{"about":{"site":"https://codewithpapers.app","non_affiliation":"Code with Papers and Syntology are not affiliated with, endorsed by, or sponsored by Papers with Code, Meta, or the pwc-archive mirror.","licence":"CC BY-SA 4.0","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","attribution":"https://codewithpapers.app/attribution","modified":"archive material modified by Syntology; see the attribution page"},"url":"/paper/3d-registration-with-maximal-cliques-1","title":"3D Registration with Maximal Cliques","arxiv_id":"2305.10854","date":"2023-05-18","proceeding":"CVPR 2023 1","authors":["Xiyu Zhang","Jiaqi Yang","Shikun Zhang","Yanning Zhang"],"abstract":"As a fundamental problem in computer vision, 3D point cloud registration (PCR) aims to seek the optimal pose to align a point cloud pair. In this paper, we present a 3D registration method with maximal cliques (MAC). The key insight is to loosen the previous maximum clique constraint, and mine more local consensus information in a graph for accurate pose hypotheses generation: 1) A compatibility graph is constructed to render the affinity relationship between initial correspondences. 2) We search for maximal cliques in the graph, each of which represents a consensus set. We perform node-guided clique selection then, where each node corresponds to the maximal clique with the greatest graph weight. 3) Transformation hypotheses are computed for the selected cliques by the SVD algorithm and the best hypothesis is used to perform registration. Extensive experiments on U3M, 3DMatch, 3DLoMatch and KITTI demonstrate that MAC effectively increases registration accuracy, outperforms various state-of-the-art methods and boosts the performance of deep-learned methods. MAC combined with deep-learned methods achieves state-of-the-art registration recall of 95.7% / 78.9% on 3DMatch / 3DLoMatch.","url_abs":"https://arxiv.org/abs/2305.10854v1","url_pdf":"https://arxiv.org/pdf/2305.10854v1.pdf","source":{"archive":"pwc-archive (Hugging Face), CC BY-SA 4.0","snapshot":"2025-07-28","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","row_kind":"abstracts"},"code_links":[{"paper_slug":"3d-registration-with-maximal-cliques-1","repo_url":"https://github.com/zhangxy0517/3d-registration-with-maximal-cliques","is_official":1,"mentioned_in_paper":1,"mentioned_in_github":1,"framework":"none","reach":{"status":"ok","spdx":"MIT"}}],"tasks":[{"task_slug":"point-cloud-registration","task_name":"Point Cloud Registration"}],"methods":[{"method_slug":"align","method_name":"ALIGN"}],"datasets_introduced":[],"methods_introduced":[],"results":[],"syntology":{"syntology_url":"https://syntology.ai/paper/2305.10854","atlas_url":"https://app.syntology.ai/?focus=2305.10854","mcp":{"get_harvested_code_for_paper":{"arxiv_id":"2305.10854"}},"developers":"https://syntology.ai/developers","read_at":"2026-09-25T09:33:49+00:00","read_at_is":"when the build read Syntology's graph, not when any sample ran","claim":"Per-sample execution status on synthesized fixtures; not a correctness claim about the paper. 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