PARTE: Plane-Assisted Robust Transformation Estimation for Point Cloud Registration

arXiv:2609.25375 · cs.RO, cs.CV · Submitted 2026-09-21 · Read on arXiv

cs.RO, cs.CV

Submitted: 2026-09-21

Updated: 2026-09-23

Project page: https://ariarobotics.github.io/parte

Terminology

Benchmark — 27× in this paper · explained in 2 episodes
Point Clouds — 24× in this paper · explained in 2 episodes
Consistency — 13× in this paper · explained in 3 episodes
Alignment — 8× in this paper · explained in 1 episode
Plane Context Histogram — 7× in this paper
Feature Extraction — 3× in this paper · explained in 2 episodes
Ablation — 2× in this paper · explained in 1 episode
Accuracy — 2× in this paper · explained in 1 episode
Block Coordinate Descent — 2× in this paper
Computer Vision and Pattern Recognition — 2× in this paper
F1 Score — 2× in this paper · explained in 3 episodes
Robustness — 2× in this paper · explained in 5 episodes
Ablation Studies — 1× in this paper · explained in 1 episode
Core — 1× in this paper · explained in 2 episodes
Degeneracy — 1× in this paper · explained in 3 episodes
European Conference on Computer Vision — 1× in this paper
Generalizability — 1× in this paper · explained in 6 episodes
Local Optimization — 1× in this paper · explained in 2 episodes
Transformer — 1× in this paper · explained in 2 episodes
Variational Bayes — 1× in this paper · explained in 2 episodes

Sources

Plane Pair Matching for Efficient 3D View Registration

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