{"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/benchmarking-classical-and-learning-based","title":"Benchmarking Classical and Learning-Based Multibeam Point Cloud Registration","arxiv_id":"2405.06279","date":"2024-05-10","proceeding":null,"authors":["Li Ling","Jun Zhang","Nils Bore","John Folkesson","Anna Wåhlin"],"abstract":"Deep learning has shown promising results for multiple 3D point cloud registration datasets. However, in the underwater domain, most registration of multibeam echo-sounder (MBES) point cloud data are still performed using classical methods in the iterative closest point (ICP) family. In this work, we curate and release DotsonEast Dataset, a semi-synthetic MBES registration dataset constructed from an autonomous underwater vehicle in West Antarctica. Using this dataset, we systematically benchmark the performance of 2 classical and 4 learning-based methods. The experimental results show that the learning-based methods work well for coarse alignment, and are better at recovering rough transforms consistently at high overlap (20-50%). In comparison, GICP (a variant of ICP) performs well for fine alignment and is better across all metrics at extremely low overlap (10%). To the best of our knowledge, this is the first work to benchmark both learning-based and classical registration methods on an AUV-based MBES dataset. To facilitate future research, both the code and data are made available online.","url_abs":"https://arxiv.org/abs/2405.06279v1","url_pdf":"https://arxiv.org/pdf/2405.06279v1.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":"benchmarking-classical-and-learning-based","repo_url":"https://github.com/luxiya01/mbes-registration-data","is_official":1,"mentioned_in_paper":1,"mentioned_in_github":1,"framework":"pytorch","reach":null}],"tasks":[{"task_slug":"benchmarking","task_name":"Benchmarking"},{"task_slug":"point-cloud-registration","task_name":"Point Cloud Registration"}],"methods":[],"datasets_introduced":[],"methods_introduced":[],"results":[],"syntology":{"atlas_url":null,"mcp":null,"developers":"https://syntology.ai/developers"},"arxiv_metadata":null,"syntology_extracted_results":null}