The paper introduces DPA-I2P, a depth‑guided projective alignment method for image‑to‑point‑cloud registration in autonomous driving. It employs Ray‑Conditioned Metric Depth Encoding and Projection‑Consistent Vision Lifting to align depth and visual cues geometrically, and uses Cross‑Modal Query Pruning to filter unreliable matches during refinement. Experiments on KITTI and nuScenes show significant improvements, reducing rotation and translation errors by up to 55.6% compared to existing implicit baselines.
The paper introduces DPA-I2P, a depth-guided projective alignment method for image-to-point-cloud registration in autonomous driving. It employs Ray-Conditioned Metric Depth Encoding and Projection-Consistent Vision Lifting to align depth and visual cues geometrically, and uses Cross-Modal Query Pruning to enhance matching stability. Experiments on KITTI and nuScenes show significant reductions in rotation and translation errors compared to existing implicit baselines.
By Wenxin Zhang, Hang Li, Zhiwei Xu, Qiankun Dong, Gang Wang, Tao Li
Learning-based global point cloud registration has achieved remarkable progress, yet its reliance on geometric representations makes existing methods sensitive to variations in point density, scan pattern, viewpoint, and sensor characteristics. We propose CVSD-Reg, a robust global LiDAR registration framework that distills visual semantic priors from a vision foundation model into LiDAR representations.
arXiv:2609.25375v1 Announce Type: cross
Abstract: Global point-cloud registration remains challenging when limited overlap, repetitive geometry, and sensor noise produce correspondence sets dominated...
By Abolfazl Babanazari, Carson Cramer, Tyler Summers, Carlos Nieto, Kaveh Fathian
arXiv:2506. 22784v2 Announce Type: replace-cross Abstract: Point-pixel registration between LiDAR point clouds and camera images is a fundamental yet challenging task in autonomous driving and robotic perception.
By Yu Han, Zhiwei Huang, Yanting Zhang, Fangjun Ding, Shen Cai, Xiaoyu Tang, Yanchao Dong, Rui Fan
arXiv:2509.06285v2 Announce Type: cross
Abstract: LiDAR point cloud registration is fundamental to robotic perception and navigation. In geometrically degenerate environments (e.g., corridors), regis...
By Xiangcheng Hu, Xieyuanli Chen, Mingkai Jia, Jin Wu, Ping Tan, Steven L. Waslander
arXiv:2608. 19536v1 Announce Type: cross Abstract: Learning-based global point cloud registration has achieved remarkable progress, yet its reliance on geometric representations makes existing methods sensitive to variations in point density, scan pattern, viewpoint, and sensor characteristics.
By Eunsoo Im, Junghun Suh, Gyeonggwan Lee, Seunghwan Hong
DMM-Align introduces a closed‑loop framework for 2D‑3D registration that jointly refines correspondences, estimates pose, and learns representations using a shared differentiable geometric state. The method employs two diffusion processes: a geometry‑aware diffusion that improves the soft matching matrix for robust correspondence estimation, and a geometry‑conditioned diffusion teacher that feeds pose‑induced supervision back into feature learning. Experiments on 7‑Scenes and RGB‑D Scenes V2 show that DMM‑Align outperforms strong baselines, particularly in low‑overlap and heavily occluded scenarios, demonstrating the value of closed‑loop geometric feedback.
By Chongjian Wang, Junjie Gao
The paper introduces GMPCR, a non‑learning spectral consistency‑guided framework for multiview point cloud registration in low‑overlap scenes. GMPCR refines initial correspondences into a second‑order compatibility structure, uses spectral analysis to filter unreliable matches and select informative scan pairs, and then applies maximal‑clique hypothesis generation for robust relative transformations. The resulting sparse pose graph is further refined with an adaptive history‑aware synchronization scheme, and a recovery mechanism allows previously down‑weighted edges to regain confidence, achieving high registration recalls on benchmark datasets while reducing computational cost.
By Tianyu Li, Yanghong Lin, Shudong Zhou, Kui Yang, Jingru Zhang, Li Fang, Wei Yao
arXiv:2606. 27818v1 Announce Type: cross Abstract: We present MMD-Reg, a novel correspondence-free approach to point-cloud registration that is differentiable and has linear computational complexity in the number of points.
By Rixon Crane, Fahira Afzal Maken, Nicholas Lawrance, Stanislav Funiak, Kasra Khosoussi, Ming Xu, Russell Tsuchida
XCalib is an unsupervised dense registration framework that aligns thermal and visible video streams by optimizing virtual pinhole camera parameters and predicted monocular depth, thereby restricting spatial displacements to physically valid projection geometries. It introduces a novel registration paradigm using camera parameterization as an implicit regularizer, a robust Normalized Edges Correlation (NEC) metric for cross‑spectral alignment, and demonstrates superior temporal stability and alignment accuracy on public ADAS datasets compared to unconstrained dense flow baselines.
By Aurelien Godet, Gabriel Jobert, Mauro Dalla Mura
The paper introduces DynaWeightPnP, a real‑time algorithm for correspondence‑free Perspective‑n‑Point (PnP) problems that aligns 3D and 2D shapes without needing point correspondences. It uses a Reproducing Kernel Hilbert Space formulation solved via iterative reweighted least squares, and addresses a numerical ambiguity between rotation and translation with a dynamic weighting sub‑problem and alternative search strategy. Experiments on 3D‑2D vascular centerline registration in endovascular image‑guided interventions show processing rates of 60 Hz (without refinement) and 31 Hz (with refinement) on a single‑core CPU, achieving accuracy comparable to existing methods.
By Jingwei Song, Maani Ghaffari