Awesome-PointCloudRegistration

- 3D Non-Rigid Registration

• Feature preserving non-rigid iterative weighted closest point and semi-curvature registration. TIP. 2022
• Accurate Point Cloud Registration with Robust Optimal Transport. NIPS. 2021
• Quasi-Newton Solver for Robust Non-Rigid Registration. CVPR 2020.

- 3D Rigid Registration

Learning Based

• PREDATOR: Registration of 3D Point Clouds with Low Overlap. CVPR2021
• RPM-Net: Robust Point Matching using Learned Features. CVPR2020
• Robust Point Cloud Registration Framework Based on Deep Graph Matching. CVPR2021
• SpinNet: Learning a General Surface Descriptor for 3D Point Cloud Registration. CVPR2021
• PointDSC: Robust Point Cloud Registration Using Deep Spatial Consistency. CVPR2021
• UnsupervisedR&R: Unsupervised Point Cloud Registration via Differentiable Rendering. CVPR2021
• End-to-End Learning Local Multi-view Descriptors for 3D Point Clouds. CVPR2020

Detector/Descriptor

• (MeshDOG)Keypoints and Local Descriptors of Scalar Functions on 2D Manifolds. IJCV 2012
• Scale-invariant features for 3-D mesh models." TIP 2012
• On the Repeatability and Quality of Keypoints for Local Feature-based 3D Object Retrieval from Cluttered Scenes. IJCV 2009.

Fine Registration

• DICP: Doppler Iterative Closest Point Algorithm. arxiv 2022
• Registration of 3D Point Sets Using Correntropy Similarity Matrix. 2021
• Provably Approximated Point Cloud Registration. ICCV'2021
• Scale-Adaptive ICP. PR. 2021.
• LSG-CPD: Coherent Point Drift with Local Surface Geometry for Point Cloud Registration. ICCV'2021
• Fast and Robust Iterative Closest Point. TPAMI 2021
• Analysis of robust functions for registration algorithms.ICRA 2019.
• FilterReg: Robust and Efficient Probabilistic Point-Set Registration using Gaussian Filter and Twist Parameterization. CVPR'2019
• Analysis of Robust Functions for Registration Algorithms. ICRA 2019.
• Quality-based registration refinement of airborne LiDAR and photogrammetric point clouds.ISPRS 2019
• A symmetric objective function for ICP."ACM Transactions on Graphics. TOG 2019
• Effective scaling registration approach by imposing the emphasis on the scale factor. 2019
• Correntropy based scale ICP algorithm for robust point set registration. 2019
• AA-ICP: Iterative closest point with Anderson acceleration.ICRA, 2018.
• Multi channel generalized-ICP. ICRA, 2014.
• Sparse iterative closest point. CGF 2013
• Point set registration: Coherent point drift. TPAMI 2010
• [GMMReg]Robust point set registration using gaussian mixture models. TPAMI 2011.
• A scale stretch method based on ICP for 3D data registration. 2009
• [KC] A correlation-based approach to robust point set registration." ECCV 2004.
• [Hiearchical ICP] A multi-resolution ICP with heuristic closest point search for fast and robust 3D registration of range images. 2003
• The normal distributions transform: A new approach to laser scan matching. IROS 2003
• ICP registration using invariant features. TPAMI 2002.
• Multi-scale EM-ICP: A Fast and Robust Approach for Surface Registration. ECCV 2002.
• Efficient variants of the ICP algorithm. IC3DIM 2001
• Object modelling by registration of multiple range images. IVC 1992
• Method for registration of 3-D shapes. ICOP 1992.

