PLADE: A Plane-Based Descriptor for Point Cloud Registration With Small Overlap

Songlin Chen, Liangliang Nan, Renbo Xia, Jibin Zhao, Peter Wonka

Research output: Contribution to journalArticlepeer-review

82 Scopus citations


Traditional point cloud registration methods require large overlap between scans, which imposes strict constraints on data acquisition. To facilitate registration, users have to carefully position scanners to ensure sufficient overlap. In this article, we propose to use high-level structural information (i.e., plane/line features and their interrelationship) for registration, which is capable of registering point clouds with small overlap, allowing more freedom in data acquisition. We design a novel plane-/line-based descriptor dedicated to establishing structure-level correspondences between point clouds. Based on this descriptor, we propose a simple but effective registration algorithm. We also provide a data set of real-world scenes containing a larger number of scans with a wide range of overlap. Experiments and comparisons with state-of-theart methods on various data sets reveal that our method is superior to existing techniques. Though the proposed algorithm outperforms state-of-the-art methods on the most challenging data set, the point cloud registration problem is still far from being solved, leaving significant room for improvement and future work.
Original languageEnglish (US)
Pages (from-to)1-11
Number of pages11
JournalIEEE Transactions on Geoscience and Remote Sensing
Issue number4
StatePublished - Dec 18 2019

Bibliographical note

KAUST Repository Item: Exported on 2020-10-01
Acknowledgements: The authors would like to thank Y. Tian for helping them with data acquisition. They would also like to thank the support of NVIDIA Corporation with the donation of the Titan V GPU used for rendering the point clouds in this research.


Dive into the research topics of 'PLADE: A Plane-Based Descriptor for Point Cloud Registration With Small Overlap'. Together they form a unique fingerprint.

Cite this