Papers › Geometric Transformer for Fast and Robust Point Cloud Registration
Geometric Transformer for Fast and Robust Point Cloud Registration
Zheng Qin, Hao Yu, Changjian Wang, Yulan Guo, Yuxing Peng, Kai Xu
We study the problem of extracting accurate correspondences for point cloud registration. Recent keypoint-free methods bypass the detection of repeatable keypoints which is difficult in low-overlap scenarios, showing great potential in registration. They seek correspondences over downsampled superpoints, which are then propagated to dense points. Superpoints are matched based on whether their neighboring patches overlap. Such sparse and loose matching requires contextual features capturing the geometric structure of the point clouds. We propose Geometric Transformer to learn geometric feature for robust superpoint matching. It encodes pair-wise distances and triplet-wise angles, making it robust in low-overlap cases and invariant to rigid transformation. The simplistic design attains surprisingly high matching accuracy such that no RANSAC is required in the estimation of alignment transformation, leading to $100$ times acceleration. Our method improves the inlier ratio by 17∼30 percentage points and the registration recall by over $7$ points on the challenging 3DLoMatch benchmark. Our code and models are available at \url{https://github.com/qinzheng93/GeoTransformer}.
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Code
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Code Syntology ran Syntology
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Tasks
1 archive task tag without a task page not shown.
Results from the paper archive 2025-07-28
| Task | Dataset | Model | Metric | Value | Rank at snapshot | Leaderboard | Report |
|---|---|---|---|---|---|---|---|
| Point Cloud Registration | 3DLoMatch (10-30% overlap) | GeoTransformer - P2PNet | Recall ( correspondence RMSE below 0.2) | 74 | #2 of 13 | Archive leaderboard | report |
| Point Cloud Registration | 3DMatch (at least 30% overlapped - FCGF setting) | GeoTransformer | Recall (0.3m, 15 degrees) | 95 | #2 of 14 | Archive leaderboard | report |
| Point Cloud Registration | FPv1 | GeoTransformer | RRE (degrees) | 2.423 | #2 of 8 | Archive leaderboard | report |
| Point Cloud Registration | FPv1 | GeoTransformer | RTE (cm) | 1.581 | #2 of 8 | Archive leaderboard | report |
| Point Cloud Registration | FPv1 | GeoTransformer | Recall (3cm, 10 degrees) | 56.15 | #2 of 8 | Archive leaderboard | report |
| Point Cloud Registration | KITTI (FCGF setting) | GeoTransformer | Recall (0.6m, 5 degrees) | 99.5 | #1 of 11 | Archive leaderboard | report |
| Point Cloud Registration | ScanNet++ (trained on 3DMatch) | GeoTransformer | Recall ( correspondence RMSE below 0.2) | 73.4 | #2 of 3 | 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.
Methods
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