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 351–400 of 447 papers

Title	Date	Tasks	Status
3D Unsupervised Region-Aware Registration Transformer	Oct 7, 2021	3D Shape ReconstructionPoint Cloud Registration	—Unverified
DeepBBS: Deep Best Buddies for Point Cloud Registration	Oct 6, 2021	Point Cloud Registration	CodeCode Available
ASH: A Modern Framework for Parallel Spatial Hashing in 3D Perception	Oct 1, 2021	GPUPoint Cloud Registration	—Unverified
Riedones3D: a celtic coin dataset for registration and fine-grained clustering	Sep 30, 2021	ClusteringCultural Vocal Bursts Intensity Prediction	—Unverified
3D Meta-Registration: Meta-learning 3D Point Cloud Registration Functions	Sep 29, 2021	Meta-LearningPoint Cloud Registration	—Unverified
PRANet: Point Cloud Registration with an Artificial Agent	Sep 23, 2021	Point Cloud RegistrationPose Estimation	—Unverified
Deep Hough Voting for Robust Global Registration	Sep 9, 2021	Point Cloud Registration	—Unverified
Planning with Learned Dynamic Model for Unsupervised Point Cloud Registration	Aug 5, 2021	Point Cloud Registration	—Unverified
Attention-based Vehicle Self-Localization with HD Feature Maps	Jul 16, 2021	Point Cloud Registration	—Unverified
Bootstrap Your Own Correspondences	Jun 1, 2021	Point Cloud RegistrationRepresentation Learning	—Unverified
Pairwise Point Cloud Registration using Graph Matching and Rotation-invariant Features	May 5, 2021	Graph MatchingPoint Cloud Registration	—Unverified
ICOS: Efficient and Highly Robust Rotation Search and Point Cloud Registration with Correspondences	Apr 30, 2021	Point Cloud Registration	—Unverified
RANSIC: Fast and Highly Robust Estimation for Rotation Search and Point Cloud Registration using Invariant Compatibility	Apr 19, 2021	Point Cloud Registration	—Unverified
An Improved Discriminative Optimization for 3D Rigid Point Cloud Registration	Apr 18, 2021	Point Cloud Registration	—Unverified
IRON: Invariant-based Highly Robust Point Cloud Registration	Mar 7, 2021	Point Cloud RegistrationTranslation	—Unverified
A comprehensive survey on point cloud registration	Mar 3, 2021	3D ReconstructionDeep Learning	—Unverified
Provably Approximated Point Cloud Registration	Jan 1, 2021	Point Cloud Registration	—Unverified
Feature Interactive Representation for Point Cloud Registration	Jan 1, 2021	Point Cloud RegistrationRepresentation Learning	—Unverified
Distinctiveness Oriented Positional Equilibrium for Point Cloud Registration	Jan 1, 2021	Point Cloud Registration	—Unverified
DeepPRO: Deep Partial Point Cloud Registration of Objects	Jan 1, 2021	Point Cloud Registration	—Unverified
3D Registration for Self-Occluded Objects in Context	Nov 23, 2020	Instance SegmentationPoint Cloud Registration	—Unverified
More Informed Random Sample Consensus	Nov 18, 2020	Image StitchingPoint Cloud Registration	CodeCode Available
Point Cloud Registration Based on Consistency Evaluation of Rigid Transformation in Parameter Space	Nov 10, 2020	Point Cloud RegistrationTriplet	—Unverified
PSF-LO: Parameterized Semantic Features Based Lidar Odometry	Oct 26, 2020	Autonomous DrivingMotion Estimation	—Unverified
3D Meta-Registration: Learning to Learn Registration of 3D Point Clouds	Oct 22, 2020	Meta-LearningPoint Cloud Registration	—Unverified
Graphite: GRAPH-Induced feaTure Extraction for Point Cloud Registration	Oct 18, 2020	DescriptiveKeypoint Detection	CodeCode Available
