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

Recently AddedMost HypedMost ActiveNeeds VerificationMost Verified

Showing 251–300 of 447 papers

TitleStatusHype
Evolutionary Multitasking with Solution Space Cutting for Point Cloud Registration—0
Exploring Accurate 3D Phenotyping in Greenhouse through Neural Radiance Fields—0
FA-KPConv: Introducing Euclidean Symmetries to KPConv via Frame Averaging—0
Fast and Accurate Deep Loop Closing and Relocalization for Reliable LiDAR SLAM—0
Fast and Accurate Point Cloud Registration using Trees of Gaussian Mixtures—0
Fast Registration for cross-source point clouds by using weak regional affinity and pixel-wise refinement—0
Fast Rotation Search with Stereographic Projections for 3D Registration—0
Fast Semantic-Assisted Outlier Removal for Large-scale Point Cloud Registration—0
Feature Interactive Representation for Point Cloud Registration—0
Feature Preserving and Uniformity-controllable Point Cloud Simplification on Graph—0
FlashSLAM: Accelerated RGB-D SLAM for Real-Time 3D Scene Reconstruction with Gaussian Splatting—0
From Words to Poses: Enhancing Novel Object Pose Estimation with Vision Language Models—0
Fully-Geometric Cross-Attention for Point Cloud Registration—0
GaussReg: Fast 3D Registration with Gaussian Splatting—0
GenReg: Deep Generative Method for Fast Point Cloud Registration—0
GeoNLF: Geometry guided Pose-Free Neural LiDAR Fields—0
GERA: Geometric Embedding for Efficient Point Registration Analysis—0
Global Consistent Point Cloud Registration Based on Lie-algebraic Cohomology—0
Go-ICP: A Globally Optimal Solution to 3D ICP Point-Set Registration—0
GraphI2P: Image-to-Point Cloud Registration with Exploring Pattern of Correspondence via Graph Learning—0
Gromov-Wasserstein Problem with Cyclic Symmetry—0
GS-Matching: Reconsidering Feature Matching task in Point Cloud Registration—0
Guaranteed Outlier Removal for Point Cloud Registration with Correspondences—0
HDMNet: A Hierarchical Matching Network with Double Attention for Large-scale Outdoor LiDAR Point Cloud Registration—0
HGMR: Hierarchical Gaussian Mixtures for Adaptive 3D Registration—0
HybridFusion: LiDAR and Vision Cross-Source Point Cloud Fusion—0
ICOS: Efficient and Highly Robust Rotation Search and Point Cloud Registration with Correspondences—0
ImLoveNet: Misaligned Image-supported Registration Network for Low-overlap Point Cloud Pairs—0
Implementation of a Zed 2i Stereo Camera for High-Frequency Shoreline Change and Coastal Elevation Monitoring—0
Improving 6D Pose Estimation of Objects in Clutter via Physics-aware Monte Carlo Tree Search—0
Incremental Multiview Point Cloud Registration with Two-stage Candidate Retrieval—0
Inlier Confidence Calibration for Point Cloud Registration—0
In-Rack Test Tube Pose Estimation Using RGB-D Data—0
Inverse Composition Discriminative Optimization for Point Cloud Registration—0
Investigating Vision-Language Model for Point Cloud-based Vehicle Classification—0
IRON: Invariant-based Highly Robust Point Cloud Registration—0
KDD-LOAM: Jointly Learned Keypoint Detector and Descriptors Assisted LiDAR Odometry and Mapping—0
Learning a 3D descriptor for cross-source point cloud registration from synthetic data—0
MatchNorm: Learning-based Point Cloud Registration for 6D Object Pose Estimation in the Real World—0
Learning Dense Features for Point Cloud Registration Using a Graph Attention Network—0
Learning Implicit Probability Distribution Functions for Symmetric Orientation Estimation from RGB Images Without Pose Labels—0
Learning to Register Unbalanced Point Pairs—0
LiDAR Point--to--point Correspondences for Rigorous Registration of Kinematic Scanning in Dynamic Networks—0
Local-To-Global Point Cloud Registration Using a Dictionary of Viewpoint Descriptors—0
LoopSmart: Smart Visual SLAM Through Surface Loop Closure—0
LPRnet: A self-supervised registration network for LiDAR and photogrammetric point clouds—0
MATCH POLICY: A Simple Pipeline from Point Cloud Registration to Manipulation Policies—0
MEDPNet: Achieving High-Precision Adaptive Registration for Complex Die Castings—0
Memory-Efficient Point Cloud Registration via Overlapping Region Sampling—0
Micro-Structures Graph-Based Point Cloud Registration for Balancing Efficiency and Accuracy—0
Show:102550
← PrevPage 6 of 9Next →
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