SOTAVerified

Point Cloud Registration

Point Cloud Registration is a fundamental problem in 3D computer vision and photogrammetry. Given several sets of points in different coordinate systems, the aim of registration is to find the transformation that best aligns all of them into a common coordinate system. Point Cloud Registration plays a significant role in many vision applications such as 3D model reconstruction, cultural heritage management, landslide monitoring and solar energy analysis.

Source: Iterative Global Similarity Points : A robust coarse-to-fine integration solution for pairwise 3D point cloud registration

Papers

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Showing 51–100 of 447 papers

TitleStatusHype
3D Focusing-and-Matching Network for Multi-Instance Point Cloud RegistrationCode1
Mining and Transferring Feature-Geometry Coherence for Unsupervised Point Cloud RegistrationCode0
UniRiT: Towards Few-Shot Non-Rigid Point Cloud Registration—0
Micro-Structures Graph-Based Point Cloud Registration for Balancing Efficiency and Accuracy—0
Memory-Efficient Point Cloud Registration via Overlapping Region Sampling—0
RANSAC Back to SOTA: A Two-stage Consensus Filtering for Real-time 3D RegistrationCode2
A Consistency-Aware Spot-Guided Transformer for Versatile and Hierarchical Point Cloud RegistrationCode2
Equi-GSPR: Equivariant SE(3) Graph Network Model for Sparse Point Cloud RegistrationCode1
LoGDesc: Local geometric features aggregation for robust point cloud registrationCode0
GERA: Geometric Embedding for Efficient Point Registration Analysis—0
TFCT-I2P: Three stream fusion network with color aware transformer for image-to-point cloud registrationCode1
MATCH POLICY: A Simple Pipeline from Point Cloud Registration to Manipulation Policies—0
KISS-Matcher: Fast and Robust Point Cloud Registration RevisitedCode4
SynBench: A Synthetic Benchmark for Non-rigid 3D Point Cloud Registration—0
FracGM: A Fast Fractional Programming Technique for Geman-McClure Robust EstimatorCode1
Registration between Point Cloud Streams and Sequential Bounding Boxes via Gradient Descent—0
Unsupervised Point Cloud Registration with Self-DistillationCode0
Mahalanobis k-NN: A Statistical Lens for Robust Point-Cloud RegistrationsCode0
From Words to Poses: Enhancing Novel Object Pose Estimation with Vision Language Models—0
Sight View Constraint for Robust Point Cloud Registration—0
UMERegRobust -- Universal Manifold Embedding Compatible Features for Robust Point Cloud RegistrationCode2
LoopSplat: Loop Closure by Registering 3D Gaussian SplatsCode3
CMR-Agent: Learning a Cross-Modal Agent for Iterative Image-to-Point Cloud Registration—0
MaFreeI2P: A Matching-Free Image-to-Point Cloud Registration Paradigm with Active Camera Pose Retrieval—0
Correspondence-Free SE(3) Point Cloud Registration in RKHS via Unsupervised Equivariant Learning—0
PointRegGPT: Boosting 3D Point Cloud Registration using Generative Point-Cloud Pairs for TrainingCode2