Representing Point Clouds with Generative Conditional Invertible Flow Networks	Oct 7, 2020	Point Cloud Registration	CodeCode Available
Best Buddies Registration for Point Clouds	Oct 5, 2020	Point Cloud RegistrationTemplate Matching	CodeCode Available
Deep-3DAligner: Unsupervised 3D Point Set Registration Network With Optimizable Latent Vector	Sep 29, 2020	DecoderPoint Cloud Registration	—Unverified
Unsupervised Point Cloud Registration via Salient Points Analysis (SPA)	Sep 2, 2020	Deep LearningPoint Cloud Registration	—Unverified
Weakly-supervised 3D Shape Completion in the Wild	Aug 20, 2020	Point Cloud RegistrationPose Estimation	—Unverified
Real-Time Point Cloud Fusion of Multi-LiDAR Infrastructure Sensor Setups with Unknown Spatial Location and Orientation	Jul 28, 2020	Point Cloud Registration	—Unverified
Unsupervised Learning of 3D Point Set Registration	Jun 11, 2020	DecoderDeep Learning	—Unverified
A Dynamical Perspective on Point Cloud Registration	May 7, 2020	Point Cloud Registration	—Unverified
StickyPillars: Robust and Efficient Feature Matching on Point Clouds using Graph Neural Networks	Feb 10, 2020	3D Feature MatchingPoint Cloud Registration	—Unverified
CorsNet: 3D Point Cloud Registration by Deep Neural Network	Feb 3, 2020	Deep LearningPoint Cloud Registration	—Unverified
Color Point Cloud Registration Based on Supervoxel Correspondence	Jan 6, 2020	Point Cloud Registration	—Unverified
Target-less registration of point clouds: A review	Dec 29, 2019	Point Cloud Registration	—Unverified
UrbanLoco: A Full Sensor Suite Dataset for Mapping and Localization in Urban Scenes	Dec 19, 2019	Autonomous DrivingPoint Cloud Registration	—Unverified
Deep-learning-based classification and retrieval of components of a process plant from segmented point clouds	Dec 13, 2019	General ClassificationObject Recognition	—Unverified
SpineNet: Learning Scale-Permuted Backbone for Recognition and Localization	Dec 10, 2019	Image ClassificationInstance Segmentation	CodeCode Available
Tigris: Architecture and Algorithms for 3D Perception in Point Clouds	Nov 16, 2019	3D ReconstructionGPU	CodeCode Available
A Maximum Likelihood Approach to Extract Finite Planes from 3-D Laser Scans	Oct 23, 2019	Clusteringobject-detection	CodeCode Available
Iterative Distance-Aware Similarity Matrix Convolution with Mutual-Supervised Point Elimination for Efficient Point Cloud Registration	Oct 23, 2019	Computational EfficiencyPoint Cloud Registration	CodeCode Available
AlignNet-3D: Fast Point Cloud Registration of Partially Observed Objects	Oct 10, 2019	3D Pose EstimationMotion Estimation	CodeCode Available
DeepVCP: An End-to-End Deep Neural Network for Point Cloud Registration	Oct 1, 2019	Point Cloud Registration	—Unverified
Performance comparison of 3D correspondence grouping algorithm for 3D plant point clouds	Sep 2, 2019	Image RetrievalObject Recognition	—Unverified
A Performance Evaluation of Correspondence Grouping Methods for 3D Rigid Data Matching	Jul 5, 2019	3D Object RecognitionObject Recognition	—Unverified
Evaluating Local Geometric Feature Representations for 3D Rigid Data Matching	Jun 29, 2019	Object RecognitionPoint Cloud Registration	—Unverified
Road-network-based Rapid Geolocalization	Jun 25, 2019	CPUPoint Cloud Registration	—Unverified

