Fig. 1. Experimental device

Fig. 2. Flow chart of registration algorithm

Fig. 3. Flow chart of curvature reduction algorithm

Fig. 4. KD tree indexing principle

Fig. 5. Raw point cloud data. (a) Point clouds inside and outside laboratory; (b) corridor point clouds

Fig. 6. Point cloud key point. (a) Feature point of cloud in scene 1; (b) feature point of cloud in scene 2

Fig. 7. Scene 1 point cloud registration rendering. (a) Registration of rendering; (b) real scene diagram

Fig. 8. Scene 2 point cloud registration rendering. (a) Registration of rendering; (b) real scene diagram