This academic article focuses on the problem of point cloud registration in the presence of heavy outlier correspondences. The authors propose a novel transformation decoupling strategy using screw theory. This strategy decomposes the original 4-DOF problem into three sub-problems, enhancing computation efficiency. The method can handle the correspondence-free registration problem due to its robustness. The authors conducted extensive experiments on synthetic and real-world datasets demonstrating that their method is more efficient and robust than current state-of-the-art methods.
Publication date: 3 Nov 2023
Project Page: N/A
Paper: https://arxiv.org/pdf/2311.01432