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All datasets ETH (trained on 3DMatch)3DMatch Benchmark 3DMatch (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)FPv1 FP-O-E FP-O-H FP-O-M FP-R-E

Benchmark Results

#	Model	Metric	Claimed	Verified	Status
1	Exhaustive Grid Search	Recall (30cm, 5 degrees)	94.25	—	Unverified
2	FCGF+SC2-PCR	Recall (30cm, 5 degrees)	92.85	—	Unverified
3	FPFH+SC2-PCR	Recall (30cm, 5 degrees)	85.41	—	Unverified
4	YOHO-C	Recall (30cm, 5 degrees)	84.85	—	Unverified
5	YOHO-O	Recall (30cm, 5 degrees)	79.94	—	Unverified
6	FCGF+PointDSC	Recall (30cm, 5 degrees)	77.42	—	Unverified
7	FPFH+PointDSC	Recall (30cm, 5 degrees)	41.94	—	Unverified
8	GeoTransformer	Recall (30cm, 5 degrees)	4.91	—	Unverified
9	GO-ICP	Recall (30cm, 5 degrees)	1.54	—	Unverified
10	GeDi	Feature Matching Recall	0.98	—	Unverified

#	Model	Metric	Claimed	Verified	Status
1	IMFNet	Feature Matching Recall	98.6	—	Unverified
2	MS-SVConv	Feature Matching Recall	98.4	—	Unverified
3	GeDi (no code published as of May 27 2021)	Feature Matching Recall	97.9	—	Unverified
4	SpinNet (no code published as of Dec 15 2020)	Feature Matching Recall	97.6	—	Unverified
5	LMVD	Feature Matching Recall	97.5	—	Unverified
6	DIP + Point-TnT	Feature Matching Recall	96.8	—	Unverified
7	D3Feat-Pred	Feature Matching Recall	95.8	—	Unverified
8	D3Feat-rand	Feature Matching Recall	95.3	—	Unverified
9	DIP	Feature Matching Recall	94.8	—	Unverified
10	3DSmoothNet	Feature Matching Recall	94.7	—	Unverified

#	Model	Metric	Claimed	Verified	Status
1	GeoTransformer	Recall (0.3m, 15 degrees)	95	—	Unverified
2	NgeNet	Recall (0.3m, 15 degrees)	95	—	Unverified
3	PCAM-Sparse (All post-processing)	Recall (0.3m, 15 degrees)	92.4	—	Unverified
4	DGR (RE (all), TE(all) are reported in PCAM)	Recall (0.3m, 15 degrees)	91.3	—	Unverified
5	PCAM-Soft (All post-processing)	Recall (0.3m, 15 degrees)	91.3	—	Unverified
6	Exhaustive Grid Search	Recall (0.3m, 15 degrees)	84.11	—	Unverified
7	RANSAC-2M	Recall (0.3m, 15 degrees)	66.1	—	Unverified
8	FGR	Recall (0.3m, 15 degrees)	42.7	—	Unverified
9	Go-ICP	Recall (0.3m, 15 degrees)	22.9	—	Unverified
10	Super4PCS	Recall (0.3m, 15 degrees)	21.6	—	Unverified

#	Model	Metric	Claimed	Verified	Status
1	GeDi	Success Rate	98.92	—	Unverified
2	FCGF+SC2-PCR	Success Rate	97.66	—	Unverified
3	FCGF+PointDSC	Success Rate	96.76	—	Unverified
4	Exhaustive Grid Search	Success Rate	94.95	—	Unverified
5	FPFH+PointDSC	Success Rate	94.05	—	Unverified
6	DIP	Success Rate	93.51	—	Unverified
7	Greedy Grid Search	Success Rate	90.27	—	Unverified
8	YOHO-C	Success Rate	82.16	—	Unverified
9	SpinNet	Success Rate	81.44	—	Unverified
10	YOHO-O	Success Rate	81.44	—	Unverified

#	Model	Metric	Claimed	Verified	Status
1	CoFF	Recall ( correspondence RMSE below 0.2)	81.6	—	Unverified
2	GeoTransformer - P2PNet	Recall ( correspondence RMSE below 0.2)	74	—	Unverified
3	NgeNet	Recall ( correspondence RMSE below 0.2)	71.9	—	Unverified
4	REGTR	Recall ( correspondence RMSE below 0.2)	64.8	—	Unverified
5	Predator-1k	Recall ( correspondence RMSE below 0.2)	62.5	—	Unverified
6	Predator-5k	Recall ( correspondence RMSE below 0.2)	59.8	—	Unverified
7	PCAM (reported in REGTR)	Recall ( correspondence RMSE below 0.2)	54.9	—	Unverified
8	DGR (reported in REGTR)	Recall ( correspondence RMSE below 0.2)	48.7	—	Unverified
9	FCGF (reported in PREDATOR)	Recall ( correspondence RMSE below 0.2)	40.1	—	Unverified
10	D3Feat (reported in PREDATOR)	Recall ( correspondence RMSE below 0.2)	37.2	—	Unverified

