Point Cloud Registration via Probabilistic Self-Update Local Correspondence and Line Vector Sets

• URL: http://arxiv.org/abs/2604.26318v1
• Date: Wed, 29 Apr 2026 06:00:21 GMT
• Title: Point Cloud Registration via Probabilistic Self-Update Local Correspondence and Line Vector Sets
• Abstract summary: Point cloud registration is a fundamental task for integrating 3D observations in remote sensing applications.<n>This paper proposes a fast and effective algorithm utilizing probabilistic self-updating local correspondence and line vector sets.
• Score: 2.753666657504169
• License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/
• Abstract: Point cloud registration (PCR) is a fundamental task for integrating 3D observations in remote sensing applications. This paper proposes a fast and effective PCR algorithm utilizing probabilistic self-updating local correspondence and line vector sets. Our dual RANSAC interaction model comprises a global RANSAC evaluating the global correspondence set and a local RANSAC operating on dynamically updated local sets. Initially, these local sets are constructed using angle histogram statistics and line vector length preservation techniques. To improve accuracy, a probabilistic self-updating strategy refines the local sets after each interaction round. To reduce runtime, we introduce a global early termination condition that optimally balances accuracy and efficiency. Finally, a weighted singular value decomposition estimates the registration solution. Evaluations on public datasets demonstrate our algorithm achieves superior time efficiency and at least a 10% root mean square error improvement over state-of-the-art methods. The C++ source code is publicly available at https://github.com/ivpml84079/Probabilistic-Self-Update-Line-Vector-Set-Based-Point-Cloud-Registrati on.

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