G3Reg

Global registration of outdoor lidar point clouds struggles with large, noisy scenes. G3Reg from HKUST Aerial Robotics is a fast, robust global registration library for outdoor lidar using a pyramid graph and Gaussian ellipsoid model.

Published in IEEE T-ASE, it serves mapping, localization and relocalization.

Features

Global registration:No initial guess.

Robust:Noise and scale.

Fast:Efficient solving.