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

- Source: arXiv cs.RO
- Published: 2026-10-27T04:00:00.000Z
- RoboHot: https://robohot.news/en/items/cdd01vgys1vvsa6zmdg0bd66n
- Original: https://arxiv.org/abs/2610.34271

## Summary

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.