January 24, 2020
Super excited to share our new work: “TEASER: Fast and Certifiable Point Cloud Registration”
TEASER is the first algorithm of its kind in many practical and theoretical aspects.
- Robustness: robust against over 99% outlier correspondences
- Safety: Certifiably correct in the sense of global optimality
- Efficiency: real-time and run in milliseconds
- Correspondence-free: first algorithm that can solve correspondence-free registration using all-to-all correspondences, due to unprecedented robustness
- Relaxation: first tight semidefinite relaxation in the presence of outliers (binary variables). Real data is not our enemy!
- Certification: first fast optimality certification using alternating projections to convex sets, 200 times faster than solving a large SDP
- Invariant measurements: first formal decoupling of scale, rotation and translation estimation
- Performance guarantees: first formal bounds with respect to ground truth, under mild “estimation contract”