#	Model	Metric	Claimed	Verified	Status
1	NgeNet	Recall ( correspondence RMSE below 0.2)	92.9	—	Unverified
2	REGTR	Recall ( correspondence RMSE below 0.2)	92	—	Unverified
3	Predator-1k	Recall ( correspondence RMSE below 0.2)	90.5	—	Unverified
4	Predator-5k	Recall ( correspondence RMSE below 0.2)	89	—	Unverified
5	PCAM (reported in REGTR)	Recall ( correspondence RMSE below 0.2)	85.5	—	Unverified
6	DGR (reported in REGTR)	Recall ( correspondence RMSE below 0.2)	85.3	—	Unverified
7	FCGF (reported in PREDATOR)	Recall ( correspondence RMSE below 0.2)	85.1	—	Unverified
8	D3Feat (reported in PREDATOR)	Recall ( correspondence RMSE below 0.2)	81.6	—	Unverified
9	3DSN (reported in PREDATOR)	Recall ( correspondence RMSE below 0.2)	78.4	—	Unverified
10	Predator-NR	Recall ( correspondence RMSE below 0.2)	62.7	—	Unverified

#	Model	Metric	Claimed	Verified	Status
1	GeoTransformer	Recall (0.6m, 5 degrees)	99.5	—	Unverified
2	FCGF	Recall (0.6m, 5 degrees)	98.2	—	Unverified
3	DGR + ICP (RE (all), TE(all) are reported in PCAM)	Recall (0.6m, 5 degrees)	98.2	—	Unverified
4	PCAM-soft + ICP	Recall (0.6m, 5 degrees)	98	—	Unverified
5	PCAM-Sparse + ICP	Recall (0.6m, 5 degrees)	97.4	—	Unverified
6	PCAM - Soft	Recall (0.6m, 5 degrees)	97.2	—	Unverified
7	DGR (RE (all), TE(all) are reported in PCAM)	Recall (0.6m, 5 degrees)	96.9	—	Unverified
8	PCAM-Sparse	Recall (0.6m, 5 degrees)	96.5	—	Unverified
9	Exhaustive Grid Search	Recall (0.6m, 5 degrees)	94.59	—	Unverified
10	RANSAC	Recall (0.6m, 5 degrees)	34.2	—	Unverified

#	Model	Metric	Claimed	Verified	Status
1	Greedy Grid Search	Recall (3cm, 10 degrees)	92.81	—	Unverified
2	GeoTransformer	Recall (3cm, 10 degrees)	56.15	—	Unverified
3	DIP	Recall (3cm, 10 degrees)	54.81	—	Unverified
4	FCGF + PointDSC	Recall (3cm, 10 degrees)	47.85	—	Unverified
5	SpinNet	Recall (3cm, 10 degrees)	42.46	—	Unverified
6	FCGF + YOHO-C	Recall (3cm, 10 degrees)	29.18	—	Unverified
7	FCGF + YOHO-O	Recall (3cm, 10 degrees)	18.91	—	Unverified
8	FPFH-8M	Recall (3cm, 10 degrees)	9.51	—	Unverified

#	Model	Metric	Claimed	Verified	Status
1	FPFH+SC2-PCR	Recall (3cm, 10 degrees)	99.88	—	Unverified
2	GeDi	Recall (3cm, 10 degrees)	99.64	—	Unverified
3	Exhaustive Grid Search	Recall (3cm, 10 degrees)	99.47	—	Unverified
4	FCGF+SC2-PCR	Recall (3cm, 10 degrees)	98.52	—	Unverified
5	GeoTransformer	Recall (3cm, 10 degrees)	63.94	—	Unverified
6	GO-ICP	Recall (3cm, 10 degrees)	0	—	Unverified

