Research map / Point clouds / Registration and matching
SC2-PCR: A Second Order Spatial Compatibility for Efficient and Robust Point Cloud Registration
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Measured effects reported in the paper
| What was changed | Where | Measured | Effect |
|---|---|---|---|
| Use SC² rather than RANSAC sampling (ablation) | RANSAC registration on 3DMatch · 3DMatch, FPFH | RR (%): 66.10 -> 80.89 | Helped |
| Use SC² rather than first-order SC guidance (ablation) | Registration sampling on 3DMatch · 3DMatch, FPFH | RR (%): 71.56 -> 80.89 | Helped |
| Use SC² rather than RANSAC sampling (ablation) | RANSAC registration on 3DMatch · 3DMatch, FCGF | RR (%): 91.44 -> 93.10 | Helped |
| Use SC² rather than first-order SC guidance (ablation) | Registration sampling on 3DMatch · 3DMatch, FCGF | RR (%): 87.52 -> 93.10 | Helped |
| Add two-stage selection to SC² sampling (ablation) | SC²-PCR · 3DMatch, FPFH | RR (%): 80.89 -> 82.85 | Helped |
| Add two-stage selection to SC² sampling (ablation) | SC²-PCR · 3DMatch, FCGF | RR (%): 93.10 -> 93.22 | Helped |
| Add local spectral matching and weighted SVD (ablation) | SC²-PCR with two-stage selection · 3DMatch, FPFH | RR (%): 82.85 -> 84.10 | Helped |
| Add local spectral matching and weighted SVD (ablation) | SC²-PCR with two-stage selection · 3DMatch, FCGF | RR (%): 93.22 -> 93.28 | Helped |
| Select a subset of seeds instead of using every correspondence as a seed (ablation) | SC²-PCR with local spectral matching · 3DMatch, FPFH | Time (s): 0.37 -> 0.11 | Helped |
| Select a subset of seeds instead of using every correspondence as a seed (ablation) | SC²-PCR with local spectral matching · 3DMatch, FCGF | Time (s): 0.37 -> 0.11 | Helped |
| Add seed selection (ablation) | SC²-PCR with local spectral matching · 3DMatch, FPFH | RR (%): 84.10 -> 83.98 | Hurt |
| Add seed selection (ablation) | SC²-PCR with local spectral matching · 3DMatch, FCGF | RR (%): 93.28 -> 93.28 | No clear effect |
Closest papers by meaning
- Cross-PCR: A Robust Cross-Source Point Cloud Registration Framework (AAAI 2025 · similarity 0.89)
- A robust inlier identification algorithm for point cloud registration via $\mathbf{\ell_0}$-minimization (NeurIPS 2024 · similarity 0.87)
- PSReg: Prior-guided Sparse Mixture of Experts for Point Cloud Registration (AAAI 2025 · similarity 0.87)
- Inlier Confidence Calibration for Point Cloud Registration (CVPR 2024 · similarity 0.87)
- HeMoRa: Unsupervised Heuristic Consensus Sampling for Robust Point Cloud Registration (CVPR 2025 · similarity 0.87)
- PointMC: Multi-instance Point Cloud Registration based on Maximal Cliques (ICML 2024 · similarity 0.86)
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