Papers › SC2-PCR: A Second Order Spatial Compatibility for Efficient and Robust Point Cloud Registration
SC2-PCR: A Second Order Spatial Compatibility for Efficient and Robust Point Cloud Registration
1 Jan 2022CVPR 2022 1archive 2025-07-28
Zhi Chen, Kun Sun, Fan Yang, Wenbing Tao
In this paper, we present a second order spatial compatibility (SC^2) measure based method for efficient and robust point cloud registration (PCR), called SC^2-PCR. Firstly, we propose a second order spatial compatibility (SC^2) measure to compute the similarity between correspondences. It considers the global compatibility instead of local consistency, allowing for more distinctive clustering between inliers and outliers at early stage. Based on this measure, our registration pipeline employs a global spectral technique to find some reliable seeds from the initial correspondences. Then we design a two-stage strategy to expand each seed to a consensus set based on the SC^2 measure matrix. Finally, we feed each consensus set to a weighted SVD algorithm to generate a candidate rigid transformation and select the best model as the final result. Our method can guarantee to find a certain number of outlier-free consensus sets using fewer samplings, making the model estimation more efficient and robust. In addition, the proposed SC^2 measure is general and can be easily plugged into deep learning based frameworks. Extensive experiments are carried out to investigate the performance of our method.
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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 |
ETH (trained on 3DMatch) |
FCGF+SC2-PCR |
Recall (30cm, 5 degrees) |
92.85 |
#13 of 20 |
Archive leaderboard |
report |
| Point Cloud Registration |
ETH (trained on 3DMatch) |
FPFH+SC2-PCR |
Recall (30cm, 5 degrees) |
85.41 |
#14 of 20 |
Archive leaderboard |
report |
| Point Cloud Registration |
FP-O-E |
FPFH+SC2-PCR |
RRE (degrees) |
0.91 |
#1 of 6 |
Archive leaderboard |
report |
| Point Cloud Registration |
FP-O-E |
FPFH+SC2-PCR |
RTE (cm) |
0.43 |
#1 of 6 |
Archive leaderboard |
report |
| Point Cloud Registration |
FP-O-E |
FPFH+SC2-PCR |
Recall (3cm, 10 degrees) |
99.88 |
#1 of 6 |
Archive leaderboard |
report |
| Point Cloud Registration |
FP-O-E |
FCGF+SC2-PCR |
RRE (degrees) |
1.26 |
#4 of 6 |
Archive leaderboard |
report |
| Point Cloud Registration |
FP-O-E |
FCGF+SC2-PCR |
RTE (cm) |
0.83 |
#4 of 6 |
Archive leaderboard |
report |
| Point Cloud Registration |
FP-O-E |
FCGF+SC2-PCR |
Recall (3cm, 10 degrees) |
98.52 |
#4 of 6 |
Archive leaderboard |
report |
| Point Cloud Registration |
FP-O-H |
FPFH+SC2-PCR |
RRE (degrees) |
2.42 |
#1 of 6 |
Archive leaderboard |
report |
| Point Cloud Registration |
FP-O-H |
FPFH+SC2-PCR |
RTE (cm) |
1.23 |
#1 of 6 |
Archive leaderboard |
report |
| Point Cloud Registration |