#	Model	Metric	Claimed	Verified	Status
1	FPFH+SC2-PCR	Recall (3cm, 10 degrees)	38.85	—	Unverified
2	Exhaustive Grid Search	Recall (3cm, 10 degrees)	37.06	—	Unverified
3	FCGF+SC2-PCR	Recall (3cm, 10 degrees)	17.8	—	Unverified
4	GeDi	Recall (3cm, 10 degrees)	8.7	—	Unverified
5	GeoTransformer	Recall (3cm, 10 degrees)	2.64	—	Unverified
6	GO-ICP	Recall (3cm, 10 degrees)	0	—	Unverified

#	Model	Metric	Claimed	Verified	Status
1	Exhaustive Grid Search	Recall (3cm, 10 degrees)	88.06	—	Unverified
2	FPFH+SC2-PCR	Recall (3cm, 10 degrees)	84.7	—	Unverified
3	GeDi	Recall (3cm, 10 degrees)	75.4	—	Unverified
4	FCGF+SC2-PCR	Recall (3cm, 10 degrees)	63	—	Unverified
5	GeoTransformer	Recall (3cm, 10 degrees)	22.07	—	Unverified
6	GO-ICP	Recall (3cm, 10 degrees)	0	—	Unverified

#	Model	Metric	Claimed	Verified	Status
1	GeDi	Recall (3cm, 10 degrees)	99.76	—	Unverified
2	Exhaustive Grid Search	Recall (3cm, 10 degrees)	99.64	—	Unverified
3	FPFH+SC2-PCR	Recall (3cm, 10 degrees)	99.64	—	Unverified
4	FCGF+SC2-PCR	Recall (3cm, 10 degrees)	98.46	—	Unverified
5	GeoTransformer	Recall (3cm, 10 degrees)	64.12	—	Unverified
6	GO-ICP	Recall (3cm, 10 degrees)	0	—	Unverified

#	Model	Metric	Claimed	Verified	Status
1	GeDi	Recall (3cm, 10 degrees)	99.41	—	Unverified
2	FCGF+SC2-PCR	Recall (3cm, 10 degrees)	85.77	—	Unverified
3	Exhaustive Grid Search	Recall (3cm, 10 degrees)	78	—	Unverified
4	FPFH+SC2-PCR	Recall (3cm, 10 degrees)	75.21	—	Unverified
5	GeoTransformer	Recall (3cm, 10 degrees)	47.75	—	Unverified
6	GO-ICP	Recall (3cm, 10 degrees)	0	—	Unverified

#	Model	Metric	Claimed	Verified	Status
1	GeDi	Recall (3cm, 10 degrees)	99.94	—	Unverified
2	Exhaustive Grid Search	Recall (3cm, 10 degrees)	97.92	—	Unverified
3	FPFH+SC2-PCR	Recall (3cm, 10 degrees)	94.54	—	Unverified
4	FCGF+SC2-PCR	Recall (3cm, 10 degrees)	91.93	—	Unverified
5	GeoTransformer	Recall (3cm, 10 degrees)	55.93	—	Unverified
6	GO-ICP	Recall (3cm, 10 degrees)	0.06	—	Unverified

#	Model	Metric	Claimed	Verified	Status
1	FPFH+SC2-PCR	Recall (3cm, 10 degrees)	99.76	—	Unverified
2	Exhaustive Grid Search	Recall (3cm, 10 degrees)	99.7	—	Unverified
3	GeDi	Recall (3cm, 10 degrees)	99.47	—	Unverified
4	FCGF+SC2-PCR	Recall (3cm, 10 degrees)	98.34	—	Unverified
5	GeoTransformer	Recall (3cm, 10 degrees)	66.25	—	Unverified
6	GO-ICP	Recall (3cm, 10 degrees)	0	—	Unverified

