[Retracted] Intelligent Control System Design of Ring Light via IOT Mobile Robot

Table 3

ICP experimental results based on line segment characteristics.

Group	Algorithm	Yaw angle (degrees)	Displacement in x-direction (m)	Y-direction displacement (m)	Tem data points	Ref data points	Alterations	Execution time (seconds)
1	ICP	−0.63	0.1504	0.1765	682	660	29	2.4776
	ICP based on line segment features	−0.30	0.1478	0.1799	33	30	7	0.0243
2	ICP	21.29	−0.1296	0.1514	621	663	36	2.4402
	ICP based on line segment features	21.08	−0.1309	0.1641	51	42	19	0.0753