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 151–200 of 447 papers

TitleStatusHype
EP2P-Loc: End-to-End 3D Point to 2D Pixel Localization for Large-Scale Visual LocalizationCode1
Equi-GSPR: Equivariant SE(3) Graph Network Model for Sparse Point Cloud RegistrationCode1
Multi-View Partial (MVP) Point Cloud Challenge 2021 on Completion and Registration: Methods and ResultsCode1
Multiway Non-rigid Point Cloud Registration via Learned Functional Map SynchronizationCode1
Distinctive 3D local deep descriptorsCode1
Iterative Feedback Network for Unsupervised Point Cloud RegistrationCode1
Centroid Distance Keypoint Detector for Colored Point CloudsCode1
(Just) A Spoonful of Refinements Helps the Registration Error Go DownCode1
PCKRF: Point Cloud Completion and Keypoint Refinement With Fusion Data for 6D Pose EstimationCode1
HRegNet: A Hierarchical Network for Large-scale Outdoor LiDAR Point Cloud RegistrationCode1
Correspondence-Free Point Cloud Registration with SO(3)-Equivariant Implicit Shape RepresentationsCode1
Learnable Graph Matching: A Practical Paradigm for Data AssociationCode1
MaskNet: A Fully-Convolutional Network to Estimate Inlier PointsCode1
PointCLM: A Contrastive Learning-based Framework for Multi-instance Point Cloud RegistrationCode1
Correspondence Matrices are UnderratedCode1
PointDSC: Robust Point Cloud Registration using Deep Spatial ConsistencyCode1
PCR-CG: Point Cloud Registration via Deep Explicit Color and GeometryCode1
Feature-metric Registration: A Fast Semi-supervised Approach for Robust Point Cloud Registration without CorrespondencesCode1
APR: Online Distant Point Cloud Registration Through Aggregated Point Cloud ReconstructionCode1
PREDATOR: Registration of 3D Point Clouds with Low OverlapCode1
FINet: Dual Branches Feature Interaction for Partial-to-Partial Point Cloud RegistrationCode1
Center-Based Decoupled Point-cloud Registration for 6D Object Pose Estimation—0
3D Reconstruction by Looking: Instantaneous Blind Spot Detector for Indoor SLAM through Mixed Reality—0
Category-Level Global Camera Pose Estimation with Multi-Hypothesis Point Cloud Correspondences—0
Diff-PCR: Diffusion-Based Correspondence Searching in Doubly Stochastic Matrix Space for Point Cloud Registration—0
3D Registration for Self-Occluded Objects in Context—0
Inlier Confidence Calibration for Point Cloud Registration—0
DFC: Deep Feature Consistency for Robust Point Cloud Registration—0
CA-I2P: Channel-Adaptive Registration Network with Global Optimal Selection—0
A Ground Segmentation Method Based on Point Cloud Map for Unstructured Roads—0
In-Rack Test Tube Pose Estimation Using RGB-D Data—0
Deterministic Point Cloud Registration via Novel Transformation Decomposition—0
DeepVCP: An End-to-End Deep Neural Network for Point Cloud Registration—0
A General Mobile Manipulator Automation Framework for Flexible Manufacturing in Hostile Industrial Environments—0
Deep Semantic Graph Matching for Large-scale Outdoor Point Clouds Registration—0
Bridge 2D-3D: Uncertainty-aware Hierarchical Registration Network with Domain Alignment—0
DeepPRO: Deep Partial Point Cloud Registration of Objects—0
Deep-PE: A Learning-Based Pose Evaluator for Point Cloud Registration—0
Bootstrap Your Own Correspondences—0
A General Framework for Flexible Multi-Cue Photometric Point Cloud Registration—0
Inverse Composition Discriminative Optimization for Point Cloud Registration—0
BiEquiFormer: Bi-Equivariant Representations for Global Point Cloud Registration—0
Deep Loss Convexification for Learning Iterative Models—0
DIPR: Efficient Point Cloud Registration via Dynamic Iteration—0
Improving 6D Pose Estimation of Objects in Clutter via Physics-aware Monte Carlo Tree Search—0
Deep Learning-based Point Cloud Registration for Augmented Reality-guided Surgery—0
Deep-learning-based classification and retrieval of components of a process plant from segmented point clouds—0
DeepICP: An End-to-End Deep Neural Network for 3D Point Cloud Registration—0
A Dynamical Perspective on Point Cloud Registration—0
Deep Hough Voting for Robust Global Registration—0
Show:102550
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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