Fig. 1. Diagram of local coordinate system and point projection. (a) Feature point p and its neighborhood point {p_i} in local coordinate system o_p-x_py_pz_p; (b) projection points on two-dimensional plane

Fig. 2. Sub-regions of regional curvature map

Fig. 3. Flow chart of proposed algorithm

Fig. 4. Iterative convergence curve

Fig. 5. Skull point cloud models to be registered

Fig. 6. Registration results of different rough registration methods. (a) PCA; (b) GA; (c) FPFH; (d) proposed method

Fig. 7. Two skulls to be registered

Fig. 8. Coarse registration results

Fig. 9. Fine registration results of ICP algorithm

Fig. 10. Fine registration results of improved ICP algorithm

Fig. 11. Initial position

Fig. 12. Coarse registration result

Fig. 13. Fine registration results of ICP algorithm

Fig. 14. Fine registration results of improved ICP algorithm