# Benchmarking Classical and Learning-Based Multibeam Point Cloud Registration

arXiv: https://arxiv.org/abs/2405.06279 · HTML: https://mlsanity.com/paper/2405.06279/

## Key facts

- No citing papers in the map yet (data through 14 Oct 2026).
- Builds on 15 of its 48 references that are in the map.
- First posted on arXiv 10 May 2024.

## Builds on (most cited first, 15 of 15)

- [Adam: A Method for Stochastic Optimization](https://mlsanity.com/paper/1412.6980/) (2014)
- [4D Spatio-Temporal ConvNets: Minkowski Convolutional Neural Networks](https://mlsanity.com/paper/1904.08755/) (2019)
- [3DMatch: Learning Local Geometric Descriptors from RGB-D Reconstructions](https://mlsanity.com/paper/1603.08182/) (2016)
- [Deep Closest Point: Learning Representations for Point Cloud Registration](https://mlsanity.com/paper/1905.03304/) (2019)
- [PREDATOR: Registration of 3D Point Clouds with Low Overlap](https://mlsanity.com/paper/2011.13005/) (2020)
- [TEASER: Fast and Certifiable Point Cloud Registration](https://mlsanity.com/paper/2001.07715/) (2020)
- [Deep Global Registration](https://mlsanity.com/paper/2004.11540/) (2020)
- [RPM-Net: Robust Point Matching using Learned Features](https://mlsanity.com/paper/2003.13479/) (2020)
- [D3Feat: Joint Learning of Dense Detection and Description of 3D Local Features](https://mlsanity.com/paper/2003.03164/) (2020)
- [PointDSC: Robust Point Cloud Registration using Deep Spatial Consistency](https://mlsanity.com/paper/2103.05465/) (2021)
- [3DRegNet: A Deep Neural Network for 3D Point Registration](https://mlsanity.com/paper/1904.01701/) (2019)
- [A comprehensive survey on point cloud registration](https://mlsanity.com/paper/2103.02690/) (2021)
- [A New Approach to 3D ICP Covariance Estimation](https://mlsanity.com/paper/1909.05722/) (2019)
- [Towards Autonomous Industrial-Scale Bathymetric Surveying](https://mlsanity.com/paper/2003.12471/) (2020)
- [Data-driven Loop Closure Detection in Bathymetric Point Clouds for Underwater SLAM](https://mlsanity.com/paper/2209.08578/) (2022)

## Abstract (arXiv)

Deep learning has shown promising results for multiple 3D point cloud registration datasets. However, in the underwater domain, most registration of multibeam echo-sounder (MBES) point cloud data are still performed using classical methods in the iterative closest point (ICP) family. In this work, we curate and release DotsonEast Dataset, a semi-synthetic MBES registration dataset constructed from an autonomous underwater vehicle in West Antarctica. Using this dataset, we systematically benchmark the performance of 2 classical and 4 learning-based methods. The experimental results show that the learning-based methods work well for coarse alignment, and are better at recovering rough transforms consistently at high overlap (20-50%). In comparison, GICP (a variant of ICP) performs well for fine alignment and is better across all metrics at extremely low overlap (10%). To the best of our knowledge, this is the first work to benchmark both learning-based and classical registration methods on an AUV-based MBES dataset. To facilitate future research, both the code and data are made available online.