Figure 8From: 3D point cloud registration based on a purpose-designed similarity measureEvaluation of the stopping criterion. The points p t 1 and p t 2 and their normal vectors are obtained from the correspondence (p1a, p2b) found by the alignment algorithm and two additional correspondences (p1m, p2n) and (p1r, p2s). p t 1 and p t 2 are the centroids of the triangles.Back to article page