GPU-Accelerating Hierarchical Descriptors for Point Set Registration
No Thumbnail Available
Date
2023
Journal Title
Journal ISSN
Volume Title
Publisher
The Eurographics Association
Abstract
We present a GPU-accelerated global registration method for registering partial shapes, a common and often performancecritical task in many robotics, vision, and graphics applications. Global registration based on descriptor matching is highly dependent on the quality at which a shape is sampled, and computing expressive descriptors typically incurs high computation time. In this paper, we augment a global pair-wise registration algorithm based on hierarchical shape descriptors with a GPU-accelerated descriptor construction process, reducing the time spent on building descriptors by an order of magnitude. This allows for building more expressive descriptors, achieving a dual gain in both performance and accuracy. We conducted extensive evaluations on a large set of pair-wise registration problems, demonstrating very competitive registration accuracy, often rendering subsequent refinement with a local method unnecessary.
Description
CCS Concepts: Computing methodologies -> Computer Graphics;Shape Modeling; Point-based models
@inproceedings{10.2312:stag.20231295,
booktitle = {Smart Tools and Applications in Graphics - Eurographics Italian Chapter Conference},
editor = {Banterle, Francesco and Caggianese, Giuseppe and Capece, Nicola and Erra, Ugo and Lupinetti, Katia and Manfredi, Gilda},
title = {{GPU-Accelerating Hierarchical Descriptors for Point Set Registration}},
author = {Dutta, Somnath and Russig, Benjamin and Gumhold, Stefan},
year = {2023},
publisher = {The Eurographics Association},
ISSN = {2617-4855},
ISBN = {978-3-03868-235-6},
DOI = {10.2312/stag.20231295}
}