VRHCF: Cross-Source Point Cloud Registration via Voxel Representation and Hierarchical Correspondence Filtering

arXiv:2403.10085v1 Announce Type: new
Abstract: Addressing the challenges posed by the substantial gap in point cloud data collected from diverse sensors, achieving robust cross-source point cloud registration becomes a formidable task. In response, we present a novel framework for point cloud registration with broad applicability, suitable for both homologous and cross-source registration scenarios. To tackle the issues arising from different densities and distributions in cross-source point cloud data, we introduce a feature representation based on spherical voxels. Furthermore, addressing the …

arxiv cloud cs.cv filtering hierarchical registration representation type via voxel