GlobalPointer: Large-Scale Plane Adjustment with Bi-Convex Relaxation

Bangyan Liao, Zhenjun Zhao, Lu Chen, Haoang Li, Daniel Cremers, Peidong Liu

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

Abstract

Plane adjustment (PA) is crucial for many 3D applications, involving simultaneous pose estimation and plane recovery. Despite recent advancements, it remains a challenging problem in the realm of multi-view point cloud registration. Current state-of-the-art methods can achieve globally optimal convergence only with good initialization. Furthermore, their high time complexity renders them impractical for large-scale problems. To address these challenges, we first exploit a novel optimization strategy termed Bi-Convex Relaxation, which decouples the original problem into two simpler sub-problems, reformulates each sub-problem using a convex relaxation technique, and alternately solves each one until the original problem converges. Building on this strategy, we propose two algorithmic variants for solving the plane adjustment problem, namely GlobalPointer and GlobalPointer++, based on point-to-plane and plane-to-plane errors, respectively. Extensive experiments on both synthetic and real datasets demonstrate that our method can perform large-scale plane adjustment with linear time complexity, larger convergence region, and robustness to poor initialization, while achieving similar accuracy as prior methods. The code is available at github.com/wu-cvgl/GlobalPointer.

Original languageEnglish
Title of host publicationComputer Vision – ECCV 2024 - 18th European Conference, Proceedings
EditorsAleš Leonardis, Elisa Ricci, Stefan Roth, Olga Russakovsky, Torsten Sattler, Gül Varol
PublisherSpringer Science and Business Media Deutschland GmbH
Pages360-376
Number of pages17
ISBN (Print)9783031732010
DOIs
StatePublished - 2025
Event18th European Conference on Computer Vision, ECCV 2024 - Milan, Italy
Duration: 29 Sep 20244 Oct 2024

Publication series

NameLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Volume15117 LNCS
ISSN (Print)0302-9743
ISSN (Electronic)1611-3349

Conference

Conference18th European Conference on Computer Vision, ECCV 2024
Country/TerritoryItaly
CityMilan
Period29/09/244/10/24

Keywords

  • Convex Relaxation
  • Plane Adjustment
  • Semidefinite Programming (SDP)

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