Coarse Registration

• Fast Semantic-Assisted Outlier Removal for Large-scale Point Cloud Registration. arxiv'2022
• Robust global registration of point clouds by closed-form solution in the frequency domain. ISPRS Journal. 2021
• [4plane PCS] 4-Plane congruent sets for automatic registration of as-is 3D point clouds with 3D BIM models. 2018
• [V4PCS] V4PCS: Volumetric 4PCS algorithm for global registration. 2017
• [Plane2Plane] Efficient and Accurate Registration of Point Clouds With Plane to Plane Correspondences. ICCV 2017
• Go-ICP. TPAMI 2016
• [Scale 4PCS]Fully Automatic Registration of Image Sets on Approximate Geometry. IJCV 2013
• Robust global registration." SGP 2005.
• Least-Squares Fitting of Two 3-D Point Sets. TPAMI 1987
• Closed-form solution of absolute orientation using unit quaternions. JOSA 1987

Robust Estimation

• A Single Correspondence Is Enough: Robust Global Registration to Avoid Degeneracy in Urban Environments. ICRA'2022
• SC^2-PCR: A Second Order Spatial Compatibility for Efficient and Robust Point Cloud Registration. CVPR'2022
• A Practical O (N2) Outlier Removal Method for Point Cloud Registration. TPAMI 2021.
• Graduated Non-Convexity for Robust Spatial Perception: From Non-Minimal Solvers to Global Outlier Rejection. ICRA 2020.
• TEASER: Fast and Certifiable Point Cloud Registration. T-RO'2020
• A Practical Maximum Clique Algorithm for Matching with Pairwise Constraints. 2019
• GORE: Guaranteed Outlier Removal for Point Cloud Registration with Correspondences. TPAMI'2018
• FGR: Fast Global Registration. ECCV'2016
• On the Unification of Line Processes, Outlier Rejection, and Robust Statistics with Applications in Early Vision. IJCV 1996

Survey

• [Nonrigid] A survey of non-rigid 3D registration. arxiv. 2022
• [Descriptor design] Evaluating Local Geometric Feature Representations for 3D Rigid Data Matching. 2019 TIP
• [Descriptor application scenario] A Comprehensive Performance Evaluation of 3D Local Feature Descriptors. 2016 IJCV.
• [Descriptor for indoor,outdoor] Evaluation of 3D feature descriptors for multi-modal data registration. 2013 IC3DV
• [Descriptor with color]Influence of Colour and Feature Geometry on Multi-modal 3D Point Clouds Data Registration. 2014 IC3DV
• [Descriptor for large-scale scene]An Evaluation of Local Shape Descriptors in Probabilistic Volumetric Scenes. BMVC 2012
• [Detector] Performance Evaluation of 3D Keypoint Detectors. 2012 IJCV
• [Robust Estimation] A Performance Evaluation of Correspondence Grouping Methods for 3D Rigid Data Matching. TPAMI'2019
• [RANSAC-type] A Comparative Analysis of RANSAC Techniques Leading to Adaptive Real-Time Random Sample Consensus. ECCV 2008.
• [ICP on slam] Comparing ICP variants on real-world data sets. 2013 Autonoumous Robots.
• [Rigid Non-rigid] Registration of 3D point clouds and meshes: A survey from rigid to nonrigid. 2012 TVCG
• [LiDAR] Registration of Laser Scanning Point Clouds: A Review. 2018 Sensors.
• [Defomable Correspondence]Recent advances in shape correspondence. 2019 Visual Computer
• [Correspondence] A Survey on Shape Correspondence. CGF 2012
• [Corase and Fine Registration]A review of recent range image registration methodswith accuracy evaluation. IVC 2006.
• Recent developments and trends in point set registration methods。 2017

Lecture

• [Recover euler angle from matrix]
• [CMU ICP-variant lecture]
• [Stanford Quaternion]
• [EM and GMM]
• [EM and GMM]
• [SIFT]
• [ADMM]
• [Wiki Point set registration]
• [Point-to-Point, SVD]
• [Point-to-Plane, lineear approximation]
• [Point-to-Plane, Rodrigues approximation]

- 2D-3D Registration

• Phase-Congruency-Based Scene Abstraction Approach for 2D-3D Registration of Aerial Optical and LiDAR Images. AEORS 2020

- 2D-2D Registration

• Co-Attention for Conditioned Image Matching
• Automatic UAV image geo-registration by matching UAV images to georeferenced image data. Remote Sensing 2017
• Universal correspondence network. arXiv 2016.

Dataset

• [3DCSR, 2021, cross-source: Kinect_Lidar and Kinect_SFM ]
• [nuScenes, 2020, LiDAR like kitti]
• [WHU-TLS,2020, TLS]
• [RESSO,2019, TLS]
• [ETH PRS TLS]
• [ETH ASL]