RANSACs for 3D Rigid Registration: A Comparative Evaluation

doi:10.1109/JAS.2022.105500

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	RANSACs for 3D Rigid Registration: A Comparative Evaluation
	Jiaqi Yang; Zhiqiang Huang; Siwen Quan; Zhiguo Cao; Yanning Zhang
刊名	IEEE/CAA Journal of Automatica Sinica
	2022
卷号	9 期号:10 页码:1861-1878
关键词	3D rigid registration performance evaluation point cloud pose estimation
ISSN号	2329-9266
DOI	10.1109/JAS.2022.105500
英文摘要	Estimating an accurate six-degree-of-freedom (6-DoF) pose from correspondences with outliers remains a critical issue to 3D rigid registration. Random sample consensus (RANSAC) and its variants are popular solutions to this problem. Although there have been a number of RANSAC-fashion estimators, two issues remain unsolved. First, it is unclear which estimator is more appropriate to a particular application. Second, the impacts of different sampling strategies, hypothesis generation methods, hypothesis evaluation metrics, and stop criteria on the overall estimators remain ambiguous. This work fills these gaps by first considering six existing RANSAC-fashion methods and then proposing eight variants for a comprehensive evaluation. The objective is to thoroughly compare estimators in the RANSAC family, and evaluate the effects of each key stage on the eventual 6-DoF pose estimation performance. Experiments have been carried out on four standard datasets with different application scenarios, data modalities, and nuisances. They provide us with input correspondence sets with a variety of inlier ratios, spatial distributions, and scales. Based on the experimental results, we summarize remarkable outcomes and valuable findings, so as to give practical instructions to real-world applications, and highlight current bottlenecks and potential solutions in this research realm.
内容类型	期刊论文
源URL	[http://ir.ia.ac.cn/handle/173211/49714]
专题	自动化研究所_学术期刊_IEEE/CAA Journal of Automatica Sinica
推荐引用方式 GB/T 7714	Jiaqi Yang,Zhiqiang Huang,Siwen Quan,et al. RANSACs for 3D Rigid Registration: A Comparative Evaluation[J]. IEEE/CAA Journal of Automatica Sinica,2022,9(10):1861-1878.
APA	Jiaqi Yang,Zhiqiang Huang,Siwen Quan,Zhiguo Cao,&Yanning Zhang.(2022).RANSACs for 3D Rigid Registration: A Comparative Evaluation.IEEE/CAA Journal of Automatica Sinica,9(10),1861-1878.
MLA	Jiaqi Yang,et al."RANSACs for 3D Rigid Registration: A Comparative Evaluation".IEEE/CAA Journal of Automatica Sinica 9.10(2022):1861-1878.