Segregator: Global Point Cloud Registration with Semantic and Geometric Cues
Pengyu Yin,Shenghai Yuan,Haozhi Cao,Xingyu Ji,Shuyang Zhang,Lihua Xie,Pengyu Yin,Shenghai Yuan,Haozhi Cao,Xingyu Ji,Shuyang Zhang,Lihua Xie
This paper presents Segregator, a global point cloud registration framework that exploits both semantic information and geometric distribution to efficiently build up outlier-robust correspondences and search for inliers. Current state-of-the-art algorithms rely on point features to set up putative correspondences and refine them by employing pair-wise distance consistency checks. However, such a ...
