Fig. 1. Algorithm flow of this article

Fig. 2. Schematic diagram of tree pole and street lamp projection extraction

Fig. 3. Density split reflection intensity statistical chart

Fig. 4. Grayscale map of the lane line grid extracted by Otsu

Fig. 5. Schematic diagram of plane-to-plane matching

Fig. 6. Schematic diagram of the study area

Fig. 7. L001 area point cloud color map

Fig. 8. Lane line extraction rendering

Fig. 9. Pole-like extraction rendering

Fig. 10. Extraction result of registration primitives

Fig. 11. Initial estimation pairing of SAC-IA algorithm

Fig. 12. Registration results of different algorithms

Fig. 13. Comparison of convergence speeds of six algorithms