Incremental Multiview Point Cloud Registration

TL;DR

This paper introduces an incremental multiview point cloud registration method that builds a sparse scan graph and refines the model, outperforming existing methods on benchmark datasets.

Contribution

It proposes a novel incremental pipeline for multiview registration, including a track refinement process for detector-free matchers, enhancing accuracy and robustness.

Findings

Outperforms existing methods on benchmark datasets

Effective in constructing coarse and refined multiview registration

Incorporates track refinement for detector-free matchers

Abstract

In this paper, we present a novel approach for multiview point cloud registration. Different from previous researches that typically employ a global scheme for multiview registration, we propose to adopt an incremental pipeline to progressively align scans into a canonical coordinate system. Specifically, drawing inspiration from image-based 3D reconstruction, our approach first builds a sparse scan graph with scan retrieval and geometric verification. Then, we perform incremental registration via initialization, next scan selection and registration, Track create and continue, and Bundle Adjustment. Additionally, for detector-free matchers, we incorporate a Track refinement process. This process primarily constructs a coarse multiview registration and refines the model by adjusting the positions of the keypoints on the Track. Experiments demonstrate that the proposed framework outperforms existing multiview registration methods on three benchmark datasets. The code is available at https://github.com/Choyaa/IncreMVR.