Papers › APR: Online Distant Point Cloud Registration Through Aggregated Point Cloud Reconstruction
APR: Online Distant Point Cloud Registration Through Aggregated Point Cloud Reconstruction
Quan Liu, Yunsong Zhou, Hongzi Zhu, Shan Chang, Minyi Guo
For many driving safety applications, it is of great importance to accurately register LiDAR point clouds generated on distant moving vehicles. However, such point clouds have extremely different point density and sensor perspective on the same object, making registration on such point clouds very hard. In this paper, we propose a novel feature extraction framework, called APR, for online distant point cloud registration. Specifically, APR leverages an autoencoder design, where the autoencoder reconstructs a denser aggregated point cloud with several frames instead of the original single input point cloud. Our design forces the encoder to extract features with rich local geometry information based on one single input point cloud. Such features are then used for online distant point cloud registration. We conduct extensive experiments against state-of-the-art (SOTA) feature extractors on KITTI and nuScenes datasets. Results show that APR outperforms all other extractors by a large margin, increasing average registration recall of SOTA extractors by 7.1% on LoKITTI and 4.6% on LoNuScenes. Code is available at https://github.com/liuQuan98/APR.
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Tasks
Results from the paper archive 2025-07-28
| Task | Dataset | Model | Metric | Value | Rank at snapshot | Leaderboard | Report |
|---|---|---|---|---|---|---|---|
| Point Cloud Registration | KITTI (Distant PCR) | Predator+APR(a) | RR @ Loose Criterion (5°&2m), on LoKITTI | 50.8 | #3 of 4 | Archive leaderboard | report |
| Point Cloud Registration | KITTI (Distant PCR) | Predator+APR(a) | mRR @ Normal Criterion (1.5°&0.3m) | 78.2 | #3 of 4 | Archive leaderboard | report |
| Point Cloud Registration | KITTI (Distant PCR) | FCGF+APR(s) | RR @ Loose Criterion (5°&2m), on LoKITTI | 33.0 | #4 of 4 | Archive leaderboard | report |
| Point Cloud Registration | KITTI (Distant PCR) | FCGF+APR(s) | mRR @ Normal Criterion (1.5°&0.3m) | 62.9 | #4 of 4 | Archive leaderboard | report |
| Point Cloud Registration | nuScenes (Distant PCR) | FCGF+APR(s) | RR @ Loose Criterion (5°&2m), on LoNuScenes | 51.8 | #3 of 4 | Archive leaderboard | report |
| Point Cloud Registration | nuScenes (Distant PCR) | FCGF+APR(s) | mRR @ Normal Criterion (1.5°&0.3m) | 62.9 | #3 of 4 | Archive leaderboard | report |
| Point Cloud Registration | nuScenes (Distant PCR) | Predator+APR(a) | RR @ Loose Criterion (5°&2m), on LoNuScenes | 62.7 | #4 of 4 | Archive leaderboard | report |
| Point Cloud Registration | nuScenes (Distant PCR) | Predator+APR(a) | mRR @ Normal Criterion (1.5°&0.3m) | 52.2 | #4 of 4 | Archive leaderboard | report |
Ranks are positions in the archive's leaderboards as they stood at the 2025-07-28 snapshot. Results published since then are not among these rows, so a rank here is not a current standing.
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