TAG-Reg: Iterative Accurate Global Registration Algorithm

Abstract

In this paper, we propose an accurate global registration (TAG-Reg) algorithm for poor initialization and partially overlapping point clouds registration problem. Firstly, methods based on geometric structure information of points can get the accurate results, which is vulnerable to poor initialization. Meanwhile, existing features based global methods can solve poor initialization problem at a certain extent, but it cannot obtain accurate results. So, we combine the geometric structure information with feature as hybrid feature to solve poor initialization problem completely and obtain accurate results. Secondly, we introduce dynamic trimmed strategy combining with hybrid feature to deal with partially overlapping problem. Then, to improve the accuracy of our method, we utilize the probabilistic method to suppress noise. At last, we establish the TAG-Reg model and propose an iterative algorithm to solve this problem. Experimental results show that our TAG-Reg achieves state-of-the-art performance compared to existing non-deep learning and recent deep learning methods. Our source code will open at https://github.com/BiaoBiaoLi/TAG-Reg.