Fig. 1. Flowchart of point cloud registration algorithm for geometric feature

Fig. 2. Key point feature descriptor

Fig. 3. Flowchart of RANSAC algorithm

Fig. 4. Flowchart of ICP algorithm

Fig. 5. Initial point cloud

Fig. 6. Key point extraction effect

Fig. 7. Relationship between number of key points and radius and threshold

Fig. 8. Select effect of key points under different threshold

Fig. 9. Curvature comparison between key points and non-key points

Fig. 10. Point cloud processing effect

Fig. 11. Key point extraction effect

Fig. 12. Correspondence optimization process

Fig. 13. Correspondence optimization curve

Fig. 14. Curve of root mean square error variation

Fig. 15. Registration and fusion effect

Fig. 16. Principle diagram of time-of-flight three-dimensional area array detection system

Fig. 17. Three-dimensional at point cloud reconstruction object

Fig. 18. Registration fusion results

Fig. 19. Noise resistance test

Fig. 20. Angle and registration error at different Gaussian noise levels