Fast Global Registration

@inproceedings{Zhou2016FastGR,
  title={Fast Global Registration},
  author={Qian-Yi Zhou and Jaesik Park and Vladlen Koltun},
  booktitle={European Conference on Computer Vision},
  year={2016}
}
We present an algorithm for fast global registration of partially overlapping 3D surfaces. The algorithm operates on candidate matches that cover the surfaces. A single objective is optimized to align the surfaces and disable false matches. The objective is defined densely over the surfaces and the optimization achieves tight alignment with no initialization. No correspondence updates or closest-point queries are performed in the inner loop. An extension of the algorithm can perform joint… 
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522 Citations
Highly Influential Citations
107
Background Citations
166
Methods Citations
277
Results Citations
20

522 Citations

TECHNISCHE BERICHTE TECHNICAL REPORTS Moving Least Squares Correspondences for Iterative Point Set Registration

An in-depth evaluation of an approach that computes high-quality correspondences for pair-wise closest point-based iterative registration and compare the results with state-of-the-art registration algorithms and demonstrates that this strategy out-performs existing approaches in terms of registration accuracy by combining it with the SparseICP local registration algorithm.

Efficient and Robust Registration on the 3D Special Euclidean Group

This work presents a robust, fast and accurate method for registration of 3D scans that optimizes a robust cost function on the intrinsic representation of rigid motions, i.e., the Special Euclidean group SE(3).

3D Point Set Registration based on Hierarchical Descriptors

A pair-wise global registration method that combines the fast convergence made possible by global hierarchical surface descriptors with the arbitrarily fine sampling enabled by continuous surface representations is proposed.

Efficient Global Registration for Nominal/Actual Comparisons

This work proposes a new method for global registration that achieves high success rates and fast registration, even for challenging input data, and demonstrates that the proposed algorithm significantly outperforms the current state of the art, with regards to registration time and success rate.

3D Registration of Curves and Surfaces Using Local Differential Information

Comparative experiments demonstrate that the proposed algorithm is the first effective solution for curve vs surface registration, with the method achieving accurate alignment in situations of small overlap and large percentage of outliers in a fraction of a second.

A Maximum Feasible Subsystem for Globally Optimal 3D Point Cloud Registration

Experimental results demonstrated that the presented algorithm was more accurate and reliable than state-of-the-art registration methods and showed robustness against severe outliers/mismatches.

Fast Multiview 3D Scan Registration Using Planar Structures

This work presents a fast and lightweight method for 3D registration of scenes by exploiting the presence of planar regions that yields results comparable in accuracy with the state-of-the-art while only taking a fraction of computation time compared with conventional approaches that are based on motion estimates through 3D point correspondences.

High-Precision 3D Coarse Registration Using RANSAC and Randomly-Picked Rejections

This paper provides a 3D coarse registration method to solve the local-minimum problem in the ICP algorithm and proposes a Randomly-picked rejection method for this problem.

Globally Optimal Point Set Registration by Joint Symmetry Plane Fitting

  • Lan HuL. Kneip
  • Computer Science
    Journal of Mathematical Imaging and Vision
  • 2021
A globally optimal solver is presented by employing the branch-and-bound paradigm and it is demonstrated that joint symmetry plane fitting leads to a great improvement over the current state of the art in globally optimal point set registration for common objects.

An Improved ICP Algorithm for 3D Point Cloud Registration

The Super 4PCS algorithm is used to implement the initial alignment of point clouds to reduce the probability of ICP algorithm falling into a local optimal solution and a local refinement registration method is proposed by adaptively eliminating the boundary points of the overlap region of two point clouds.
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