Fig. 1. Schematic setup of HSL

Fig. 2. Experimental sample-bonsai tree (a) and rotating platform (b)

Fig. 3. Different view of bonsai tree. (a) View 1 of 15°; (b) View 2 of 15°; (c) View 1 of 30°; (d) View 2 of 30°

Fig. 4. Initial condition of different view. (a) View 1 of 15° ; (b) View 2 of 15°; (c) View 1 of 30°; (d) View 2 of 30°

Fig. 5. Schematic diagram of the proposed method

Fig. 6. Construction strategy of FPFH

Fig. 7. Construction of characteristic three elements

Fig. 8. Error curve of RMSECV

Fig. 9. Registration results of vision angle 15°. (a) View 1 of rough registration; (b) View 2 of rough registration;(c) View 1 of accurate registration; (d) View 2 of accurate registration

Fig. 10. Registration results of vision angle 30°. (a) View 1 of rough registration; (b) View 2 of rough registration;(c) View 1 of accurate registration; (d) View 2 of accurate registration

Fig. 11. Wood-leaf separation of vision angle 15°. (a) RF feature channels; (b) RF full channels;(c) SVM feature channels; (d) SVM full channels

Fig. 12. Wood-leaf separation of vision angle 30°. (a) RF feature channels; (b) RF full channels;(c) SVM feature channels; (d) SVM full channels