Robust-DefReg: a robust coarse to fine non-rigid point cloud registration method based on graph convolutional neural networks

Abstract

Point cloud registration is a critical process in computer vision and measurement science, aimed at determining transformations between corresponding sets of points for accurate spatial alignment. In particular, non-rigid registration involves estimating flexible transformations that map a source point cloud to a target point cloud, even under conditions of stretching, compression, or other complex deformations. This task becomes especially challenging when addressing measurement-specific issues like varying degrees of deformation, noise, and outliers, all of which can impact measurement accuracy and reliability.
This paper introduces Robust-DefReg, a novel method for non-rigid point cloud registration that applies graph convolutional networks (GCNNs) within a coarse-to-fine registration framework. This end-to-end pipeline harnesses global feature learning to establish robust correspondences and precise transformations, enabling high accuracy across different deformation scales and noise levels. A key contribution of Robust-DefReg is its demonstrated resilience to various challenges, such as substantial deformations, noise, and outliers, factors often underreported in existing registration literature.
In addition, we present SynBench, a comprehensive benchmark dataset specifically designed for evaluating non-rigid point cloud registration in realistic measurement scenarios. Unlike previous datasets, SynBench incorporates a range of challenges, making it a valuable tool for the fair assessment of registration methods in measurement applications. Experimental results on SynBench and additional datasets show that Robust-DefReg consistently outperforms state-of-the-art methods, offering higher registration accuracy and robustness, even with up to 45% outliers.
SynBench and the Robust-DefReg source code are publicly accessible for further research and development at https://doi.org/10.11588/data/R9IKCF and https://github.com/m-kinz/Robust-DefReg, respectively.