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PARTE: Plane-Assisted Robust Transformation Estimation for Point Cloud Registration

arXiv · AI, language, vision and robotics · article · Sep 21, 2026 · UTC

Global point-cloud registration remains challenging when limited overlap, repetitive geometry, and sensor noise produce correspondence sets dominated by outliers. Planar regions are particularly difficult for conventional point descriptors and are therefore often suppressed or discarded before matching. We present PARTE (Plane-Assisted Robust Transformation Estimation), a global registration method that instead treats planar structure as complementary registration evidence. PARTE extracts planar patches and represents them using our novel Plane Context Histogram (PCH), a descriptor that encode

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