GlobalPointer: Large-Scale Plane Adjustment with Bi-Convex RelaxationCode1
PARE-Net: Position-Aware Rotation-Equivariant Networks for Robust Point Cloud RegistrationCode2
ML-SemReg: Boosting Point Cloud Registration with Multi-level Semantic ConsistencyCode1
BiEquiFormer: Bi-Equivariant Representations for Global Point Cloud Registration—0
Incremental Multiview Point Cloud Registration with Two-stage Candidate Retrieval—0
SGOR: Outlier Removal by Leveraging Semantic and Geometric Information for Robust Point Cloud RegistrationCode0
GeoNLF: Geometry guided Pose-Free Neural LiDAR Fields—0
GaussReg: Fast 3D Registration with Gaussian Splatting—0
Incremental Multiview Point Cloud RegistrationCode0
Point Tree Transformer for Point Cloud Registration—0
Correspondence Free Multivector Cloud Registration using Conformal Geometric AlgebraCode0
L-PR: Exploiting LiDAR Fiducial Marker for Unordered Low Overlap Multiview Point Cloud RegistrationCode2
Deep-PE: A Learning-Based Pose Evaluator for Point Cloud Registration—0
RGBD-Glue: General Feature Combination for Robust RGB-D Point Cloud Registration—0
Benchmarking Classical and Learning-Based Multibeam Point Cloud RegistrationCode1
Deep Learning-based Point Cloud Registration for Augmented Reality-guided Surgery—0
FRAME: A Modular Framework for Autonomous Map Merging: Advancements in the FieldCode2
PointDifformer: Robust Point Cloud Registration With Neural Diffusion and Transformer—0
Deep Learning-Based Point Cloud Registration: A Comprehensive Survey and TaxonomyCode2
Efficient and Robust Point Cloud Registration via Heuristics-guided Parameter SearchCode1
Learning Instance-Aware Correspondences for Robust Multi-Instance Point Cloud Registration in Cluttered ScenesCode2
SG-PGM: Partial Graph Matching Network with Semantic Geometric Fusion for 3D Scene Graph Alignment and Its Downstream TasksCode1
Global Point Cloud Registration Network for Large TransformationsCode0
Exploring Accurate 3D Phenotyping in Greenhouse through Neural Radiance Fields—0
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All datasetsETH (trained on 3DMatch)3DMatch Benchmark3DMatch (at least 30% overlapped - FCGF setting)KITTI (trained on 3DMatch)3DLoMatch (10-30% overlap)3DMatch (at least 30% overlapped - sample 5k interest points)KITTI (FCGF setting)FPv1FP-O-EFP-O-HFP-O-MFP-R-E

Benchmark Results

#ModelMetricClaimedVerifiedStatus
1Exhaustive Grid SearchRecall (30cm, 5 degrees)94.25—Unverified
2FCGF+SC2-PCRRecall (30cm, 5 degrees)92.85—Unverified
3FPFH+SC2-PCRRecall (30cm, 5 degrees)85.41—Unverified
4YOHO-CRecall (30cm, 5 degrees)84.85—Unverified
5YOHO-ORecall (30cm, 5 degrees)79.94—Unverified
6FCGF+PointDSCRecall (30cm, 5 degrees)77.42—Unverified
7FPFH+PointDSCRecall (30cm, 5 degrees)41.94—Unverified
8GeoTransformerRecall (30cm, 5 degrees)4.91—Unverified
9GO-ICPRecall (30cm, 5 degrees)1.54—Unverified
10GeDiFeature Matching Recall0.98—Unverified
#ModelMetricClaimedVerifiedStatus
1IMFNetFeature Matching Recall98.6—Unverified
