Browsing by Author "Dutta, Somnath"

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    GPU-Accelerating Hierarchical Descriptors for Point Set Registration
    (The Eurographics Association, 2023) Dutta, Somnath; Russig, Benjamin; Gumhold, Stefan; Banterle, Francesco; Caggianese, Giuseppe; Capece, Nicola; Erra, Ugo; Lupinetti, Katia; Manfredi, Gilda
    We present a GPU-accelerated global registration method for registering partial shapes, a common and often performancecritical task in many robotics, vision, and graphics applications. Global registration based on descriptor matching is highly dependent on the quality at which a shape is sampled, and computing expressive descriptors typically incurs high computation time. In this paper, we augment a global pair-wise registration algorithm based on hierarchical shape descriptors with a GPU-accelerated descriptor construction process, reducing the time spent on building descriptors by an order of magnitude. This allows for building more expressive descriptors, achieving a dual gain in both performance and accuracy. We conducted extensive evaluations on a large set of pair-wise registration problems, demonstrating very competitive registration accuracy, often rendering subsequent refinement with a local method unnecessary.