Robust Multiview Point Cloud Registration with Reliable Pose Graph Initialization and History Reweighting

04/02/2023
by   Haiping Wang, et al.
0

In this paper, we present a new method for the multiview registration of point cloud. Previous multiview registration methods rely on exhaustive pairwise registration to construct a densely-connected pose graph and apply Iteratively Reweighted Least Square (IRLS) on the pose graph to compute the scan poses. However, constructing a densely-connected graph is time-consuming and contains lots of outlier edges, which makes the subsequent IRLS struggle to find correct poses. To address the above problems, we first propose to use a neural network to estimate the overlap between scan pairs, which enables us to construct a sparse but reliable pose graph. Then, we design a novel history reweighting function in the IRLS scheme, which has strong robustness to outlier edges on the graph. In comparison with existing multiview registration methods, our method achieves 11  13 required pairwise registrations. Comprehensive ablation studies are conducted to demonstrate the effectiveness of our designs.

READ FULL TEXT

page 4

page 6

page 11

page 14

page 15

page 16

research
07/22/2023

Pyramid Semantic Graph-based Global Point Cloud Registration with Low Overlap

Global point cloud registration is essential in many robotics tasks like...
research
05/05/2021

Pairwise Point Cloud Registration using Graph Matching and Rotation-invariant Features

Registration is a fundamental but critical task in point cloud processin...
research
10/18/2021

Deep Models with Fusion Strategies for MVP Point Cloud Registration

The main goal of point cloud registration in Multi-View Partial (MVP) Ch...
research
04/08/2019

Minimal Solvers for Mini-Loop Closures in 3D Multi-Scan Alignment

3D scan registration is a classical, yet a highly useful problem in the ...
research
07/26/2019

FAKIR : An algorithm for estimating the pose and elementary anatomy of archaeological statues

The digitization of archaeological artefacts has become an essential par...
research
05/18/2023

3D Registration with Maximal Cliques

As a fundamental problem in computer vision, 3D point cloud registration...

Please sign up or login with your details

Forgot password? Click here to reset