Cited by 6773D Shape Modeling and AnalysisComputer Graphics and Visualization TechniquesAdvanced Image and Video Retrieval Techniques

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4-points congruent sets for robust pairwise surface registration

Aiger, Dror, Mitra, Niloy J., Cohen-Or, Daniel·2008·ACM Transactions on Graphics

DOI 10.1145/1360612.1360684

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Abstract

We introduce 4PCS, a fast and robust alignment scheme for 3D point sets that uses wide bases, which are known to be resilient to noise and outliers. The algorithm allows registering raw noisy data, possibly contaminated with outliers, without pre-filtering or denoising the data. Further, the method significantly reduces the number of trials required to establish a reliable registration between the underlying surfaces in the presence of noise, without any assumptions about starting alignment. Our method is based on a novel technique to extract all coplanar 4-points sets from a 3D point set that are approximately congruent, under rigid transformation, to a given set of coplanar 4-points. This extraction procedure runs in roughly O(n 2 + k) time, where n is the number of candidate points and k is the number of reported 4-points sets. In practice, when noise level is low and there is sufficient overlap, using local descriptors the time complexity reduces to O(n + k) . We also propose an extension to handle similarity and affine transforms. Our technique achieves an order of magnitude asymptotic acceleration compared to common randomized alignment techniques. We demonstrate the robustness of our algorithm on several sets of multiple range scans with varying degree of noise, outliers, and extent of overlap.

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Authors: Aiger, D., Mitra, N. J., & Cohen-Or, D.
Affiliations: Ben-Gurion University of the Negev (IL)
TU Wien (AT)
Tel Aviv University
ORCID: Mitra, Niloy J.
Venue: ACM Transactions on Graphics
Publisher: Association for Computing Machinery (ACM)
Published: 2008-08
Volume: 27
Issue: 3
Pages: 1-10
ISSN: 0730-0301 (ISSN-L)
1557-7368
DOI: 10.1145/1360612.1360684
OpenAlex: W2064499898
Cited by: 677
References: 30
Citations by year: 2026: 27 · 2025: 36 · 2024: 51 · 2023: 50 · 2022: 47 · 2021: 53 · 2020: 64 · 2019: 65 · 2018: 46 · 2017: 53 · 2016: 30 · 2015: 38 · 2014: 26 · 2013: 21 · 2012: 23
FWCI: 16.03
Type: journal article
Language: en
Open access: closed
Licence: www.acm.org/publications/policies/copyright_policy#Background (vor)
Locations: ACM Transactions on Graphics (publishedVersion)
HAL (submittedVersion)
UCL Discovery (University College London) (submittedVersion)
Topics: Physical Sciences › Computer Science › Computer Graphics and Computer-Aided Design › 3D Shape Modeling and Analysis
Physical Sciences › Computer Science › Computer Graphics and Computer-Aided Design › Computer Graphics and Visualization Techniques
Physical Sciences › Computer Science › Computer Vision and Pattern Recognition › Advanced Image and Video Retrieval Techniques
Keywords: rigid transformation, outlier robustness, noise robustness, similarity transformation, affine transformation, range scans, local descriptors

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4-points congruent sets for robust pairwise surface registration

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