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TLP: Single-Parameter Robust Point Cloud Registration with Truncated Lp Functions

The authors propose TLP, a point cloud registration method with only one tunable parameter. It uses truncated Lp functions with different p values to assign priority scores to correspondences, select hypotheses, and refine the final model. Targeting the high outlier rates in real-world 3D feature matching, the method uses GPU parallelism to evaluate hypotheses and can on average complete registration from thousands of correspondences within 1 second. On public benchmark datasets, TLP is more accurate than existing single-parameter methods and outperforms two commonly used multi-parameter methods on three of the four evaluated datasets, while maintaining competitive runtime.

Part of the event: TLP: A Single-Parameter Robust Point Cloud Registration Method

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