Skip to content
RMBP is a robust matcher used to reject outliers from 3D point matches.
Branch: master
Clone or download
Fetching latest commit…
Cannot retrieve the latest commit at this time.
Permalink
Type Name Latest commit message Commit time
Failed to load latest commit information.
ann
include
lemon
src
test
.gitignore
CMakeLists.txt
LICENSE
README.md

README.md

RMBP

Robust Matching using Belief Propagation (RMBP) is a robust matcher used to reject outliers from 3D point matches.

It is proposed by the ECCV 2018 paper:

"Learning and Matching Multi-View Descriptors for Registration of Point Clouds", Lei Zhou, Siyu Zhu, Zixin Luo, Tianwei Shen, Runze Zhang, Mingmin Zhen, Tian Fang, Long Quan. [PDF]

Usage

Dependencies

  • Cmake
  • OpenMP

Building

Build like any other cmake project.

mkdir build & cd build
cmake ..
make -j

Run test code

In the test folder are a list of match files for demo. They first write the match number N, followed by N lines that denote x, y, z of the two corresponding points in two point clouds and the initial probability of being an inlier for the match pair which may be estimated from their measurements like similarity.

The first 150 match pairs are inliers while the others are outliers. The demo outputs the belief of being an inlier for each match pair and the refined match pairs given the belief threshold.

cd build
./RMBP ../test/match_file_inlier_ratio_4.txt 0.45
You can’t perform that action at this time.