מושגי ליבה
The authors propose a heuristics-guided parameter search strategy that enjoys an excellent trade-off between efficiency and robustness for point cloud registration. The method decomposes the original 6-DoF registration problem into three lower-dimensional sub-problems and applies the heuristics-guided parameter search in the solving progress to perform progressive outlier removal.
תקציר
The paper presents a point cloud registration approach that combines heuristics and parameter search to achieve high efficiency and robustness. The key aspects are:
- Problem Decomposition:
- The original 6-DoF registration problem is decomposed into three sub-problems with respect to translation, rotation axis, and rotation angle.
- This decomposition enables the application of the heuristics-guided parameter search and interval stabbing at each stage for acceleration.
- Heuristics-guided Parameter Search:
- Instead of searching the whole parameter space, the method first samples some correspondences (heuristics) and then sequentially searches the feasible regions that make each sample an inlier.
- This strategy largely reduces the search space while maintaining high robustness by leveraging the inlier samples.
- Valid Sampling and Compatibility Verification:
- A valid sampling strategy is proposed to assign each correspondence a priority based on spatial compatibility, ensuring the effectiveness of the heuristic part.
- A compatibility verification is introduced before the parameter search to further improve the robustness and efficiency.
The experiments demonstrate that the proposed method can achieve comparable robustness to state-of-the-art methods while significantly improving the efficiency, with up to 102x and sometimes exceeding 103x speed-up compared to the parameter search-based baselines.
סטטיסטיקה
The paper does not provide any specific numerical data or statistics to support the key claims. The results are presented in the form of qualitative comparisons and performance improvements.
ציטוטים
The paper does not contain any striking quotes that support the key logics.