Discriminative Optimization (DO)

This repository contains the point cloud registration code from the DO paper which was published in CVPR2017.

To run the demo

1. clone this repository
2. get findPointNormals.m from https://www.mathworks.com/matlabcentral/fileexchange/48111-find-3d-normals-and-curvature?focused=3870562&tab=function
3. run demo.m

Citation

If you use this code in your work, please cite

J. Vongkulbhisal, F. De la Torre, J. Costeira. Discriminative Optimization: Theory and Applications to Point Cloud Registration. CVPR, 2017.

J. Vongkulbhisal, F. De la Torre, J. Costeira. Discriminative Optimization: Theory and Applications to Computer Vision. IEEE TPAMI (to appear).

Note

The Stanford Bunny shape was obtained and modified from The Stanford 3D Scanning Repository (http://graphics.stanford.edu/data/3Dscanrep/)

This code is free for research and academic use.