Non-iterative One-step Solution for Point Set Registration Problem on Pose Estimation without Correspondence

Understand

In this work, we propose to directly find the one-step solution for the point set registration problem without correspondences.

• Inspired by the Kernel Correlation method, we consider the fully connected objective function between two point sets, thus avoiding the computation of correspondences.
• By utilizing least square minimization, the transformed objective function is directly solved with existing well-known closed-form solutions, e.g., singular value decomposition, that is usually used for given correspondences.
• However, using equal weights of costs for each connection will degenerate the solution due to the large influence of distant pairs.