#	Model	Metric	Claimed	Verified	Status
1	GeDi	Recall (3cm, 10 degrees)	99.7	—	Unverified
2	FPFH+SC2-PCR	Recall (3cm, 10 degrees)	99.58	—	Unverified
3	Exhaustive Grid Search	Recall (3cm, 10 degrees)	98.81	—	Unverified
4	FCGF+SC2-PCR	Recall (3cm, 10 degrees)	98.22	—	Unverified
5	GeoTransformer	Recall (3cm, 10 degrees)	64.18	—	Unverified
6	GO-ICP	Recall (3cm, 10 degrees)	0	—	Unverified

#	Model	Metric	Claimed	Verified	Status
1	Exhaustive Grid Search	Recall (3cm, 10 degrees)	99.82	—	Unverified
2	GeDi	Recall (3cm, 10 degrees)	99.7	—	Unverified
3	FPFH+SC2-PCR	Recall (3cm, 10 degrees)	99.53	—	Unverified
4	FCGF+SC2-PCR	Recall (3cm, 10 degrees)	98.34	—	Unverified
5	GeoTransformer	Recall (3cm, 10 degrees)	64.29	—	Unverified
6	GO-ICP	Recall (3cm, 10 degrees)	0	—	Unverified

#	Model	Metric	Claimed	Verified	Status
1	GeDi	Success Rate	99.82	—	Unverified
2	D3Feat-pred	Success Rate	99.81	—	Unverified
3	SpinNet	Success Rate	99.1	—	Unverified
4	DIP	Success Rate	97.3	—	Unverified
5	FCGF	Success Rate	96.57	—	Unverified
6	3DFeat-Net	Success Rate	95.97	—	Unverified

#	Model	Metric	Claimed	Verified	Status
1	UMERegRobust	RR@(1.5,0.3)	81.1	—	Unverified
2	GeoTransformer	RR@(1.5,0.3)	78.5	—	Unverified
3	CoFiNet	RR@(1.5,0.3)	62.5	—	Unverified
4	PREDATOR	RR@(1.5,0.3)	41.6	—	Unverified
5	GCL	RR@(1.5,0.3)	40.1	—	Unverified
6	FCGF	RR@(1.5,0.3)	11.6	—	Unverified

#	Model	Metric	Claimed	Verified	Status
1	GeDi	Recall	0.92	—	Unverified
2	SpinNet	Recall	0.85	—	Unverified
3	D3Feat-pred	Recall	0.63	—	Unverified
4	FCGF	Recall	0.33	—	Unverified
5	FPFH	Recall	0.14	—	Unverified

#	Model	Metric	Claimed	Verified	Status
1	GCL+KPConv	mRR @ Normal Criterion (1.5°&0.3m)	88.8	—	Unverified
2	GCL+Conv	mRR @ Normal Criterion (1.5°&0.3m)	83.5	—	Unverified
3	Predator+APR(a)	mRR @ Normal Criterion (1.5°&0.3m)	78.2	—	Unverified
4	FCGF+APR(s)	mRR @ Normal Criterion (1.5°&0.3m)	62.9	—	Unverified

#	Model	Metric	Claimed	Verified	Status
1	GCL+KPConv	mRR @ Normal Criterion (1.5°&0.3m)	71.5	—	Unverified
2	GCL+Conv	mRR @ Normal Criterion (1.5°&0.3m)	70.2	—	Unverified
3	FCGF+APR(s)	mRR @ Normal Criterion (1.5°&0.3m)	62.9	—	Unverified
4	Predator+APR(a)	mRR @ Normal Criterion (1.5°&0.3m)	52.2	—	Unverified

#	Model	Metric	Claimed	Verified	Status
1	CoFF	Recall ( correspondence RMSE below 0.2)	78.7	—	Unverified
2	GeoTransformer	Recall ( correspondence RMSE below 0.2)	73.4	—	Unverified
3	Predator	Recall ( correspondence RMSE below 0.2)	63.7	—	Unverified

#	Model	Metric	Claimed	Verified	Status
1	SGAligner	CD	0.01	—	Unverified
2	SG-PGM	CD	0.01	—	Unverified