2MS-SVConvFeature Matching Recall98.4—Unverified
3GeDi (no code published as of May 27 2021)Feature Matching Recall97.9—Unverified
4SpinNet (no code published as of Dec 15 2020)Feature Matching Recall97.6—Unverified
5LMVDFeature Matching Recall97.5—Unverified
6DIP + Point-TnTFeature Matching Recall96.8—Unverified
7D3Feat-PredFeature Matching Recall95.8—Unverified
8D3Feat-randFeature Matching Recall95.3—Unverified
9DIPFeature Matching Recall94.8—Unverified
103DSmoothNetFeature Matching Recall94.7—Unverified
#ModelMetricClaimedVerifiedStatus
1NgeNetRecall (0.3m, 15 degrees)95—Unverified
2GeoTransformerRecall (0.3m, 15 degrees)95—Unverified
3PCAM-Sparse (All post-processing)Recall (0.3m, 15 degrees)92.4—Unverified
4PCAM-Soft (All post-processing)Recall (0.3m, 15 degrees)91.3—Unverified
5DGR (RE (all), TE(all) are reported in PCAM)Recall (0.3m, 15 degrees)91.3—Unverified
6Exhaustive Grid SearchRecall (0.3m, 15 degrees)84.11—Unverified
7RANSAC-2MRecall (0.3m, 15 degrees)66.1—Unverified
8FGRRecall (0.3m, 15 degrees)42.7—Unverified
9Go-ICPRecall (0.3m, 15 degrees)22.9—Unverified
10Super4PCSRecall (0.3m, 15 degrees)21.6—Unverified
#ModelMetricClaimedVerifiedStatus
1GeDiSuccess Rate98.92—Unverified
2FCGF+SC2-PCRSuccess Rate97.66—Unverified
3FCGF+PointDSCSuccess Rate96.76—Unverified
4Exhaustive Grid SearchSuccess Rate94.95—Unverified
5FPFH+PointDSCSuccess Rate94.05—Unverified
6DIPSuccess Rate93.51—Unverified
7Greedy Grid SearchSuccess Rate90.27—Unverified
8YOHO-CSuccess Rate82.16—Unverified
9YOHO-OSuccess Rate81.44—Unverified
10SpinNetSuccess Rate81.44—Unverified
#ModelMetricClaimedVerifiedStatus
1CoFFRecall ( correspondence RMSE below 0.2)81.6—Unverified
2GeoTransformer - P2PNetRecall ( correspondence RMSE below 0.2)74—Unverified
3NgeNetRecall ( correspondence RMSE below 0.2)71.9—Unverified
4REGTRRecall ( correspondence RMSE below 0.2)64.8—Unverified
5Predator-1kRecall ( correspondence RMSE below 0.2)62.5—Unverified
6Predator-5kRecall ( correspondence RMSE below 0.2)59.8—Unverified
7PCAM (reported in REGTR)Recall ( correspondence RMSE below 0.2)54.9—Unverified
8DGR (reported in REGTR)Recall ( correspondence RMSE below 0.2)48.7—Unverified
9FCGF (reported in PREDATOR)Recall ( correspondence RMSE below 0.2)40.1—Unverified
10D3Feat (reported in PREDATOR)Recall ( correspondence RMSE below 0.2)37.2—Unverified
#ModelMetricClaimedVerifiedStatus
1NgeNetRecall ( correspondence RMSE below 0.2)92.9—Unverified
2REGTRRecall ( correspondence RMSE below 0.2)92—Unverified
3Predator-1kRecall ( correspondence RMSE below 0.2)90.5—Unverified
4Predator-5kRecall ( correspondence RMSE below 0.2)89—Unverified
5PCAM (reported in REGTR)Recall ( correspondence RMSE below 0.2)85.5—Unverified
6DGR (reported in REGTR)Recall ( correspondence RMSE below 0.2)85.3—Unverified
7FCGF (reported in PREDATOR)Recall ( correspondence RMSE below 0.2)85.1—Unverified
8D3Feat (reported in PREDATOR)Recall ( correspondence RMSE below 0.2)81.6—Unverified
