2024/02/26 by Seong Hun Lee, Javier Civera, Lee, Seong Hun +3 · 2 citations
Computer Science · Earth and Planetary Sciences · Environmental Science · #3D Surveying and Cultural Heritage #Computer Vision and Pattern Recognition (cs.CV) #FOS: Computer and information sciences #Image Processing and 3D Reconstruction #Remote Sensing and LiDAR Applications #Robotics (cs.RO)
paper · doi:10.48550/arxiv.2402.16598
openalex publication_date 2024/02/26 · openalex created_date 2024/02/28 · openalex updated_date 2026/07/28
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 samples and reducing the number of hypotheses to be tested. Our evaluation shows that, up to 98% outlier ratio, the proposed method achieves comparable performance to the state of the art. At 99% outlier ratio, however, it outperforms the state of the art for both known-scale and unknown-scale problems. Especially for the latter, we observe a clear superiority in terms of robustness and speed.