Fig. 1. Schematic diagram of sensor coordinate system conversion

Fig. 2. Schematic diagram of feature points selection

Fig. 3. Schematic diagram of three-dimensional inspection process for airfoil

Fig. 4. Hardware equipments and scenarios for experiment

Fig. 5. Schematic diagram of sensor time synchronization. (a) Before synchronization; (b) after synchronization

Fig. 6. Image and point cloud of calibration plate. (a) Image; (b) point cloud

Fig. 7. Point cloud projection effect after sensor calibration

Fig. 8. Preprocessing effect of point cloud

Fig. 9. Partial images of dataset

Fig. 10. Visualization of target detection results

Fig. 11. Visualization of detection results by different algorithms. (a) DBSCAN + conditonal Euclidean clustering^[12]; (b) K-means^[13]; (c) proposed algorithm

Fig. 12. Schematic diagram of different distances

Fig. 13. Average time-consuming statistics of each link for proposed algorithm