Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: TriVoC: Efficient Voting-based Consensus Maximization for Robust Point
  Cloud Registration with Extreme Outlier Ratios   Correspondence-based point cloud registration is a cornerstone in robotics
perception and computer vision, which seeks to estimate the best rigid
transformation aligning two point clouds from the putative correspondences.
However, due to the limited robustness of 3D keypoint matching approaches,
outliers, probably in large numbers, are prone to exist among the
correspondences, which makes robust registration methods imperative.
Unfortunately, existing robust methods have their own limitations (e.g. high
computational cost or limited robustness) when facing high or extreme outlier
ratios, probably unsuitable for practical use. In this paper, we present a
novel, fast, deterministic and guaranteed robust solver, named TriVoC
(Triple-layered Voting with Consensus maximization), for the robust
registration problem. We decompose the selecting of the minimal 3-point sets
into 3 consecutive layers, and in each layer we design an efficient voting and
correspondence sorting framework on the basis of the pairwise equal-length
constraint. In this manner, the 3-point sets can be selected independently from
the reduced correspondence sets according to the sorted sequence, which can
significantly lower the computational cost and meanwhile provide a strong
guarantee to achieve the largest consensus set (as the final inlier set) as
long as a probabilistic termination condition is fulfilled. Varied experiments
show that our solver TriVoC is robust against up to 99% outliers, highly
accurate, time-efficient even with extreme outlier ratios, and also practical
for real-world applications, showing performance superior to other
state-of-the-art competitors.

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The categories of this paper are: hep-lat
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The categories of this paper are: eess
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The categories of this paper are: math
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The categories of this paper are: atom-ph
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The categories of this paper are: comp-gas
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The categories of this paper are: bayes-an
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The categories of this paper are: acc-phys
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The categories of this paper are: gr-qc
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The categories of this paper are: adap-org
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The categories of this paper are: stat
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The categories of this paper are: supr-con
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The categories of this paper are: q-bio
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The categories of this paper are: funct-an
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The categories of this paper are: solv-int
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The categories of this paper are: econ
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The categories of this paper are: chem-ph