steel arch	×	×	×	×	×	√