Abstract Data acquisition in large‐scale scenes regularly involves accumulating information across multiple scans. A common approach is to locally align scan pairs using Iterative Closest Point (ICP) algorithm (or its variants), but requires static scenes and small motion between scan pairs. This prevents accumulating data across multiple scan sessions and/or different acquisition modalities (e.g., stereo, depth scans). Alternatively, one can use a global registration algorithm allowing scans to be in arbitrary initial poses. The state‐of‐the‐art global registration algorithm, 4PCS, however has a quadratic time complexity in the number of data points. This vastly limits its applicability to acquisition of large environments. We present S uper 4PCS for global pointcloud registration that is optimal, i.e., runs in linear time (in the number of data points) and is also output sensitive in the complexity of the alignment problem based on the (unknown) overlap across scan pairs. Technically, we map the algorithm as an ‘instance problem’ and solve it efficiently using a smart indexing data organization. The algorithm is simple, memory‐efficient, and fast. We demonstrate that S uper 4PCS results in significant speedup over alternative approaches and allows unstructured efficient acquisition of scenes at scales previously not possible. Complete source code and datasets are available for research use at http://geometry.cs.ucl.ac.uk/projects/2014/super4PCS/ .

Nicolas Mellado

Dror Aiger

Niloy J. Mitra

Computer Graphics Forum

COMPUTER GRAPHICS FORUM 是 EUROGRAPHICS 的官方期刊，与 WILEY-BLACKWELL 合作出版，是对全球图形开发感兴趣的计算机图形专业人士的独特国际信息来源。它现在是商业和学术环境中计算机图形研究人员、开发人员和用户的主要期刊之一。该杂志报道了世界范围内该领域的最新发展，涵盖了计算机图形学理论、实践和应用的各个方面。

Computer Graphics Forum is the official journal of EUROGRAPHICS, published in collaboration with WILEY-BLACKWELL. It serves as a unique international source of information for computer graphics professionals interested in global graphics development. It is now one of the leading journals for researchers, developers, and users in both commercial and academic settings. The journal reports on the latest developments in the field, covering all aspects of computer graphics theory, practice, and applications.

《Computer Graphics Forum》是EUROGRAPHICS的官方期刊，与WILEY-BLACKWELL合作出版，成为全球计算机图形专业人士获取信息的独特国际来源。它是商业和学术环境中计算机图形研究人员、开发人员和用户的重要期刊之一。该杂志报道了该领域的最新发展，涵盖了计算机图形学的理论、实践和应用的各个方面。

Category	Quartile
计算机科学	4
计算机科学, 计算机软件工程	3

Super 4PCS Fast Global Pointcloud Registration via Smart Indexing

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Journal Info

Category	Quartile
COMPUTER SCIENCE, SOFTWARE ENGINEERING	2