Robust Point Set Registration with Mixture Re-Weighting Based on Relative Geometric Structures

Abstract

Point set registration is one of the challenging tasks in computer vision. One critical step is to find the corresponding relationship between the model point set and the scene point set. Existing registration algorithms primarily utilize the information of global and local shape, yet neglect the credibility of corresponding relation, therefore they may lead to the insufficient estimation of spatial transformation. To tackle this problem, we firstly adopt a relative polar coordinate system, it performs spatial pooling operation and further divides the feature extraction region into sub-areas with different scales. Then, based on the Relative Average Distance (RAD) and the Relative Average Offset Angle (RAOA), we propose multi-granular MRGS descriptor to extract visual structures of the point set. The similarity between the model point set and scene point set is then represented by the Gaussian Mixture Model, where the weights can be dynamically adjusted during the process of registration. Finally, we apply the robust mixture re-weighting to reduce the impact of false corresponding pairs and reinforce the weight of correct matching points. Experimental results on synthetic data and medical image data not only show that our method outperform state-of-the-art methods, but also demonstrate the robustness of our method when the non-grid transformation of point sets suffers from deformations, noises and outliers.