Fig. 1. Schematic diagram of ICP algorithm

Fig. 2. Schematic diagram of compound sensor system. (a) Upward view; (b) front view

Fig. 3. Flow chart of proposed algorithm

Fig. 4. Relationship of arbitrary normal vector with its k nearest normal vectors

Fig. 5. Relationship between positions of arbitrary point and center of gravity in neighborhood

Fig. 6. Schematic diagram of weak-texture surface. (a) Three-dimensional graph of surface; (b) weak-texture graph

Fig. 7. Registration results of different algorithms. (a) Unregistered image; (b) ground-truth image; (c) ICP algorithm; (d) IRLS-ICP algorithm; (e) NICP algorithm; (f) proposed algorithm

Fig. 8. Comparison of reconstruction indicators. (a) Comparison of RMSE; (b) comparison of PV value

Fig. 9. Two-dimensional graphs of surfaces with different periods

Fig. 10. Experimental results of surfaces with different curvatures

Fig. 11. Overall diagram of experimental equipments

Fig. 12. Initial positions of point clouds. (a) Initial position of two adjacent point clouds; (b) initial position of overlapping area of point clouds

Fig. 13. Registration results for overlapping areas of point clouds. (a) ICP algorithm; (b) IRLS-ICP algorithm; (c) NICP algorithm; (d) proposed algorithm