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Point-pair registration in a real scene remains a challenging task, due to the complexity of solving three transformations (scale, rotation, and displacement) simultaneously, and the influence of noise and outliers. Aimed at this problem, a registration algorithm based on histogram and vector operations is proposed in this paper. This approach converts point-based operations into vector-based operations, thereby decomposing the registration process into three independent steps solving for scaledoi:10.3390/electronics11244172 fatcat:wgvvbi44prhmxft6pshjjbsubm