Fig. 1. Diagram of the proposed adaptive CPD registration strategy for spatial planar-array-based point clouds

Fig. 2. (a) Variation of RMSE with the iterations ; (b) Convergence curve of RMSE under local minimum

Fig. 3. (a) Case 1: The platform rotates around the Yaxis of the 80 m target, and the satellite moves around the Zaxis; (b) is the correspondence between the target attitude and the observation angle; (c) Case 2: The platform moves along the Yaxis from 90 m to 40 m, and the satellite moves around the Xaxis; (d) is the link between the target attitude and the detection distance

Fig. 4. (a) Absolute simulation point cloud at a certain pose; (b) Degraded simulation point cloud with noise perturbation

Fig. 5. Registration results when the difference between the viewing angles of adjacent point cloud is 90 °under Case 1: (a) SAC+ ICP; (b) NDT + ICP; (c) PCA + ICP; (d) Proposed method

Fig. 6. Registration results when the viewing angle difference is 30° and 60° in Case 1: (a)-(d) are the results of SAC+ICP, NDT+ICP, PCA+ICP and the proposed method when the viewing angle difference is 30°. Similarly, (e)-(f) correspond to the 60° viewing angle difference

Fig. 7. Registration results when the distance between adjacent point cloud is 30 m under Case 2: (a) Initial position; (b) SAC + ICP; (c) NDT + ICP; (d) PCA + ICP; (e) Proposed method

Fig. 8. Continuous registration results for the point cloud with the distance difference between adjacent frames of 10 m and 20 m in Case 2: (a)-(b) corresponds to ∆d=10 m, (c)-(d) corresponds to ∆d=20 m 工况2下点云相邻帧距离差为10 m和20 m时的连续配准结果：(a)~(b)对应于 10 m，(c)~(d) 对应于 20 m

Fig. 9. Registration results under extreme strong noise : (a) - (d) are the results of SAC-ICP framework under different noise level; (e)-(h) is PCA + ICP; (i) - (l) Correspond to the registration method in this paper

Table 1. Evaluation of registration results when the viewing angles are 0° and 90° respectively in Case 1

Table 2. Evaluation of registration results in Case 2 when the detection distance is 90 m and 60 m respectively

Table 3. Evaluation of results when the distance is 90 m and 60 m respectively under strong noise disturbance in Case 2