93DSN (reported in PREDATOR)Recall ( correspondence RMSE below 0.2)78.4—Unverified
10Predator-NRRecall ( correspondence RMSE below 0.2)62.7—Unverified
#ModelMetricClaimedVerifiedStatus
1GeoTransformerRecall (0.6m, 5 degrees)99.5—Unverified
2DGR + ICP (RE (all), TE(all) are reported in PCAM)Recall (0.6m, 5 degrees)98.2—Unverified
3FCGFRecall (0.6m, 5 degrees)98.2—Unverified
4PCAM-soft + ICPRecall (0.6m, 5 degrees)98—Unverified
5PCAM-Sparse + ICPRecall (0.6m, 5 degrees)97.4—Unverified
6PCAM - SoftRecall (0.6m, 5 degrees)97.2—Unverified
7DGR (RE (all), TE(all) are reported in PCAM)Recall (0.6m, 5 degrees)96.9—Unverified
8PCAM-SparseRecall (0.6m, 5 degrees)96.5—Unverified
9Exhaustive Grid SearchRecall (0.6m, 5 degrees)94.59—Unverified
10RANSACRecall (0.6m, 5 degrees)34.2—Unverified
#ModelMetricClaimedVerifiedStatus
1Greedy Grid SearchRecall (3cm, 10 degrees)92.81—Unverified
2GeoTransformerRecall (3cm, 10 degrees)56.15—Unverified
3DIPRecall (3cm, 10 degrees)54.81—Unverified
4FCGF + PointDSCRecall (3cm, 10 degrees)47.85—Unverified
5SpinNetRecall (3cm, 10 degrees)42.46—Unverified
6FCGF + YOHO-CRecall (3cm, 10 degrees)29.18—Unverified
7FCGF + YOHO-ORecall (3cm, 10 degrees)18.91—Unverified
8FPFH-8MRecall (3cm, 10 degrees)9.51—Unverified
#ModelMetricClaimedVerifiedStatus
1FPFH+SC2-PCR Recall (3cm, 10 degrees)99.88—Unverified
2GeDiRecall (3cm, 10 degrees)99.64—Unverified
3Exhaustive Grid SearchRecall (3cm, 10 degrees)99.47—Unverified
4FCGF+SC2-PCRRecall (3cm, 10 degrees)98.52—Unverified
5GeoTransformerRecall (3cm, 10 degrees)63.94—Unverified
6GO-ICPRecall (3cm, 10 degrees)0—Unverified
#ModelMetricClaimedVerifiedStatus
1FPFH+SC2-PCRRecall (3cm, 10 degrees)38.85—Unverified
2Exhaustive Grid SearchRecall (3cm, 10 degrees)37.06—Unverified
3FCGF+SC2-PCRRecall (3cm, 10 degrees)17.8—Unverified
4GeDiRecall (3cm, 10 degrees)8.7—Unverified
5GeoTransformerRecall (3cm, 10 degrees)2.64—Unverified
6GO-ICPRecall (3cm, 10 degrees)0—Unverified
#ModelMetricClaimedVerifiedStatus
1Exhaustive Grid SearchRecall (3cm, 10 degrees)88.06—Unverified
2FPFH+SC2-PCRRecall (3cm, 10 degrees)84.7—Unverified
3GeDiRecall (3cm, 10 degrees)75.4—Unverified
4FCGF+SC2-PCRRecall (3cm, 10 degrees)63—Unverified
5GeoTransformerRecall (3cm, 10 degrees)22.07—Unverified
6GO-ICPRecall (3cm, 10 degrees)0—Unverified
#ModelMetricClaimedVerifiedStatus
1GeDiRecall (3cm, 10 degrees)99.76—Unverified
2Exhaustive Grid SearchRecall (3cm, 10 degrees)99.64—Unverified
3FPFH+SC2-PCRRecall (3cm, 10 degrees)99.64—Unverified
4FCGF+SC2-PCRRecall (3cm, 10 degrees)98.46—Unverified
5GeoTransformerRecall (3cm, 10 degrees)64.12—Unverified
6GO-ICPRecall (3cm, 10 degrees)0—Unverified
#ModelMetricClaimedVerifiedStatus
1GeDiRecall (3cm, 10 degrees)99.41—Unverified
2FCGF+SC2-PCR Recall (3cm, 10 degrees)85.77—Unverified
3Exhaustive Grid SearchRecall (3cm, 10 degrees)78—Unverified
4FPFH+SC2-PCRRecall (3cm, 10 degrees)75.21—Unverified
5GeoTransformerRecall (3cm, 10 degrees)47.75—Unverified
6GO-ICPRecall (3cm, 10 degrees)0—Unverified
