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Figure: Initial poses are marked in $(x,z,\theta_y)$ from which a correct alignment of two 3D scans is possible. The scans of Fig. have been used. (a) and (b): $\epsilon = 1$ and $b = 10$. (c) and (d): $\epsilon = 1$ and $b = 20$. (e) and (f): $\epsilon = 10$ and $b = 10$. (g) and (h): $\epsilon = 50$ and $b = 5$. The rows represent second angle projections of the 3D space of matchable poses.

            
                                       (a) (b)                                       



            
                                       (c) (d)                                       



            
                                       (e) (f)                                       



            
                                       (g) (h)