Table 4.
Comparison of registration parameters. Here, MSD represents the maximum search distance for corresponding points during registration, which is an important registration parameter. In other words, two different points located on two point clouds; if the distance between them is greater than the MSD, then they will not be recognized as a pair of corresponding points.
| Rotation Angle θ | DEM-ICP | Point-to-Plane ICP | ||||
|---|---|---|---|---|---|---|
| MSD (m) | Iterations | Time (s) | MSD (m) | Iterations | Time (s) | |
| −3° | 10 | 9 | 0.801 | 8 | 28 | 368.835 |
| −2° | 8 | 5 | 0.559 | 6 | 24 | 309.035 |
| −1° | 6 | 2 | 0.375 | 5 | 18 | 252.738 |
| 1° | 6 | 3 | 0.419 | 4 | 20 | 266.204 |
| 2° | 8 | 5 | 0.546 | 6 | 36 | 445.117 |
| 3° | 10 | 9 | 0.828 | 8 | 97 | 1299.33 |