Efficient Single Correspondence Voting for Point Cloud Registration

3D point cloud registration is a crucial task in a variety of fields, including remote sensing mapping, computer vision, virtual reality, and autonomous driving. However, this task is still challenging due to the challenges of noise, non-uniformity, partial overlap, and repeated local features in large scene point clouds. In this paper, we propose an efficient single correspondence voting method for large scene point cloud registration. Specifically, we first propose an efficient hypothetical transformation prediction method called SCVC, which determines the 5 degrees of freedom of the transformation through one correspondence, and then uses Hough voting to determine the last degree of freedom. This algorithm can significantly improve the accuracy of registration in both indoor and outdoor scenes. On the other hand, we propose a more robust transformation verification function called VDIR, which can obtain the optimal registration result of two raw point clouds. Finally, we conduct a series of experiments that demonstrate that our method achieves state-of-the-art performance on four real-world datasets: 3DMatch, 3DLoMatch, KITTI, and WHU-TLS. Our code is available at https://github.com/xingxuejun1989/SCVC.