Fig. 1. General flowchart of proposed algorithm

Fig. 2. Three-dimensional point cloud legends. (a) Armadillo model; (b) cheff model; (c) scene_005

Fig. 3. Extracted Armadillo model key points by different algorithms. (a) ISS; (b) KPQ; (c) LSP; (d) HONO; (E) 3D SIFT; (f) proposed algorithm

Fig. 4. Extracted cheff model key points by different algorithms. (a) ISS; (b) KPQ; (c) LSP; (d) HONO; (E) 3D SIFT; (f) proposed algorithm

Fig. 5. Extracted scene_005 key points by different algorithms. (a) ISS; (b) KPQ; (c) LSP; (d) HONO; (E) 3D SIFT; (f) proposed algorithm

Fig. 6. Relative repeatability analysis of Armadillo model with various noises. (a) Gaussian noise; (b) random noise; (c) spatial conversion; (d) outlier noise

Fig. 7. Absolute repeatability analysis of Armadillo model with various noises. (a) Gaussian noise; (b) random noise; (c) spatial transformation; (d) outlier noise

Fig. 8. Relative repeatability analysis of cheff model with various noises. (a) Gaussian noise; (b) random noise; (c) spatial transformation; (d) outlier noise

Fig. 9. Absolute repeatability analysis of cheff model with various noises. (a) Gaussian noise; (b) random noise; (c) spatial transformation; (d) outlier noise

Fig. 10. Relative repeatability analysis of scene_005 with various noises. (a) Gaussian noise; (b) random noise; (c) spatial transformation; (d) outlier noise

Fig. 11. Absolute repeatability analysis of scene_005 with various noises. (a) Gaussian noise; (b) random noise; (c) spatial transformation; (d) outlier noise