PCR-99: A Practical Method for Point Cloud Registration with 99% Outliers

Paper

MATLAB implementation of our work "PCR-99: A Practical Method for Point Cloud Registration with 99% Outliers".

There are four different versions:

1. PCR99a: Unknown scale, With sample ordering
2. PCR99b: Unknown scale, With random sampling
3. PCR99c: Known scale, With sample ordering
4. PCR99d: Known scale, With random sampling (NOT RECOMMENDED!)

Quick Start:

Run main.m.