FP-O-H |
FPFH+SC2-PCR |
Recall (3cm, 10 degrees) |
38.85 |
#1 of 6 |
Archive leaderboard |
report |
| Point Cloud Registration |
FP-O-H |
FCGF+SC2-PCR |
RRE (degrees) |
2.68 |
#3 of 6 |
Archive leaderboard |
report |
| Point Cloud Registration |
FP-O-H |
FCGF+SC2-PCR |
RTE (cm) |
1.72 |
#3 of 6 |
Archive leaderboard |
report |
| Point Cloud Registration |
FP-O-H |
FCGF+SC2-PCR |
Recall (3cm, 10 degrees) |
17.80 |
#3 of 6 |
Archive leaderboard |
report |
| Point Cloud Registration |
FP-O-M |
FPFH+SC2-PCR |
RRE (degrees) |
1.68 |
#2 of 6 |
Archive leaderboard |
report |
| Point Cloud Registration |
FP-O-M |
FPFH+SC2-PCR |
RTE (cm) |
0.80 |
#2 of 6 |
Archive leaderboard |
report |
| Point Cloud Registration |
FP-O-M |
FPFH+SC2-PCR |
Recall (3cm, 10 degrees) |
84.70 |
#2 of 6 |
Archive leaderboard |
report |
| Point Cloud Registration |
FP-O-M |
FCGF+SC2-PCR |
RRE (degrees) |
1.98 |
#4 of 6 |
Archive leaderboard |
report |
| Point Cloud Registration |
FP-O-M |
FCGF+SC2-PCR |
RTE (cm) |
1.27 |
#4 of 6 |
Archive leaderboard |
report |
| Point Cloud Registration |
FP-O-M |
FCGF+SC2-PCR |
Recall (3cm, 10 degrees) |
63.00 |
#4 of 6 |
Archive leaderboard |
report |
| Point Cloud Registration |
FP-R-E |
FPFH+SC2-PCR |
RRE (degrees) |
0.95 |
#3 of 6 |
Archive leaderboard |
report |
| Point Cloud Registration |
FP-R-E |
FPFH+SC2-PCR |
RTE (cm) |
0.43 |
#3 of 6 |
Archive leaderboard |
report |
| Point Cloud Registration |
FP-R-E |
FPFH+SC2-PCR |
Recall (3cm, 10 degrees) |
99.64 |
#3 of 6 |
Archive leaderboard |
report |
| Point Cloud Registration |
FP-R-E |
FCGF+SC2-PCR |
RRE (degrees) |
1.21 |
#4 of 6 |
Archive leaderboard |
report |
| Point Cloud Registration |
FP-R-E |
FCGF+SC2-PCR |
RTE (cm) |
0.82 |
#4 of 6 |
Archive leaderboard |
report |
| Point Cloud Registration |
FP-R-E |
FCGF+SC2-PCR |
Recall (3cm, 10 degrees) |
98.46 |
#4 of 6 |
Archive leaderboard |
report |
| Point Cloud Registration |
FP-R-H |
FCGF+SC2-PCR |
RRE (degrees) |
1.77 |
#2 of 6 |
Archive leaderboard |
report |
| Point Cloud Registration |
FP-R-H |
FCGF+SC2-PCR |
RTE (cm) |
1.08 |
#2 of 6 |
Archive leaderboard |
report |
| Point Cloud Registration |
FP-R-H |
FCGF+SC2-PCR |
Recall (3cm, 10 degrees) |
85.77 |
#2 of 6 |
Archive leaderboard |
report |
| Point Cloud Registration |
FP-R-H |
FPFH+SC2-PCR |
RRE (degrees) |
1.76 |
#4 of 6 |
Archive leaderboard |
report |
| Point Cloud Registration |
FP-R-H |
FPFH+SC2-PCR |
RTE (cm) |
0.78 |
#4 of 6 |
Archive leaderboard |
report |
| Point Cloud Registration |
FP-R-H |
FPFH+SC2-PCR |
Recall (3cm, 10 degrees) |
75.21 |
#4 of 6 |
Archive leaderboard |
report |
| Point Cloud Registration |
FP-R-M |
FPFH+SC2-PCR |
RRE (degrees) |
1.43 |
#3 of 6 |
Archive leaderboard |
report |
| Point Cloud Registration |
FP-R-M |
FPFH+SC2-PCR |
RTE (cm) |
0.60 |
#3 of 6 |
Archive leaderboard |
