SPARE: Symmetrized point-to-plane distance for robust non-rigid 3D registration

Yao, Yuxin, Deng, Bailin ORCID: https://orcid.org/0000-0002-0158-7670, Hou, Junhui and Zhang, Juyong 2025. SPARE: Symmetrized point-to-plane distance for robust non-rigid 3D registration. IEEE Transactions on Pattern Analysis and Machine Intelligence 10.1109/tpami.2025.3598630

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Abstract

Existing optimization-based methods for non-rigid registration typically minimize an alignment error metric based on the point-to-point or point-to-plane distance between corresponding point pairs on the source surface and target surface. However, these metrics can result in slow convergence or a loss of detail. In this paper, we propose SPARE, a novel formulation that utilizes a symmetrized point-to-plane distance for robust non-rigid registration. The symmetrized point-to-plane distance relies on both the positions and normals of the corresponding points, resulting in a more accurate approximation of the underlying geometry and can achieve higher accuracy than existing methods. To solve this optimization problem efficiently, we introduce an as-rigid-as-possible regulation term to estimate the deformed normals and propose an alternating minimization solver using a majorization-minimization strategy. Moreover, for effective initialization of the solver, we incorporate a deformation graph-based coarse alignment that improves registration quality and efficiency. Extensive experiments show that the proposed method greatly improves the accuracy of non-rigid registration problems and maintains relatively high solution efficiency. The code is publicly available at https://github.com/yaoyx689/spare.

Item Type:	Article
Date Type:	Published Online
Status:	In Press
Schools:	Schools > Computer Science & Informatics
Additional Information:	License information from Publisher: LICENSE 1: URL: https://ieeexplore.ieee.org/Xplorehelp/downloads/license-information/IEEE.html, Start Date: 2025-01-01
Publisher:	Institute of Electrical and Electronics Engineers
ISSN:	0162-8828
Date of First Compliant Deposit:	3 September 2025
Date of Acceptance:	5 August 2025
Last Modified:	03 Sep 2025 15:15
URI:	https://orca.cardiff.ac.uk/id/eprint/180717

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