Fig. 1. Algorithm flow

Fig. 2. Baggage pallet and three-skeleton models. (a) Baggage pallet; (b) point cloud model; (c) border-skeleton model; (d) point-line model

Fig. 3. Points with two relative position distributions

Fig. 4. Point-line registration model

Fig. 5. Self-service baggage consignment experiment platform

Fig. 6. Results of pallet banded border point cloud and horizontal projection. (a) (b) ε=2; (c) (d) ε=4; (e) (f) ε=6

Fig. 7. Results of the planar point-line model registration. (a) Before registration; (b) after registration

Fig. 8. Process of potential energy change

Fig. 9. Results of border-skeleton model registration. (a) Before registration; (b) after registration

Fig. 10. Results of the point cloud model registration. (a) Before registration; (b) after registration