Efficient and Robust Point Cloud Registration via Heuristics-guided Parameter Search

arXiv:2404.06155v1 Announce Type: new
Abstract: Estimating the rigid transformation with 6 degrees of freedom based on a putative 3D correspondence set is a crucial procedure in point cloud registration. Existing correspondence identification methods usually lead to large outlier ratios ($>$ 95 $\%$ is common), underscoring the significance of robust registration methods. Many researchers turn to parameter search-based strategies (e.g., Branch-and-Bround) for robust registration. Although related methods show high robustness, their efficiency is limited to the high-dimensional search space. This paper …

abstract arxiv cloud cs.cv cs.ro freedom heuristics identification outlier registration robust search set significance transformation type via