{"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/fast-global-registration","title":"Fast Global Registration","arxiv_id":null,"date":"2016-10-08","proceeding":"ECCV 2016 10","authors":["Qian-Yi Zhou","Jaesik Park","Vladlen Koltun"],"abstract":"We present an algorithm for fast global registration of partially overlapping 3D surfaces. The algorithm operates on candidate matches that cover the\r\nsurfaces. A single objective is optimized to align the surfaces and disable false\r\nmatches. The objective is defined densely over the surfaces and the optimization achieves tight alignment with no initialization. No correspondence updates\r\nor closest-point queries are performed in the inner loop. An extension of the algorithm can perform joint global registration of many partially overlapping surfaces. Extensive experiments demonstrate that the presented approach matches\r\nor exceeds the accuracy of state-of-the-art global registration pipelines, while being at least an order of magnitude faster. Remarkably, the presented approach is\r\nalso faster than local refinement algorithms such as ICP. It provides the accuracy achieved by well-initialized local refinement algorithms, without requiring\r\nan initialization and at lower computational cost.","url_abs":"http://vladlen.info/papers/fast-global-registration.pdf","url_pdf":"http://vladlen.info/papers/fast-global-registration.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":"fast-global-registration","repo_url":"https://github.com/isl-org/FastGlobalRegistration","is_official":0,"mentioned_in_paper":0,"mentioned_in_github":0,"framework":"none","reach":null}],"tasks":[{"task_slug":"point-cloud-registration","task_name":"Point Cloud Registration"}],"methods":[],"datasets_introduced":[],"methods_introduced":[],"results":[{"leaderboard":"/sota/point-cloud-registration-on-3dmatch-at-least-1","task":"Point Cloud Registration","dataset":"3DMatch (at least 30% overlapped - FCGF setting)","model":"FGR","rank_in_archive_order":8,"of":14,"metrics":{"Recall (0.3m, 15 degrees)":"42.7"},"uses_additional_data":false},{"leaderboard":"/sota/point-cloud-registration-on-kitti-fcgf","task":"Point Cloud Registration","dataset":"KITTI (FCGF setting)","model":"FGR","rank_in_archive_order":11,"of":11,"metrics":{"Recall (0.6m, 5 degrees)":"0.2"},"uses_additional_data":false}],"syntology":{"atlas_url":null,"mcp":null,"developers":"https://syntology.ai/developers"},"arxiv_metadata":null,"syntology_extracted_results":null}