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DCReg Wiki

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DCReg is a Schur-complement-based framework for efficient degenerate LiDAR registration. It decouples rotation and translation observability, maps the raw eigenspace into physical motion axes, and stabilizes only the weak directions through a targeted preconditioned solve.

Start Here

• Algorithm Overview
• Installation and Quick Start
• Experiment Results

Highlights

• Full DCReg implementation is publicly available on the main branch.
• The historical public snapshot is preserved on the baseline branch.
• The current release depends on Eigen + PCL, with optional TBB/OpenMP.
• The default synthetic input is shipped inside the repository.

Repository Links

• Project Repository
• Paper on arXiv
• Video Demo

Notes

• Runtime code lives under DCReg/.
• The default sample input is DCReg/data/shifted_cylinder/measured_cloud_shifted_cylinder.pcd.
• The tabbed HTML docs remain in docs/wiki/index.html for maintainers who want a custom web-style view.