PCR-99: A Practical Method for Point Cloud Registration with 99% Outliers

arXiv:2402.16598v2 Announce Type: replace
Abstract: We propose a robust method for point cloud registration that can handle both unknown scales and extreme outlier ratios. Our method, dubbed PCR-99, uses a deterministic 3-point sampling approach with two novel mechanisms that significantly boost the speed: (1) an improved ordering of the samples based on pairwise scale consistency, prioritizing the point correspondences that are more likely to be inliers, and (2) an efficient outlier rejection scheme based on triplet scale consistency, prescreening bad …

abstract arxiv boost cloud cs.cv cs.ro novel outlier outliers practical registration robust sampling speed type