Fig. 1. Flow chart of point cloud coarse registration algorithm with scene classification

Fig. 2. Flow chart of scene classification algorithm

Fig. 3. Improved RANSAC algorithm

Fig. 4. RGB-D data from fr3_long_office_household. (a) RGB image; (b) depth image

Fig. 5. RGB-D data from fire. (a) RGB image; (b) depth image

Fig. 6. Point clouds before and after single registration. (a) Before registration; (b) after registration

Fig. 7. Point clouds before and after consecutive alignment. (a) Point clouds without alignment; (b) point clouds aligned with coarse registration; (c) point clouds aligned with fine registration; (d) point clouds aligned with truth value

Fig. 8. General registration errors for different algorithms in each experiment

Fig. 9. Number of registration failures for different algorithms in each experiment