A point-cloud registration framework that represents scenes as fitted quadric primitives, matches them by semantic and geometric similarity, prunes outliers with compatibility graphs, and refines the 6-DoF pose with a degeneracy-aware quadric distance.
IEEE Transactions on Pattern Analysis and Machine Intelligence 14(2): 239--256
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QuadricsReg: Large-Scale Point Cloud Registration using Quadric Primitives
A point-cloud registration framework that represents scenes as fitted quadric primitives, matches them by semantic and geometric similarity, prunes outliers with compatibility graphs, and refines the 6-DoF pose with a degeneracy-aware quadric distance.