4-Plane congruent sets for automatic registration of as-is 3D point clouds with 3D BIM models

The proposed algorithm is tested using five different datasets, including three simulated and two real-life ones. The results show the effectiveness of the proposed method, where the correct transformation always ranks very high (in our experiments, first or second), and is extremely close to the ground-truth transformation. Experimental comparison of the proposed approach with a standard, more intuitive approach based on finding 3-plane congruent sets shows the discriminatory power of 4-plane bases over 3-plane bases, albeit at no clear benefits in terms of computational time. The experimental results for the 4.5-PlCS method show that it delivers a non-negligible reduction in computational time (approx. 20%), but at no additional benefit in terms of effectiveness in finding the correct transformation.