| Algorithm 3. Algorithm for Creating Recording Hypothesis from Frontier Point Data |
| GenerateFPointHypothesis(PCD, F, N, drec, minc, stepc,): |
| SH← Ø |
| H← Ø |
| forf in F |
| position ← PCD[f] + drec * N[f] |
| Z = −N[f] |
| X = cross([0, 0, 1], Z) |
| Y = cross(Z, X) |
| R = [X, Y, Z] |
| orientation ← quaterion(R) |
| SH ← insert (position, orientation) |
| noc← minc + length(F)/stepc |
| H← KMeans(SH, noc) |
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