Table 5.

Octree spatial division and node displacement algorithm.

Input Laser scan binary file (index, value (point, depth, height, width))	Input Node displacement check (Ref.octree model, Src.octree model)
Step 1	Step 2
1: resolution R = Space segmentation level 2: generate new octree (R) 3:    while (index! = end) 4:        read Binary data → value 5:        mark value → empty or full 6:          if (value == full) 7:              octree → Insert Node(value) 8:          else octree → Delete Node(value) 9:          end if 10:        next index 11:    end while 12:    write octree → Complete Binary() 13: end octree 14: return octree storage file	1: lookup Ref.model containing Src.model 2: while (index! = end) 3:    get next closest child (Ref, Src) 4:    Node C = Src.index 5:    if C == outside of Node 6:      return 0 7:    else 8:      if C == inside of Node 9:        return Distance Calculate (Ref, Src) 10:      else 11:      find closet node (Ref) 12:      return Distance Calculate (Ref, Src) 13:      end if 14:    end if 15:    end while 16: return Distance result file