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 351–400 of 447 papers

TitleStatusHype
RDMNet: Reliable Dense Matching Based Point Cloud Registration for Autonomous Driving—0
ColorPCR: Color Point Cloud Registration with Multi-Stage Geometric-Color Fusion—0
Real-Time Point Cloud Fusion of Multi-LiDAR Infrastructure Sensor Setups with Unknown Spatial Location and Orientation—0
Rectified Point Flow: Generic Point Cloud Pose Estimation—0
Colored Point Cloud Registration Revisited—0
CoFiI2P: Coarse-to-Fine Correspondences for Image-to-Point Cloud Registration—0
CLIPPER: Robust Data Association without an Initial Guess—0
Registration between Point Cloud Streams and Sequential Bounding Boxes via Gradient Descent—0
Quantity-Aware Coarse-to-Fine Correspondence for Image-to-Point Cloud Registration—0
Zero-shot RGB-D Point Cloud Registration with Pre-trained Large Vision Model—0
Center-Based Decoupled Point-cloud Registration for 6D Object Pose Estimation—0
Category-Level Global Camera Pose Estimation with Multi-Hypothesis Point Cloud Correspondences—0
3D Reconstruction by Looking: Instantaneous Blind Spot Detector for Indoor SLAM through Mixed Reality—0
Resolving the Ambiguity of Complete-to-Partial Point Cloud Registration for Image-Guided Liver Surgery with Patches-to-Partial Matching—0
CA-I2P: Channel-Adaptive Registration Network with Global Optimal Selection—0
Rethinking Rotation Invariance with Point Cloud Registration—0
RGBD-Glue: General Feature Combination for Robust RGB-D Point Cloud Registration—0
Riedones3D: a celtic coin dataset for registration and fine-grained clustering—0
Bridge 2D-3D: Uncertainty-aware Hierarchical Registration Network with Domain Alignment—0
Road-network-based Rapid Geolocalization—0
Robust-DefReg: A Robust Deformable Point Cloud Registration Method based on Graph Convolutional Neural Networks—0
Robust Filtering -- Novel Statistical Learning and Inference Algorithms with Applications—0
Bootstrap Your Own Correspondences—0
BiEquiFormer: Bi-Equivariant Representations for Global Point Cloud Registration—0
AutoURDF: Unsupervised Robot Modeling from Point Cloud Frames Using Cluster Registration—0
AutoSynth: Learning to Generate 3D Training Data for Object Point Cloud Registration—0
3D point cloud registration with shape constraint—0
RoCNet: 3D Robust Registration of Point-Clouds using Deep Learning—0
Automatic marker-free registration based on similar tetrahedras for single-tree point clouds—0
Attention-based Vehicle Self-Localization with HD Feature Maps—0
A Systematic Approach for Cross-source Point Cloud Registration by Preserving Macro and Micro Structures—0
ASH: A Modern Framework for Parallel Spatial Hashing in 3D Perception—0
A Representation Separation Perspective to Correspondences-free Unsupervised 3D Point Cloud Registration—0
A Practical Maximum Clique Algorithm for Matching with Pairwise Constraints—0
SC2-PCR: A Second Order Spatial Compatibility for Efficient and Robust Point Cloud Registration—0
SDFReg: Learning Signed Distance Functions for Point Cloud Registration—0
UrbanLoco: A Full Sensor Suite Dataset for Mapping and Localization in Urban Scenes—0
3D Meta-Registration: Meta-learning 3D Point Cloud Registration Functions—0
A Performance Evaluation of Correspondence Grouping Methods for 3D Rigid Data Matching—0
3D Meta-Registration: Learning to Learn Registration of 3D Point Clouds—0
A Novel Augmented Reality Ultrasound Framework Using an RGB-D Camera and a 3D-printed Marker—0
Self-Supervised Learning of Object Segmentation from Unlabeled RGB-D Videos—0
Self-Supervised Point Cloud Registration with Deep Versatile Descriptors—0
Semantic-ICP: Iterative Closest Point for Non-rigid Multi-Organ Point Cloud Registration—0
An Improved Discriminative Optimization for 3D Rigid Point Cloud Registration—0
SGNet: Salient Geometric Network for Point Cloud Registration—0
CMR-Agent: Learning a Cross-Modal Agent for Iterative Image-to-Point Cloud Registration—0
A multi-organ point cloud registration algorithm for abdominal CT registration—0
Sight View Constraint for Robust Point Cloud Registration—0
A multi-organ point cloud registration algorithm for abdominal CT 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
1GeoTransformerRecall (0.3m, 15 degrees)95—Unverified
2NgeNetRecall (0.3m, 15 degrees)95—Unverified
3PCAM-Sparse (All post-processing)Recall (0.3m, 15 degrees)92.4—Unverified
4DGR (RE (all), TE(all) are reported in PCAM)Recall (0.3m, 15 degrees)91.3—Unverified
5PCAM-Soft (All post-processing)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
9SpinNetSuccess Rate81.44—Unverified
10YOHO-OSuccess 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
2FCGFRecall (0.6m, 5 degrees)98.2—Unverified
3DGR + ICP (RE (all), TE(all) are reported in PCAM)Recall (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