report |
| Point Cloud Registration |
FP-R-M |
FPFH+SC2-PCR |
Recall (3cm, 10 degrees) |
94.54 |
#3 of 6 |
Archive leaderboard |
report |
| Point Cloud Registration |
FP-R-M |
FCGF+SC2-PCR |
RRE (degrees) |
1.67 |
#4 of 6 |
Archive leaderboard |
report |
| Point Cloud Registration |
FP-R-M |
FCGF+SC2-PCR |
RTE (cm) |
1.02 |
#4 of 6 |
Archive leaderboard |
report |
| Point Cloud Registration |
FP-R-M |
FCGF+SC2-PCR |
Recall (3cm, 10 degrees) |
91.93 |
#4 of 6 |
Archive leaderboard |
report |
| Point Cloud Registration |
FP-T-E |
FPFH+SC2-PCR |
RRE (degrees) |
0.93 |
#1 of 6 |
Archive leaderboard |
report |
| Point Cloud Registration |
FP-T-E |
FPFH+SC2-PCR |
RTE (cm) |
0.43 |
#1 of 6 |
Archive leaderboard |
report |
| Point Cloud Registration |
FP-T-E |
FPFH+SC2-PCR |
Recall (3cm, 10 degrees) |
99.76 |
#1 of 6 |
Archive leaderboard |
report |
| Point Cloud Registration |
FP-T-E |
FCGF+SC2-PCR |
RRE (degrees) |
1.25 |
#4 of 6 |
Archive leaderboard |
report |
| Point Cloud Registration |
FP-T-E |
FCGF+SC2-PCR |
RTE (cm) |
0.83 |
#4 of 6 |
Archive leaderboard |
report |
| Point Cloud Registration |
FP-T-E |
FCGF+SC2-PCR |
Recall (3cm, 10 degrees) |
98.34 |
#4 of 6 |
Archive leaderboard |
report |
| Point Cloud Registration |
FP-T-H |
FPFH+SC2-PCR |
RRE (degrees) |
0.93 |
#2 of 6 |
Archive leaderboard |
report |
| Point Cloud Registration |
FP-T-H |
FPFH+SC2-PCR |
RTE (cm) |
0.43 |
#2 of 6 |
Archive leaderboard |
report |
| Point Cloud Registration |
FP-T-H |
FPFH+SC2-PCR |
Recall (3cm, 10 degrees) |
99.58 |
#2 of 6 |
Archive leaderboard |
report |
| Point Cloud Registration |
FP-T-H |
FCGF+SC2-PCR |
RRE (degrees) |
1.25 |
#4 of 6 |
Archive leaderboard |
report |
| Point Cloud Registration |
FP-T-H |
FCGF+SC2-PCR |
RTE (cm) |
0.82 |
#4 of 6 |
Archive leaderboard |
report |
| Point Cloud Registration |
FP-T-H |
FCGF+SC2-PCR |
Recall (3cm, 10 degrees) |
98.22 |
#4 of 6 |
Archive leaderboard |
report |
| Point Cloud Registration |
FP-T-M |
FPFH+SC2-PCR |
RRE (degrees) |
0.92 |
#3 of 6 |
Archive leaderboard |
report |
| Point Cloud Registration |
FP-T-M |
FPFH+SC2-PCR |
RTE (cm) |
0.43 |
#3 of 6 |
Archive leaderboard |
report |
| Point Cloud Registration |
FP-T-M |
FPFH+SC2-PCR |
Recall (3cm, 10 degrees) |
99.53 |
#3 of 6 |
Archive leaderboard |
report |
| Point Cloud Registration |
FP-T-M |
FCGF+SC2-PCR |
RRE (degrees) |
1.24 |
#4 of 6 |
Archive leaderboard |
report |
| Point Cloud Registration |
FP-T-M |
FCGF+SC2-PCR |
RTE (cm) |
0.82 |
#4 of 6 |
Archive leaderboard |
report |
| Point Cloud Registration |
FP-T-M |
FCGF+SC2-PCR |
Recall (3cm, 10 degrees) |
98.34 |
#4 of 6 |
Archive leaderboard |
report |
| Point Cloud Registration |
KITTI (trained on 3DMatch) |
FCGF+SC2-PCR |
Success Rate |
97.66 |
#2 of 14 |
Archive leaderboard |
report |
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