高效对应聚类的多实例点云配准

Nov, 2021

Multi-instance Point Cloud Registration by Efficient Correspondence Clustering

Weixuan Tang, Danping Zou

TL;DR在点云匹配中，以距离不变性矩阵为基础进行聚类，实现了多实例姿态估计并剔除离群点的目标，其可靠性和效率均优于现有方法。

Abstract

We address the problem of estimating the poses of multiple instances of the source point cloud within a target point cloud. Existing solutions require sampling a lot of hypotheses to detect possible instances and