G3Reg: Pyramid Graph-based Global Registration using Gaussian Ellipsoid Model

arXiv:2308.11573v2 Announce Type: replace
Abstract: This study introduces a novel framework, G3Reg, for fast and robust global registration of LiDAR point clouds. In contrast to conventional complex keypoints and descriptors, we extract fundamental geometric primitives, including planes, clusters, and lines (PCL) from the raw point cloud to obtain low-level semantic segments. Each segment is represented as a unified Gaussian Ellipsoid Model (GEM), using a probability ellipsoid to ensure the ground truth centers are encompassed with a certain degree of probability. …

arxiv cs.cv cs.ro global graph graph-based pyramid registration type