Fig. 1. Flow chart of proposed algorithm

Fig. 2. Flow chart of multi-strategy registration algorithm

Fig. 3. Structure of pose graph

Fig. 4. Diagram of structured light measuring equipment. (a) High-speed projectors；(b), (c) Industrial camera；(d) Scanning head

Fig. 5. Tooth model data. (a) Complete model and four single-perspective point cloud; (b) Scanning path

Fig. 6. Result comparison of adjacent point cloud registration. (1) ICP; (2) Generalized ICP; (3) FPFH-based method; (4) MRA

Fig. 7. Convergence curves of four algorithms. (a) View 37 and 38; (b) View 210 and 211

Fig. 8. Comparison of overall results of adjacent point cloud registration. (a) ICP; (b) Generalized ICP; (c) FPFH-based method; (d) MRA

Fig. 9. Comparison of overall results of multi-view point cloud registration. (a) Ref.[15] method; (b) Proposed method

Fig. 10. Comparison of loop closure detection results. (a) View 132 and 192; (b) View 96 and 244; (c) View 96 and 252

Fig. 11. Deviation analysis results

Fig. 12. Other models and multi-view point cloud registration results. The size of the four objects : (a) 50 mm 70 mm; (b) 53 mm 75 mm; (c) 63 mm 60 mm; (d) 50 mm 50 mm 其他模型及多视角点云配准结果图。四种物体的尺寸：(a) 50 mm 70 mm；(b) 53 mm 75 mm：(c) 63 mm 60 mm；(d) 50 mm 50 mm