Fig. 1. Feature points extraction process

Fig. 2. Neighborhood of point p_i

Fig. 3. Distribution of normal vectors in different regions

Fig. 4. Registration process

Fig. 5. Rang of feature point p_i and its neighborhood points estimated

Fig. 6. uvw Local coordinate system

Fig. 7. Influence of different thresholds on registration

Fig. 8. Influence of different extraction methods on registration

Fig. 9. Registration effects of Bunny point cloud

Fig. 10. Registration effects of Dragon point cloud

Fig. 11. Point cloud date of teaching building J1

Fig. 12. Number of extracted feature points and registration error under different threshold conditions

Fig. 13. Proposed algorithm registration results of school gate（Blue is the point cloud to be configured； Red is the target point cloud；）

Fig. 14. Different algorithm registration results of school gate