#ModelMetricClaimedVerifiedStatus
1GeDiRecall (3cm, 10 degrees)99.94—Unverified
2Exhaustive Grid SearchRecall (3cm, 10 degrees)97.92—Unverified
3FPFH+SC2-PCRRecall (3cm, 10 degrees)94.54—Unverified
4FCGF+SC2-PCRRecall (3cm, 10 degrees)91.93—Unverified
5GeoTransformerRecall (3cm, 10 degrees)55.93—Unverified
6GO-ICPRecall (3cm, 10 degrees)0.06—Unverified
#ModelMetricClaimedVerifiedStatus
1FPFH+SC2-PCRRecall (3cm, 10 degrees)99.76—Unverified
2Exhaustive Grid SearchRecall (3cm, 10 degrees)99.7—Unverified
3GeDiRecall (3cm, 10 degrees)99.47—Unverified
4FCGF+SC2-PCRRecall (3cm, 10 degrees)98.34—Unverified
5GeoTransformerRecall (3cm, 10 degrees)66.25—Unverified
6GO-ICPRecall (3cm, 10 degrees)0—Unverified
#ModelMetricClaimedVerifiedStatus
1GeDiRecall (3cm, 10 degrees)99.7—Unverified
2FPFH+SC2-PCRRecall (3cm, 10 degrees)99.58—Unverified
3Exhaustive Grid SearchRecall (3cm, 10 degrees)98.81—Unverified
4FCGF+SC2-PCRRecall (3cm, 10 degrees)98.22—Unverified
5GeoTransformerRecall (3cm, 10 degrees)64.18—Unverified
6GO-ICPRecall (3cm, 10 degrees)0—Unverified
#ModelMetricClaimedVerifiedStatus
1Exhaustive Grid SearchRecall (3cm, 10 degrees)99.82—Unverified
2GeDiRecall (3cm, 10 degrees)99.7—Unverified
3FPFH+SC2-PCRRecall (3cm, 10 degrees)99.53—Unverified
4FCGF+SC2-PCRRecall (3cm, 10 degrees)98.34—Unverified
5GeoTransformerRecall (3cm, 10 degrees)64.29—Unverified
6GO-ICPRecall (3cm, 10 degrees)0—Unverified
#ModelMetricClaimedVerifiedStatus
1GeDiSuccess Rate99.82—Unverified
2D3Feat-predSuccess Rate99.81—Unverified
3SpinNetSuccess Rate99.1—Unverified
4DIPSuccess Rate97.3—Unverified
5FCGFSuccess Rate96.57—Unverified
63DFeat-NetSuccess Rate95.97—Unverified
#ModelMetricClaimedVerifiedStatus
1UMERegRobustRR@(1.5,0.3)81.1—Unverified
2GeoTransformerRR@(1.5,0.3)78.5—Unverified
3CoFiNetRR@(1.5,0.3)62.5—Unverified
4PREDATORRR@(1.5,0.3)41.6—Unverified
5GCLRR@(1.5,0.3)40.1—Unverified
6FCGFRR@(1.5,0.3)11.6—Unverified
#ModelMetricClaimedVerifiedStatus
1GeDiRecall0.92—Unverified
2SpinNetRecall0.85—Unverified
3D3Feat-predRecall0.63—Unverified
4FCGFRecall0.33—Unverified
5FPFHRecall0.14—Unverified
#ModelMetricClaimedVerifiedStatus
1GCL+KPConvmRR @ Normal Criterion (1.5°&0.3m)88.8—Unverified
2GCL+ConvmRR @ Normal Criterion (1.5°&0.3m)83.5—Unverified
3Predator+APR(a)mRR @ Normal Criterion (1.5°&0.3m)78.2—Unverified
4FCGF+APR(s)mRR @ Normal Criterion (1.5°&0.3m)62.9—Unverified
#ModelMetricClaimedVerifiedStatus
1GCL+KPConvmRR @ Normal Criterion (1.5°&0.3m)71.5—Unverified
2GCL+ConvmRR @ Normal Criterion (1.5°&0.3m)70.2—Unverified
3FCGF+APR(s)mRR @ Normal Criterion (1.5°&0.3m)62.9—Unverified
4Predator+APR(a)mRR @ Normal Criterion (1.5°&0.3m)52.2—Unverified
#ModelMetricClaimedVerifiedStatus
1CoFFRecall ( correspondence RMSE below 0.2)78.7—Unverified
2GeoTransformerRecall ( correspondence RMSE below 0.2)73.4—Unverified
3PredatorRecall ( correspondence RMSE below 0.2)63.7—Unverified
#ModelMetricClaimedVerifiedStatus
1SGAlignerCD0.01—Unverified
2SG-PGMCD0.01—Unverified