Fig. 1

The overview of the SHC framework. SHC extracts the feature descriptor for point clouds. Then, SHC calculates correspondence score M and uses it to gather correspondence pairs. The correspondence pairs are filtered by SCV and sent to SVD to calculate rigid transformation. The coarse registration iterates a few times to get coarse rigid transformation and then uses fine registration to refine the final result. During the iteration, the source point cloud undergoes rotation and translation based on the calculated R and t, resulting in a new source point cloud