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 251–300 of 447 papers

TitleStatusHype
LoopSmart: Smart Visual SLAM Through Surface Loop Closure—0
End-to-end 2D-3D Registration between Image and LiDAR Point Cloud for Vehicle Localization—0
ELiOT : End-to-end Lidar Odometry using Transformer Framework—0
LPRnet: A self-supervised registration network for LiDAR and photogrammetric point clouds—0
Efficient Global Point Cloud Registration by Matching Rotation Invariant Features Through Translation Search—0
A comprehensive survey on point cloud registration—0
Efficient and Deterministic Search Strategy Based on Residual Projections for Point Cloud Registration with Correspondences—0
XR-MBT: Multi-modal Full Body Tracking for XR through Self-Supervision with Learned Depth Point Cloud Registration—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
MaFreeI2P: A Matching-Free Image-to-Point Cloud Registration Paradigm with Active Camera Pose Retrieval—0
Topology-Aware Non-Rigid Point Cloud Registration—0
Mirror Sinkhorn: Fast Online Optimization on Transport Polytopes—0
EADReg: Probabilistic Correspondence Generation with Efficient Autoregressive Diffusion Model for Outdoor Point Cloud Registration—0
Dynamic Cues-Assisted Transformer for Robust Point Cloud Registration—0
MonoMobility: Zero-Shot 3D Mobility Analysis from Monocular Videos—0
Towards Explaining Uncertainty Estimates in Point Cloud Registration—0
MRG: A Multi-Robot Manufacturing Digital Scene Generation Method Using Multi-Instance Point Cloud Registration—0
MT-PCR: A Hybrid Mamba-Transformer with Spatial Serialization for Hierarchical Point Cloud Registration—0
Dual Focus-Attention Transformer for Robust Point Cloud Registration—0
DSMNet: Deep High-precision 3D Surface Modeling from Sparse Point Cloud Frames—0
Distinctiveness Oriented Positional Equilibrium for Point Cloud Registration—0
Multi-view Point Cloud Registration based on Evolutionary Multitasking with Bi-Channel Knowledge Sharing Mechanism—0
Multiview Point Cloud Registration Based on Minimum Potential Energy for Free-Form Blade Measurement—0
Multi-view Point Cloud Registration with Adaptive Convergence Threshold and its Application on 3D Model Retrieval—0
Multiview point cloud registration with anisotropic and space-varying localization noise—0
Discriminative Optimization: Theory and Applications to Point Cloud Registration—0
Discriminative Optimization: Theory and Applications to Computer Vision Problems—0
TrafficLoc: Localizing Traffic Surveillance Cameras in 3D Scenes—0
Neural Intrinsic Embedding for Non-rigid Point Cloud Matching—0
Neural Shape Mating: Self-Supervised Object Assembly with Adversarial Shape Priors—0
ZeroReg: Zero-Shot Point Cloud Registration with Foundation Models—0
Diff-PCR: Diffusion-Based Correspondence Searching in Doubly Stochastic Matrix Space for Point Cloud Registration—0
Translation Invariant Global Estimation of Heading Angle Using Sinogram of LiDAR Point Cloud—0
DFC: Deep Feature Consistency for Robust Point Cloud Registration—0
Nothing Stands Still: A Spatiotemporal Benchmark on 3D Point Cloud Registration Under Large Geometric and Temporal Change—0
OAAFormer: Robust and Efficient Point Cloud Registration Through Overlapping-Aware Attention in Transformer—0
Deterministic Point Cloud Registration via Novel Transformation Decomposition—0
DeepVCP: An End-to-End Deep Neural Network for Point Cloud Registration—0
One-Nearest Neighborhood Guides Inlier Estimation for Unsupervised Point Cloud Registration—0
TriVoC: Efficient Voting-based Consensus Maximization for Robust Point Cloud Registration with Extreme Outlier Ratios—0
Deep Semantic Graph Matching for Large-scale Outdoor Point Clouds Registration—0
OptFlow: Fast Optimization-based Scene Flow Estimation without Supervision—0
Overlap Bias Matching is Necessary for Point Cloud Registration—0
DeepPRO: Deep Partial Point Cloud Registration of Objects—0
Pairwise Point Cloud Registration using Graph Matching and Rotation-invariant Features—0
Deep-PE: A Learning-Based Pose Evaluator for Point Cloud Registration—0
Partial Transport for Point-Cloud Registration—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